+ python -m lidar_slam --no-model /working/b99e6104-b84a-4dde-9b85-1ba77cf0b6a3 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/b99e6104-b84a-4dde-9b85-1ba77cf0b6a3 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 0.00264 Adjusted end_distance from 9.223372036854776e+18 to 308.61264 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.00264 meters 1.011759111258542 Centerline is valid? [0, False] SLAMing on 0.03264 meters 0.9681579437564004 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999985e-01 1.32851230e-04 -1.08065874e-04 7.34073684e-04] [-1.32825578e-04 9.99999963e-01 2.37340831e-04 -1.47856649e-03] [ 1.08097401e-04 -2.37326474e-04 9.99999966e-01 -3.72290349e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.06264 meters SLAMing on 0.09264000000000001 meters 0.9753874901015649 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999918e-01 2.53143318e-04 -3.17437241e-04 2.01696349e-03] [-2.53017638e-04 9.99999890e-01 3.95896948e-04 -2.59369171e-03] [ 3.17537425e-04 -3.95816598e-04 9.99999871e-01 -8.18393061e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12264000000000001 meters 0.954390968992837 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999833e-01 3.60962810e-04 -4.52258985e-04 2.87721905e-03] [-3.60697120e-04 9.99999762e-01 5.87417254e-04 -3.80128722e-03] [ 4.52470913e-04 -5.87254027e-04 9.99999725e-01 -1.16007980e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.15264000000000003 meters 0.9419790185259773 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999704e-01 6.02660276e-04 -4.78470707e-04 3.17923502e-03] [-6.02553627e-04 9.99999794e-01 2.23008854e-04 -8.04737348e-04] [ 4.78605007e-04 -2.22720484e-04 9.99999861e-01 -1.56064529e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18264000000000002 meters 0.948494760755906 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999768e-01 2.93504111e-04 -6.15242851e-04 3.99029972e-03] [-2.93751597e-04 9.99999876e-01 -4.02204706e-04 2.99415658e-03] [ 6.15124726e-04 4.02385341e-04 9.99999730e-01 -1.92841239e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.21264000000000002 meters 0.9117620481869497 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.01 [[ 9.99998200e-01 1.03553843e-03 -1.58965543e-03 1.27281381e-02] [-1.03625338e-03 9.99999362e-01 -4.48990008e-04 5.25700977e-03] [ 1.58918947e-03 4.50636486e-04 9.99998636e-01 -8.49281892e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24264000000000002 meters 0.8604218142274441 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.01 [[ 9.99998297e-01 8.23379627e-04 -1.65181973e-03 1.31059283e-02] [-8.24748628e-04 9.99999317e-01 -8.28273763e-04 7.57146155e-03] [ 1.65113662e-03 8.29634688e-04 9.99998293e-01 -8.67244435e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.27264 meters 0.8985859218677935 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.01 [[ 9.99998410e-01 5.26483568e-04 -1.70368902e-03 1.34522047e-02] [-5.28780143e-04 9.99998952e-01 -1.34783162e-03 1.07677220e-02] [ 1.70297762e-03 1.34873036e-03 9.99997640e-01 -8.85663191e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.30264 meters 0.9990610915339462 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.01 [[ 9.99998297e-01 3.01940614e-04 -1.82054627e-03 1.41863167e-02] [-3.05118912e-04 9.99998430e-01 -1.74576897e-03 1.32480782e-02] [ 1.82001629e-03 1.74632148e-03 9.99996819e-01 -9.15334756e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.33264 meters 0.9057362448633622 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.01 [[ 9.99998198e-01 2.76408068e-04 -1.87816465e-03 1.46088355e-02] [-2.79759884e-04 9.99998368e-01 -1.78459430e-03 1.34886189e-02] [ 1.87766831e-03 1.78511652e-03 9.99996644e-01 -9.40821453e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.36264 meters 0.8634940721539852 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.01 [[ 9.99998096e-01 2.21909714e-04 -1.93880443e-03 1.49864522e-02] [-2.25542914e-04 9.99998219e-01 -1.87392074e-03 1.40550755e-02] [ 1.93838514e-03 1.87435445e-03 9.99996365e-01 -9.56079521e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.39264 meters 0.8934738082528527 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.01 [[ 9.99997864e-01 1.60733911e-04 -2.06078839e-03 1.60687681e-02] [-1.64797928e-04 9.99998042e-01 -1.97205065e-03 1.46721957e-02] [ 2.06046738e-03 1.97238605e-03 9.99995932e-01 -1.03507568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42264 meters 0.8819542081054387 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.01 [[ 9.99997739e-01 1.54443269e-04 -2.12068586e-03 1.63659526e-02] [-1.58644944e-04 9.99998025e-01 -1.98125568e-03 1.47309726e-02] [ 2.12037568e-03 1.98158764e-03 9.99995789e-01 -1.03480474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45264 meters 0.8510320870106637 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.01 [[ 9.99997653e-01 6.31130574e-05 -2.16557021e-03 1.65664173e-02] [-6.77321584e-05 9.99997723e-01 -2.13296515e-03 1.56967052e-02] [ 2.16543066e-03 2.13310682e-03 9.99995380e-01 -1.03082352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48264 meters 0.8718754192762221 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.01 [[ 9.99997339e-01 -3.41231253e-04 -2.28175753e-03 1.76214340e-02] [ 3.34896136e-04 9.99996090e-01 -2.77622569e-03 1.99109415e-02] [ 2.28269594e-03 2.77545414e-03 9.99993543e-01 -1.10504198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.51264 meters 0.853690841912994 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.01 [[ 9.99997017e-01 -4.99858328e-04 -2.39086503e-03 1.82261895e-02] [ 4.92601028e-04 9.99995273e-01 -3.03505487e-03 2.15606118e-02] [ 2.39237083e-03 3.03386807e-03 9.99992536e-01 -1.11522430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.54264 meters 0.8776533678687132 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.01 [[ 9.99996621e-01 -6.59740443e-04 -2.51457637e-03 1.90426156e-02] [ 6.51428825e-04 9.99994327e-01 -3.30476213e-03 2.33514978e-02] [ 2.51674239e-03 3.30311289e-03 9.99991378e-01 -1.15371740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.57264 meters 0.85312744532188 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.01 [[ 9.99996254e-01 -8.78446499e-04 -2.59246089e-03 1.94919069e-02] [ 8.68962791e-04 9.99992935e-01 -3.65704968e-03 2.55985021e-02] [ 2.59565510e-03 3.65478323e-03 9.99989953e-01 -1.16268970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6026400000000001 meters 0.8521344149049299 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.01 [[ 0.99999572 -0.00116569 -0.00268495 0.01990627] [ 0.00115464 0.99999087 -0.00411335 0.0285322 ] [ 0.00268972 0.00411023 0.99998794 -0.01152344] [ 0. 0. 0. 1. ]] SLAMing on 0.63264 meters 0.8693289040770684 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.01 [[ 0.99999503 -0.00147785 -0.00278635 0.02044952] [ 0.00146498 0.99998828 -0.00461404 0.03173576] [ 0.00279314 0.00460993 0.99998547 -0.01155719] [ 0. 0. 0. 1. ]] SLAMing on 0.66264 meters 0.8470656317279901 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.01 [[ 0.99999447 -0.00161721 -0.00290477 0.02112958] [ 0.00160315 0.99998702 -0.00483549 0.03315453] [ 0.00291256 0.00483081 0.99998409 -0.01167987] [ 0. 0. 0. 1. ]] SLAMing on 0.69264 meters 0.8402690431021086 Centerline is valid? [False, False] Translation: X:0.02, Y:0.03, Z:-0.01 [[ 0.99999394 -0.00170588 -0.00303485 0.02212931] [ 0.00169076 0.99998619 -0.00497606 0.03404981] [ 0.0030433 0.0049709 0.99998301 -0.0121844 ] [ 0. 0. 0. 1. ]] SLAMing on 0.7226400000000001 meters 0.8371463174521097 Centerline is valid? [False, False] Translation: X:0.02, Y:0.04, Z:-0.01 [[ 0.99999334 -0.00188407 -0.00312601 0.02270244] [ 0.00186759 0.9999844 -0.00526487 0.03590341] [ 0.00313588 0.005259 0.99998125 -0.01233481] [ 0. 0. 0. 1. ]] SLAMing on 0.7526400000000001 meters 0.8583440156496449 Centerline is valid? [False, False] Translation: X:0.02, Y:0.04, Z:-0.01 [[ 0.99999227 -0.00217509 -0.00327576 0.02353738] [ 0.00215624 0.99998116 -0.00574687 0.03917423] [ 0.0032882 0.00573977 0.99997812 -0.01240167] [ 0. 0. 0. 1. ]] SLAMing on 0.78264 meters 0.8466713679417651 Centerline is valid? [False, False] Translation: X:0.02, Y:0.04, Z:-0.01 [[ 0.99999209 -0.00213959 -0.00335419 0.0239963 ] [ 0.00212048 0.99998156 -0.00569099 0.03884064] [ 0.00336631 0.00568384 0.99997818 -0.01238221] [ 0. 0. 0. 1. ]] SLAMing on 0.81264 meters 0.825536474811341 Centerline is valid? [False, False] Translation: X:0.02, Y:0.04, Z:-0.01 [[ 0.99999148 -0.00222816 -0.00347451 0.02457758] [ 0.00220788 0.99998056 -0.00583105 0.03980902] [ 0.00348744 0.00582333 0.99997696 -0.01227345] [ 0. 0. 0. 1. ]] SLAMing on 0.8426400000000001 meters 0.8379920630649124 Centerline is valid? [False, False] Translation: X:0.03, Y:0.04, Z:-0.01 [[ 9.99990470e-01 2.30648805e-03 -3.70673750e-03 2.60744741e-02] [-2.30970756e-03 9.99996959e-01 -8.64509398e-04 3.54770457e-02] [ 3.70473225e-03 8.73062639e-04 9.99992756e-01 -1.29075396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8726400000000001 meters 0.8115051914362563 Centerline is valid? [False, False] Translation: X:0.03, Y:0.04, Z:-0.01 [[ 0.99999037 0.00213954 -0.00383224 0.02678897] [-0.0021439 0.99999706 -0.00113475 0.03721876] [ 0.0038298 0.00114295 0.99999201 -0.01298997] [ 0. 0. 0. 1. ]] SLAMing on 0.90264 meters 0.8115051914362563 Centerline is valid? [False, False] Translation: X:0.03, Y:0.04, Z:-0.01 [[ 0.99999037 0.00213954 -0.00383224 0.02678897] [-0.0021439 0.99999706 -0.00113475 0.03721876] [ 0.0038298 0.00114295 0.99999201 -0.01298997] [ 0. 0. 0. 1. ]] SLAMing on 0.93264 meters 0.8282903756741918 Centerline is valid? [False, False] Translation: X:0.03, Y:0.04, Z:-0.01 [[ 0.9999904 0.00187857 -0.00395853 0.02740903] [-0.00188472 0.99999702 -0.00155031 0.03995646] [ 0.00395561 0.00155775 0.99999096 -0.01288009] [ 0. 0. 0. 1. ]] SLAMing on 0.96264 meters 0.8082979586307728 Centerline is valid? [False, False] Translation: X:0.03, Y:0.04, Z:-0.01 [[ 0.99999012 0.0018502 -0.00404217 0.02785451] [-0.00185666 0.999997 -0.00159603 0.04025609] [ 0.0040392 0.00160352 0.99999056 -0.01286279] [ 0. 0. 0. 1. ]] SLAMing on 0.9926400000000001 meters 0.8172781180844785 Centerline is valid? [False, False] Translation: X:0.03, Y:0.04, Z:-0.01 [[ 0.99998983 0.00182543 -0.00412429 0.02821494] [-0.00183219 0.99999699 -0.00163386 0.04049676] [ 0.00412129 0.0016414 0.99999016 -0.01270569] [ 0. 0. 0. 1. ]] SLAMing on 1.02264 meters 0.8079875854231733 Centerline is valid? [False, False] Translation: X:0.03, Y:0.04, Z:-0.01 [[ 0.99998937 0.00182827 -0.00423251 0.02867945] [-0.00183516 0.99999699 -0.00162588 0.04044814] [ 0.00422952 0.00163363 0.99998972 -0.01251606] [ 0. 0. 0. 1. ]] SLAMing on 1.05264 meters 0.8110375729055342 Centerline is valid? [False, False] Translation: X:0.03, Y:0.04, Z:-0.01 [[ 0.99998813 0.00202244 -0.00443292 0.03006852] [-0.00202767 0.99999725 -0.00117556 0.03739747] [ 0.00443053 0.00118454 0.99998948 -0.01309573] [ 0. 0. 0. 1. ]] SLAMing on 1.08264 meters 0.8115210198368872 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.01 [[ 9.99987131e-01 2.26361794e-03 -4.54016913e-03 3.08284844e-02] [-2.26706470e-03 9.99997146e-01 -7.54167303e-04 3.47152445e-02] [ 4.53844902e-03 7.64450455e-04 9.99989409e-01 -1.33414344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.11264 meters 0.8232115470266298 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.01 [[ 9.99985996e-01 2.45207239e-03 -4.68998649e-03 3.19093993e-02] [-2.45374800e-03 9.99996928e-01 -3.51554453e-04 3.20506370e-02] [ 4.68911005e-03 3.63057574e-04 9.99988940e-01 -1.38723207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.14264 meters 0.8272781018155566 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.01 [[ 9.99985237e-01 2.52358896e-03 -4.81228520e-03 3.26712540e-02] [-2.52473198e-03 9.99996786e-01 -2.31460232e-04 3.12795356e-02] [ 4.81168563e-03 2.43606545e-04 9.99988394e-01 -1.40369649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1726400000000001 meters 0.47721765021197626 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.01 [[ 9.99984247e-01 2.67956298e-03 -4.93204078e-03 3.35387242e-02] [-2.67944514e-03 9.99996410e-01 3.05004815e-05 2.96041171e-02] [ 4.93210480e-03 -1.72848684e-05 9.99987837e-01 -1.43740344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2026400000000002 meters 0.48557728057489374 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.02 [[ 9.99982921e-01 2.83691180e-03 -5.10973373e-03 3.49519552e-02] [-2.83542675e-03 9.99995936e-01 2.97851276e-04 2.78273076e-02] [ 5.11055794e-03 -2.83357914e-04 9.99986901e-01 -1.51239746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2326400000000002 meters 0.791721939107782 Centerline is valid? [False, False] Translation: X:0.04, Y:0.03, Z:-0.02 [[ 9.99982414e-01 2.72287346e-03 -5.26855528e-03 3.58569739e-02] [-2.72232664e-03 9.99996288e-01 1.10958286e-04 2.90363039e-02] [ 5.26883785e-03 -9.66136065e-05 9.99986115e-01 -1.52305103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.26264 meters 0.7989743688589103 Centerline is valid? [False, False] Translation: X:0.04, Y:0.03, Z:-0.02 [[ 9.99981798e-01 2.64628138e-03 -5.42234045e-03 3.66223651e-02] [-2.64640040e-03 9.99996498e-01 -1.47751907e-05 2.98350691e-02] [ 5.42228237e-03 2.91246057e-05 9.99985299e-01 -1.51273896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.29264 meters 0.8488778501502708 Centerline is valid? [False, False] Translation: X:0.04, Y:0.03, Z:-0.01 [[ 9.99980785e-01 2.76722105e-03 -5.54730286e-03 3.71402245e-02] [-2.76662544e-03 9.99996166e-01 1.15040675e-04 2.89268905e-02] [ 5.54759994e-03 -9.96911550e-05 9.99984607e-01 -1.47403893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.32264 meters 0.7779779745998723 Centerline is valid? [False, False] Translation: X:0.04, Y:0.03, Z:-0.01 [[ 9.99980783e-01 2.59891615e-03 -5.62839256e-03 3.74562168e-02] [-2.60002306e-03 9.99996602e-01 -1.89357564e-04 3.08252438e-02] [ 5.62788131e-03 2.03987876e-04 9.99984143e-01 -1.43763444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.35264 meters 0.49062964574241996 Centerline is valid? [False, False] Translation: X:0.04, Y:0.03, Z:-0.01 [[ 9.99980546e-01 2.42996173e-03 -5.74473380e-03 3.81099137e-02] [-2.43288022e-03 9.99996915e-01 -5.01094085e-04 3.27733215e-02] [ 5.74349844e-03 5.15060586e-04 9.99983373e-01 -1.42706181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.38264 meters 0.499704840185295 Centerline is valid? [False, False] Translation: X:0.04, Y:0.04, Z:-0.01 [[ 9.99979521e-01 2.43121319e-03 -5.91995788e-03 3.90217483e-02] [-2.43612988e-03 9.99996694e-01 -8.23459125e-04 3.51248569e-02] [ 5.91793630e-03 8.37864048e-04 9.99982138e-01 -1.42231188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4126400000000001 meters 0.49660487627542854 Centerline is valid? [False, False] Translation: X:0.04, Y:0.04, Z:-0.01 [[ 0.99997941 0.00224235 -0.00601289 0.03955964] [-0.00224931 0.99999681 -0.00115046 0.03723331] [ 0.00601029 0.00116396 0.99998126 -0.01422023] [ 0. 0. 0. 1. ]] SLAMing on 1.4426400000000001 meters 0.5069057241026141 Centerline is valid? [False, False] Translation: X:0.05, Y:0.04, Z:-0.02 [[ 0.99997255 0.00281503 -0.00685346 0.0483381 ] [-0.00282366 0.99999523 -0.00124921 0.04029869] [ 0.00684991 0.00126853 0.99997573 -0.02045429] [ 0. 0. 0. 1. ]] SLAMing on 1.4726400000000002 meters 0.4926307092272464 Centerline is valid? [False, False] Translation: X:0.05, Y:0.04, Z:-0.02 [[ 0.99997212 0.0027527 -0.00694085 0.04886234] [-0.00276214 0.99999527 -0.00135097 0.04096033] [ 0.0069371 0.0013701 0.999975 -0.02054689] [ 0. 0. 0. 1. ]] SLAMing on 1.5026400000000002 meters 0.5061799259179417 Centerline is valid? [False, False] Translation: X:0.05, Y:0.04, Z:-0.02 [[ 0.99997126 0.00281441 -0.00703985 0.04960459] [-0.00282326 0.99999524 -0.00124815 0.04029393] [ 0.0070363 0.00126798 0.99997444 -0.02082149] [ 0. 0. 0. 1. ]] SLAMing on 1.53264 meters 0.4649972099746201 Centerline is valid? [False, False] Translation: X:0.05, Y:0.04, Z:-0.02 [[ 0.99997052 0.00288485 -0.00711655 0.05004916] [-0.00289297 0.99999518 -0.00113079 0.03952322] [ 0.00711325 0.00115134 0.99997404 -0.02088622] [ 0. 0. 0. 1. ]] SLAMing on 1.56264 meters 0.954604686470457 Centerline is valid? [False, False] Translation: X:0.05, Y:0.04, Z:-0.02 [[ 9.99969104e-01 2.99114027e-03 -7.26934224e-03 5.10227442e-02] [-2.99806687e-03 9.99995062e-01 -9.42139574e-04 3.82797800e-02] [ 7.26648827e-03 9.63904440e-04 9.99973134e-01 -2.11031595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.59264 meters SLAMing on 1.62264 meters 0.95311627211291 Centerline is valid? [False, False] Translation: X:0.05, Y:0.04, Z:-0.02 [[ 9.99968213e-01 3.01964889e-03 -7.37929079e-03 5.16223924e-02] [-3.02615525e-03 9.99995042e-01 -8.70699448e-04 3.78283205e-02] [ 7.37662499e-03 8.93002651e-04 9.99972394e-01 -2.10839050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.65264 meters 1.180567807715318 Centerline is valid? [False, False] Translation: X:0.05, Y:0.04, Z:-0.02 [[ 9.99967497e-01 3.05672278e-03 -7.46071040e-03 5.19704889e-02] [-3.06282064e-03 9.99994985e-01 -8.06042055e-04 3.74077803e-02] [ 7.45820913e-03 8.28866674e-04 9.99971844e-01 -2.09480387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6826400000000001 meters 1.1724417858072649 Centerline is valid? [False, False] Translation: X:0.05, Y:0.04, Z:-0.02 [[ 9.99966614e-01 3.14313720e-03 -7.54269403e-03 5.24860281e-02] [-3.14819415e-03 9.99994828e-01 -6.58663999e-04 3.64515112e-02] [ 7.54058474e-03 6.82387874e-04 9.99971337e-01 -2.10395807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7126400000000002 meters 1.4928651291091997 Centerline is valid? [False, False] Translation: X:0.05, Y:0.03, Z:-0.02 [[ 9.99964818e-01 3.44321578e-03 -7.64902716e-03 5.32119003e-02] [-3.44404029e-03 9.99994065e-01 -9.46232759e-05 3.27204568e-02] [ 7.64865596e-03 1.20963505e-04 9.99970741e-01 -2.13311586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7426400000000002 meters 0.8673424523486613 Centerline is valid? [False, False] Translation: X:0.05, Y:0.03, Z:-0.02 [[ 9.99963426e-01 3.59774658e-03 -7.75906881e-03 5.39089379e-02] [-3.59651638e-03 9.99993518e-01 1.72496907e-04 3.09699431e-02] [ 7.75963911e-03 -1.44584980e-04 9.99969883e-01 -2.14839856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7726400000000002 meters 0.8932832556976952 Centerline is valid? [False, False] Translation: X:0.05, Y:0.03, Z:-0.02 [[ 9.99962601e-01 3.62266799e-03 -7.85316787e-03 5.45845363e-02] [-3.62109638e-03 9.99993421e-01 2.14334126e-04 3.07167328e-02] [ 7.85389266e-03 -1.85889032e-04 9.99969140e-01 -2.17115758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.80264 meters 0.4805885269858631 Centerline is valid? [False, False] Translation: X:0.05, Y:0.03, Z:-0.02 [[ 9.99962227e-01 3.52005261e-03 -7.94688897e-03 5.49515874e-02] [-3.51981452e-03 9.99993804e-01 4.39467263e-05 3.18345288e-02] [ 7.94699443e-03 -1.59734911e-05 9.99968422e-01 -2.14967020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.83264 meters 0.487372427336347 Centerline is valid? [False, False] Translation: X:0.06, Y:0.03, Z:-0.02 [[ 9.99962026e-01 3.39974152e-03 -8.02423097e-03 5.53901153e-02] [-3.40113334e-03 9.99994203e-01 -1.59812569e-04 3.31709626e-02] [ 8.02364113e-03 1.87097980e-04 9.99967793e-01 -2.15228201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.86264 meters 0.48378784057942653 Centerline is valid? [False, False] Translation: X:0.06, Y:0.03, Z:-0.02 [[ 9.99961705e-01 3.28505193e-03 -8.11156002e-03 5.57670486e-02] [-3.28801717e-03 9.99994532e-01 -3.52249483e-04 3.44117700e-02] [ 8.11035851e-03 3.78906943e-04 9.99967039e-01 -2.13829869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.89264 meters 0.5372718963177678 Centerline is valid? [False, False] Translation: X:0.06, Y:0.04, Z:-0.02 [[ 9.99961414e-01 3.17443904e-03 -8.19104973e-03 5.61122101e-02] [-3.17896099e-03 9.99994802e-01 -5.39099642e-04 3.56195823e-02] [ 8.18929582e-03 5.65117868e-04 9.99966307e-01 -2.11568570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9226400000000001 meters 0.5606188421251808 Centerline is valid? [False, False] Translation: X:0.06, Y:0.04, Z:-0.02 [[ 9.99960588e-01 3.19547899e-03 -8.28323027e-03 5.64612378e-02] [-3.19974493e-03 9.99994755e-01 -5.01808059e-04 3.53878416e-02] [ 8.28158331e-03 5.28292505e-04 9.99965568e-01 -2.08830656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9526400000000002 meters 0.5588691952920601 Centerline is valid? [False, False] Translation: X:0.06, Y:0.03, Z:-0.02 [[ 9.99959866e-01 3.25221490e-03 -8.34807925e-03 5.66700833e-02] [-3.25569651e-03 9.99994619e-01 -4.03499348e-04 3.47436175e-02] [ 8.34672206e-03 4.30661966e-04 9.99965073e-01 -2.06504255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9826400000000002 meters 0.5571850258471638 Centerline is valid? [False, False] Translation: X:0.06, Y:0.03, Z:-0.02 [[ 9.99959022e-01 3.26762219e-03 -8.44256115e-03 5.71411859e-02] [-3.27088249e-03 9.99994581e-01 -3.72396001e-04 3.45378717e-02] [ 8.44129855e-03 3.99995366e-04 9.99964292e-01 -2.05691528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.01264 meters 0.5453977048284724 Centerline is valid? [False, False] Translation: X:0.04, Y:0.04, Z:-0.03 [[ 9.99985351e-01 -1.16920528e-03 -5.28501296e-03 3.95268718e-02] [ 1.17182917e-03 9.99999192e-01 4.93407203e-04 3.70762110e-02] [ 5.28443179e-03 -4.99593108e-04 9.99985912e-01 -2.56492620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.04264 meters 0.5544200553830656 Centerline is valid? [False, False] Translation: X:0.04, Y:0.04, Z:-0.03 [[ 9.99984870e-01 -1.16289900e-03 -5.37649231e-03 4.00603559e-02] [ 1.16565494e-03 9.99999191e-01 5.09486849e-04 3.69699597e-02] [ 5.37589548e-03 -5.15746276e-04 9.99985417e-01 -2.57279046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0726400000000003 meters 0.5766789501368771 Centerline is valid? [False, False] Translation: X:0.04, Y:0.03, Z:-0.03 [[ 9.99984247e-01 -1.02273882e-03 -5.51906684e-03 4.08845081e-02] [ 1.02757246e-03 9.99999091e-01 8.73042577e-04 3.45616653e-02] [ 5.51816893e-03 -8.78700065e-04 9.99984389e-01 -2.58838076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.10264 meters 0.5806407722203291 Centerline is valid? [False, False] Translation: X:0.04, Y:0.03, Z:-0.03 [[ 9.99984001e-01 -7.70690740e-04 -5.60386804e-03 4.11951773e-02] [ 7.78338128e-04 9.99998769e-01 1.36260965e-03 3.14354226e-02] [ 5.60281099e-03 -1.36694955e-03 9.99983370e-01 -2.56329385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1326400000000003 meters 0.577612317199298 Centerline is valid? [False, False] Translation: X:0.04, Y:0.03, Z:-0.03 [[ 9.99983613e-01 -4.67009855e-04 -5.70571899e-03 4.17375037e-02] [ 4.78378486e-04 9.99997903e-01 1.99129530e-03 2.74255115e-02] [ 5.70477707e-03 -1.99399216e-03 9.99981740e-01 -2.56482323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.16264 meters 0.574166894891142 Centerline is valid? [False, False] Translation: X:0.03, Y:0.02, Z:-0.02 [[ 0.99998695 -0.00165582 -0.00483225 0.03489611] [ 0.00166549 0.99999661 0.00199942 0.02276235] [ 0.00482892 -0.00200744 0.99998633 -0.02086113] [ 0. 0. 0. 1. ]] SLAMing on 2.1926400000000004 meters 0.5651367631075219 Centerline is valid? [False, False] Translation: X:0.04, Y:0.02, Z:-0.02 [[ 0.99998684 -0.00146122 -0.00491783 0.03525591] [ 0.00147292 0.99999609 0.002376 0.02038108] [ 0.00491434 -0.00238321 0.99998508 -0.0207267 ] [ 0. 0. 0. 1. ]] SLAMing on 2.22264 meters 0.5930238958362707 Centerline is valid? [False, False] Translation: X:0.04, Y:0.02, Z:-0.02 [[ 0.99998674 -0.00124207 -0.00499807 0.03565654] [ 0.00125605 0.99999531 0.00279412 0.01772911] [ 0.00499457 -0.00280036 0.99998361 -0.02069421] [ 0. 0. 0. 1. ]] SLAMing on 2.25264 meters 0.5884953136406076 Centerline is valid? [False, False] Translation: X:0.04, Y:0.02, Z:-0.02 [[ 0.99998664 -0.00101644 -0.00506844 0.03620278] [ 0.00103274 0.9999943 0.00321519 0.01502131] [ 0.00506514 -0.00322038 0.99998199 -0.02103776] [ 0. 0. 0. 1. ]] SLAMing on 2.2826400000000002 meters 0.591307515702203 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:-0.02 [[ 0.99998628 -0.00100753 -0.00514133 0.03656303] [ 0.00102417 0.99999424 0.00323439 0.0149112 ] [ 0.00513804 -0.00323961 0.99998155 -0.02104449] [ 0. 0. 0. 1. ]] SLAMing on 2.31264 meters 0.5850240380265092 Centerline is valid? [False, False] Translation: X:0.04, Y:0.02, Z:-0.02 [[ 9.99986029e-01 -9.98426589e-04 -5.19081718e-03 3.69592200e-02] [ 1.01513938e-03 9.99994307e-01 3.21804593e-03 1.50623626e-02] [ 5.18757465e-03 -3.22327037e-03 9.99981350e-01 -2.12894193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3426400000000003 meters 0.6164221618989745 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.03 [[ 9.99983127e-01 -4.37177844e-04 -5.79260710e-03 4.53143656e-02] [ 4.57988098e-04 9.99993445e-01 3.59171478e-03 1.46136467e-02] [ 5.79099891e-03 -3.59430712e-03 9.99976772e-01 -2.80667602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.37264 meters 0.6141991508446654 Centerline is valid? [False, False] Translation: X:0.05, Y:0.02, Z:-0.03 [[ 9.99982731e-01 -4.83417594e-04 -5.85691216e-03 4.55682083e-02] [ 5.03907378e-04 9.99993757e-01 3.49742320e-03 1.52070148e-02] [ 5.85518488e-03 -3.50031415e-03 9.99976732e-01 -2.79506636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4026400000000003 meters 0.6121027455240791 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.03 [[ 0.99998841 0.00445675 -0.00181996 0.01905094] [-0.00445263 0.99998753 0.00226117 0.01322196] [ 0.00183001 -0.00225304 0.99999579 -0.02716271] [ 0. 0. 0. 1. ]] SLAMing on 2.43264 meters 0.6332726033250434 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.03 [[ 0.99998841 0.00443803 -0.00186752 0.0193041 ] [-0.00443388 0.9999877 0.00222482 0.01345039] [ 0.00187737 -0.00221651 0.99999578 -0.02719718] [ 0. 0. 0. 1. ]] SLAMing on 2.4626400000000004 meters 0.6366730597595115 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.03 [[ 0.99998848 0.0043914 -0.0019397 0.01960614] [-0.00438726 0.9999881 0.0021313 0.01403655] [ 0.00194903 -0.00212276 0.99999585 -0.02711908] [ 0. 0. 0. 1. ]] SLAMing on 2.49264 meters 0.6504239509673436 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.03 [[ 0.99998864 0.00433389 -0.00198281 0.01976947] [-0.0043299 0.9999886 0.00201337 0.01477628] [ 0.00199151 -0.00200476 0.99999601 -0.02704943] [ 0. 0. 0. 1. ]] SLAMing on 2.52264 meters 0.6737629855003346 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:-0.03 [[ 0.99998871 0.00429355 -0.002038 0.01977621] [-0.00428962 0.99998894 0.00193024 0.01531109] [ 0.00204627 -0.00192147 0.99999606 -0.02653128] [ 0. 0. 0. 1. ]] SLAMing on 2.5526400000000002 meters 0.6717732954747053 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.03 [[ 0.99998841 0.00433724 -0.00208946 0.01996275] [-0.00433302 0.99998857 0.00202218 0.01475068] [ 0.0020982 -0.00201311 0.99999577 -0.02642118] [ 0. 0. 0. 1. ]] SLAMing on 2.58264 meters 0.6888179073638031 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.03 [[ 0.9999881 0.00437885 -0.00215237 0.02025115] [-0.00437431 0.99998821 0.00211 0.01421475] [ 0.00216158 -0.00210056 0.99999546 -0.02641007] [ 0. 0. 0. 1. ]] SLAMing on 2.6126400000000003 meters 0.7033296924119483 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.03 [[ 0.99998748 0.0044747 -0.00223908 0.02047482] [-0.00446954 0.99998736 0.00230494 0.01301259] [ 0.00224936 -0.0022949 0.99999484 -0.02605717] [ 0. 0. 0. 1. ]] SLAMing on 2.64264 meters 0.6970702208045003 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.03 [[ 0.99998725 0.00449916 -0.00229144 0.02060297] [-0.00449375 0.99998712 0.00235889 0.01269225] [ 0.00230203 -0.00234856 0.99999459 -0.02581951] [ 0. 0. 0. 1. ]] SLAMing on 2.6726400000000003 meters 0.7228463616864955 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.03 [[ 0.99998636 0.00465341 -0.00237091 0.02088114] [-0.00464697 0.99998552 0.00271297 0.01054967] [ 0.0023835 -0.00270191 0.99999351 -0.02558941] [ 0. 0. 0. 1. ]] SLAMing on 2.70264 meters 0.7073005021818437 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.02 [[ 0.9999932 0.00328858 -0.00166614 0.0149077 ] [-0.00328538 0.99999276 0.00191856 0.00936872] [ 0.00167244 -0.00191307 0.99999677 -0.02101962] [ 0. 0. 0. 1. ]] SLAMing on 2.7326400000000004 meters 1.0403528023518804 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.02 [[ 9.99997950e-01 1.82598274e-03 -8.74719505e-04 8.66681613e-03] [-1.82496161e-03 9.99997654e-01 1.16675636e-03 7.56049363e-03] [ 8.76847930e-04 -1.16515764e-03 9.99998937e-01 -1.63518166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.76264 meters 1.0544315276253025 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.01 [[ 9.99999945e-01 3.31641502e-04 -4.55281590e-06 2.08159323e-03] [-3.31638349e-04 9.99999717e-01 6.76026536e-04 4.06010186e-03] [ 4.77701306e-06 -6.76024989e-04 9.99999771e-01 -1.14223219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.79264 meters 1.0607850116717146 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.01 [[ 9.99999908e-01 4.22822335e-04 -7.82488246e-05 2.37644849e-03] [-4.22752980e-04 9.99999520e-01 8.84234988e-04 2.84252231e-03] [ 7.86226613e-05 -8.84201827e-04 9.99999606e-01 -1.13630559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8226400000000003 meters 1.062466239090894 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.02 [[ 9.99999877e-01 3.20251487e-04 -3.79154947e-04 1.01196014e-02] [-3.19918722e-04 9.99999564e-01 8.77386018e-04 2.03924261e-03] [ 3.79435766e-04 -8.77264611e-04 9.99999543e-01 -1.88693236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.85264 meters 1.062466239090894 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.02 [[ 9.99999877e-01 3.20251487e-04 -3.79154947e-04 1.01196014e-02] [-3.19918722e-04 9.99999564e-01 8.77386018e-04 2.03924261e-03] [ 3.79435766e-04 -8.77264611e-04 9.99999543e-01 -1.88693236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8826400000000003 meters 1.067392227057126 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.02 [[ 9.99999810e-01 4.02348109e-04 -4.66007575e-04 1.04467355e-02] [-4.01858097e-04 9.99999367e-01 1.05112787e-03 9.97104688e-04] [ 4.66430199e-04 -1.05094040e-03 9.99999339e-01 -1.87689795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.91264 meters 1.0891040275196238 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.02 [[ 9.99999792e-01 3.75952493e-04 -5.23959267e-04 1.05903684e-02] [-3.75433079e-04 9.99999438e-01 9.91071886e-04 1.34685267e-03] [ 5.24331568e-04 -9.90874968e-04 9.99999372e-01 -1.85369934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9426400000000004 meters 1.0714831578181054 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.02 [[ 9.99999761e-01 3.20658359e-04 -6.12516963e-04 1.09446949e-02] [-3.20132315e-04 9.99999580e-01 8.58728867e-04 2.10923405e-03] [ 6.12792064e-04 -8.58532575e-04 9.99999444e-01 -1.84995461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.97264 meters 1.0745297497923447 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.01 [[ 9.99998092e-01 1.94783485e-03 1.44884763e-04 4.97293326e-03] [-1.94814451e-03 9.99995751e-01 2.16875734e-03 6.18582666e-04] [-1.40659766e-04 -2.16903546e-03 9.99997638e-01 -1.38643488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0026400000000004 meters 1.0794085026487816 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.01 [[ 9.99998042e-01 1.97689121e-03 8.54031364e-05 5.16589159e-03] [-1.97707758e-03 9.99995536e-01 2.24022859e-03 2.16442318e-04] [-8.09740670e-05 -2.24039305e-03 9.99997487e-01 -1.37435169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0326400000000002 meters 1.1084389859153143 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.01 [[ 9.99998101e-01 1.94805928e-03 4.82455916e-05 5.30775022e-03] [-1.94815963e-03 9.99995736e-01 2.17546180e-03 6.07102265e-04] [-4.40074573e-05 -2.17555166e-03 9.99997633e-01 -1.37272123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.06264 meters 1.0879563136889356 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.01 [[ 9.99998265e-01 1.86278815e-03 5.23117403e-06 5.42446447e-03] [-1.86279484e-03 9.99996315e-01 1.97497673e-03 1.73546184e-03] [-1.55219152e-06 -1.97498304e-03 9.99998050e-01 -1.36042557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0926400000000003 meters 1.0868730382080978 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.01 [[ 9.99998407e-01 1.78418588e-03 -4.96082531e-05 5.57160195e-03] [-1.78409427e-03 9.99996808e-01 1.78908316e-03 2.77453728e-03] [ 5.28001517e-05 -1.78899180e-03 9.99998398e-01 -1.34453295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.12264 meters 1.091755988263288 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.01 [[ 9.99998435e-01 1.76623648e-03 -1.01009238e-04 5.71484076e-03] [-1.76605727e-03 9.99996913e-01 1.74758646e-03 3.00744563e-03] [ 1.04095577e-04 -1.74740534e-03 9.99998468e-01 -1.33017909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1526400000000003 meters 1.0962632563618844 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.01 [[ 9.99999832e-01 3.04824522e-04 4.93058293e-04 2.05723752e-04] [-3.05088940e-04 9.99999810e-01 5.36293273e-04 3.34325169e-03] [-4.92894724e-04 -5.36443609e-04 9.99999735e-01 -8.51089269e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.18264 meters 1.09714859752103 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.01 [[ 9.99999846e-01 3.61682893e-04 4.21701153e-04 4.04448037e-04] [-3.61970221e-04 9.99999702e-01 6.81477599e-04 2.55174300e-03] [-4.21454549e-04 -6.81630137e-04 9.99999679e-01 -8.31641501e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2126400000000004 meters 1.106297452583174 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.01 [[ 9.99999840e-01 4.66586602e-04 3.19872591e-04 6.48644250e-04] [-4.66886441e-04 9.99999451e-01 9.37939966e-04 1.12437032e-03] [-3.19434785e-04 -9.38089160e-04 9.99999509e-01 -7.95553661e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.24264 meters 1.094597784660219 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.01 [[ 9.99999835e-01 5.06204366e-04 2.69769770e-04 7.63724270e-04] [-5.06483943e-04 9.99999334e-01 1.03729415e-03 5.85023076e-04] [-2.69244508e-04 -1.03743061e-03 9.99999426e-01 -7.77069082e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2726400000000004 meters 0.7754528458942335 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.01 [[ 9.99999852e-01 5.05888066e-04 2.00479869e-04 1.01678294e-03] [-5.06095663e-04 9.99999334e-01 1.03680400e-03 5.86422558e-04] [-1.99955229e-04 -1.03690531e-03 9.99999442e-01 -7.73621342e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3026400000000002 meters 0.7770823376394119 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.01 [[ 9.99999883e-01 4.68059433e-04 1.21854909e-04 1.17533171e-03] [-4.68173937e-04 9.99999447e-01 9.41351012e-04 1.11473551e-03] [-1.21414234e-04 -9.41407951e-04 9.99999550e-01 -7.41884114e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.33264 meters 0.7829533121490347 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.01 [[ 9.99999873e-01 5.01967882e-04 4.84360440e-05 1.34535709e-03] [-5.02017592e-04 9.99999342e-01 1.03180452e-03 6.38111557e-04] [-4.79180794e-05 -1.03182870e-03 9.99999467e-01 -7.16595288e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3626400000000003 meters 0.7805259282235305 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.00, Z:-0.00 [[ 0.99999804 -0.00161933 0.00113484 -0.00532684] [ 0.00162066 0.99999799 -0.00117758 0.00141697] [-0.00113294 0.00117942 0.99999866 -0.0022809 ] [ 0. 0. 0. 1. ]] SLAMing on 3.39264 meters 0.7743969177305953 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.00, Z:0.00 [[ 0.99999039 -0.00375225 0.00226935 -0.01206499] [ 0.00375991 0.99998722 -0.0033799 0.00213479] [-0.00225664 0.0033884 0.99999171 0.00262319] [ 0. 0. 0. 1. ]] SLAMing on 3.4226400000000003 meters 0.7758375939083728 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.00, Z:0.00 [[ 9.99991196e-01 -3.60981202e-03 2.13944622e-03 -1.16655015e-02] [ 3.61604032e-03 9.99989215e-01 -2.91449137e-03 -2.53515818e-04] [-2.12890238e-03 2.92220204e-03 9.99993464e-01 2.68923688e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.45264 meters 0.7808738164952007 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.00, Z:0.00 [[ 0.9999917 -0.00350604 0.00207689 -0.01139175] [ 0.00351147 0.99999041 -0.00261549 -0.00179517] [-0.0020677 0.00262276 0.99999442 0.00254587] [ 0. 0. 0. 1. ]] SLAMing on 3.4826400000000004 meters 0.7878996606213218 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.01, Z:0.00 [[ 0.99999285 -0.0032358 0.00195941 -0.01106968] [ 0.00323928 0.99999318 -0.00177463 -0.0061409 ] [-0.00195365 0.00178096 0.99999651 0.00274848] [ 0. 0. 0. 1. ]] SLAMing on 3.51264 meters 0.7833575388917228 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.01, Z:0.01 [[ 0.99998141 -0.00528451 0.00304055 -0.01763237] [ 0.00529646 0.99997822 -0.00393736 -0.00574917] [-0.00301968 0.00395339 0.99998763 0.00778541] [ 0. 0. 0. 1. ]] SLAMing on 3.5426400000000005 meters 0.7867321238732989 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.01, Z:0.01 [[ 9.99995447e-01 -7.26657975e-04 2.92878231e-03 -1.74064727e-02] [ 7.22624279e-04 9.99998789e-01 1.37808341e-03 -1.06570357e-02] [-2.92978016e-03 -1.37596073e-03 9.99994762e-01 8.06534173e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5726400000000003 meters 0.7890560880681514 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.01, Z:0.01 [[ 9.99995892e-01 -5.50346861e-04 2.81315044e-03 -1.73019055e-02] [ 5.45207304e-04 9.99998182e-01 1.82741611e-03 -1.29805661e-02] [-2.81415104e-03 -1.82587486e-03 9.99994373e-01 8.75646852e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.60264 meters 0.7689410072817966 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.01, Z:0.01 [[ 9.99989446e-01 -2.52659441e-03 3.83717719e-03 -2.34693715e-02] [ 2.52804263e-03 9.99996735e-01 -3.72615071e-04 -1.19125362e-02] [-3.83622321e-03 3.82311686e-04 9.99992569e-01 1.35592197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6326400000000003 meters 0.7747326244785264 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.01, Z:0.01 [[ 9.99990220e-01 -2.31470329e-03 3.76854203e-03 -2.33328366e-02] [ 2.31403196e-03 9.99997306e-01 1.82489353e-04 -1.47373714e-02] [-3.76895429e-03 -1.73767041e-04 9.99992882e-01 1.38036296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.66264 meters 0.7800868294484219 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.02, Z:0.01 [[ 9.99990509e-01 -2.24802409e-03 3.73193707e-03 -2.32279810e-02] [ 2.24671119e-03 9.99997413e-01 3.55954486e-04 -1.56101646e-02] [-3.73272761e-03 -3.47566523e-04 9.99992973e-01 1.38556892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6926400000000004 meters 0.7753441628832521 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.02, Z:0.01 [[ 9.99990767e-01 -2.17456845e-03 3.70638257e-03 -2.31780293e-02] [ 2.17254732e-03 9.99997489e-01 5.49248173e-04 -1.65784987e-02] [-3.70756764e-03 -5.41190810e-04 9.99992981e-01 1.39445291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.72264 meters 0.7587043300607874 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.02, Z:0.02 [[ 0.99997999 -0.00418745 0.0047418 -0.02956823] [ 0.004195 0.99998995 -0.00158355 -0.01648875] [-0.00473512 0.00160341 0.9999875 0.01894539] [ 0. 0. 0. 1. ]] SLAMing on 3.7526400000000004 meters 0.7834541912045572 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:0.02 [[ 0.99998538 -0.00497699 0.00211321 0.01882086] [ 0.00498014 0.9999865 -0.0014852 -0.02304376] [-0.00210579 0.0014957 0.99999666 0.01745309] [ 0. 0. 0. 1. ]] SLAMing on 3.7826400000000002 meters 0.7373562807380892 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.03, Z:0.02 [[ 9.99971124e-01 -5.30748906e-03 5.43882064e-03 -3.16472170e-02] [ 5.31267770e-03 9.99985446e-01 -9.39998249e-04 -2.53432079e-02] [-5.43375245e-03 9.68865807e-04 9.99984768e-01 2.08934909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8126400000000005 meters 0.7536381748439039 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.03, Z:0.02 [[ 0.99997945 -0.00127058 0.00628341 -0.01318931] [ 0.00131694 0.99997191 -0.00737877 -0.02666703] [-0.00627386 0.00738689 0.99995304 0.02328629] [ 0. 0. 0. 1. ]] SLAMing on 3.8426400000000003 meters 0.7304111521519614 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.03, Z:0.03 [[ 0.99996732 -0.00330209 0.00737986 -0.01985463] [ 0.00336936 0.99995272 -0.00912169 -0.02924985] [-0.00734939 0.00914626 0.99993116 0.02868524] [ 0. 0. 0. 1. ]] SLAMing on 3.87264 meters 0.7251174442547701 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.04, Z:0.03 [[ 0.99997222 0.0013263 0.00733465 -0.01985413] [-0.00130125 0.99999331 -0.00341898 -0.03555513] [-0.00733913 0.00340934 0.99996726 0.02903043] [ 0. 0. 0. 1. ]] SLAMing on 3.9026400000000003 meters 0.7240002069038937 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.04, Z:0.03 [[ 0.99997209 0.00155766 0.00730706 -0.0198008 ] [-0.00153762 0.99999505 -0.00274669 -0.03877814] [-0.00731131 0.00273537 0.99996953 0.02908692] [ 0. 0. 0. 1. ]] SLAMing on 3.93264 meters 0.7310634362216685 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.05, Z:0.03 [[ 0.99997159 0.00204971 0.00725445 -0.01992065] [-0.0020408 0.99999715 -0.00123555 -0.04599113] [-0.00725696 0.00122071 0.99997292 0.02976371] [ 0. 0. 0. 1. ]] SLAMing on 3.9626400000000004 meters 0.7024838300394703 Centerline is valid? [False, False] Translation: X:-0.03, Y:-0.05, Z:0.04 [[ 9.99965579e-01 5.11563580e-05 8.29690099e-03 -2.64272871e-02] [-2.53893813e-05 9.99995177e-01 -3.10569018e-03 -4.79026039e-02] [-8.29701985e-03 3.10537263e-03 9.99960757e-01 3.50174471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.99264 meters 0.7208359749348668 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.06, Z:0.04 [[ 9.99975010e-01 1.06760396e-03 6.98857079e-03 1.81028354e-02] [-1.06175404e-03 9.99999083e-01 -8.40726706e-04 -5.89516710e-02] [-6.98946194e-03 8.33285553e-04 9.99975226e-01 3.54282776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.022640000000001 meters 0.7008261724124548 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:0.04 [[ 9.99968063e-01 -9.44052339e-04 7.93605435e-03 1.19977684e-02] [ 9.67350619e-04 9.99995233e-01 -2.93242536e-03 -5.91083389e-02] [-7.93324816e-03 2.94000865e-03 9.99964209e-01 4.05465714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.052640000000001 meters 0.6976450663389318 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:0.04 [[ 9.99968922e-01 -7.72828633e-04 7.84582494e-03 1.21606464e-02] [ 7.92233952e-04 9.99996634e-01 -2.47052398e-03 -6.13112331e-02] [-7.84388924e-03 2.47666293e-03 9.99966169e-01 4.08002863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0826400000000005 meters 0.6933169062350816 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:0.04 [[ 9.99969542e-01 -6.21184209e-04 7.78004334e-03 1.22672170e-02] [ 6.37209380e-04 9.99997680e-01 -2.05746977e-03 -6.32695405e-02] [-7.77874722e-03 2.06236462e-03 9.99967618e-01 4.10036264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.112640000000001 meters 0.6862416396173949 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:0.04 [[ 9.99970879e-01 -3.65964131e-04 7.62279317e-03 1.25553945e-02] [ 3.76032357e-04 9.99999059e-01 -1.31941399e-03 -6.66630282e-02] [-7.62230313e-03 1.32224199e-03 9.99970076e-01 4.13490597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.142640000000001 meters 0.6759968247379695 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:0.05 [[ 0.99995993 0.00176325 0.0087762 0.0060604 ] [-0.00177413 0.99999767 0.00123222 -0.07028836] [-0.00877401 -0.00124774 0.99996073 0.04631366] [ 0. 0. 0. 1. ]] SLAMing on 4.17264 meters 0.575053105656166 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.07, Z:0.05 [[ 0.99993811 0.00174052 0.01098885 -0.00506388] [-0.00175671 0.99999739 0.00146335 -0.07185491] [-0.01098627 -0.00148256 0.99993855 0.05432093] [ 0. 0. 0. 1. ]] SLAMing on 4.202640000000001 meters 0.5810186829173996 Centerline is valid? [False, False] Translation: X:-0.01, Y:-0.08, Z:0.06 [[ 0.99993883 0.00199694 0.01087893 -0.00505125] [-0.00202088 0.99999556 0.00218966 -0.07522305] [-0.01087451 -0.00221151 0.99993843 0.05511596] [ 0. 0. 0. 1. ]] SLAMing on 4.232640000000001 meters 0.5551963222336402 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.07, Z:0.06 [[ 0.99995238 0.00608569 0.00762894 -0.02318448] [-0.00605683 0.99997444 -0.00380031 -0.07476349] [-0.00765187 0.00375392 0.99996368 0.0551808 ] [ 0. 0. 0. 1. ]] SLAMing on 4.262640000000001 meters 0.5795737018384434 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.08, Z:0.06 [[ 0.99995174 0.00624362 0.00758556 -0.02309216] [-0.00621829 0.99997503 -0.00335837 -0.07680822] [-0.00760634 0.00331104 0.99996559 0.05521032] [ 0. 0. 0. 1. ]] SLAMing on 4.2926400000000005 meters 0.6303192852568504 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.08, Z:0.06 [[ 9.99996211e-01 2.63814596e-03 -7.85717596e-04 -2.46934353e-02] [-2.63047390e-03 9.99950359e-01 9.61040566e-03 -8.43078967e-02] [ 8.11032245e-04 -9.60830244e-03 9.99953510e-01 6.08922068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.322640000000001 meters 0.24897073752593807 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.08, Z:0.06 [[ 9.99997984e-01 -1.79919021e-03 -8.92088384e-04 -2.44105965e-02] [ 1.80358985e-03 9.99986093e-01 4.95580808e-03 -8.28978509e-02] [ 8.83159536e-04 -4.95740705e-03 9.99987322e-01 6.08846428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.352640000000001 meters 0.19078278455905387 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.08, Z:0.06 [[ 9.99981183e-01 -6.06356209e-03 -9.30758350e-04 -2.43084074e-02] [ 6.06435456e-03 9.99981250e-01 8.50972393e-04 -8.39506923e-02] [ 9.25580973e-04 -8.56600829e-04 9.99999205e-01 6.10133146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.382640000000001 meters 0.34459312500317407 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.09, Z:0.06 [[ 0.99998941 -0.00414004 -0.00201227 -0.01920485] [ 0.00414667 0.99998595 0.00330367 -0.08951615] [ 0.00199857 -0.00331198 0.99999252 0.05779466] [ 0. 0. 0. 1. ]] SLAMing on 4.412640000000001 meters 0.2218854670169929 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.09, Z:0.06 [[ 9.99999775e-01 7.95291659e-05 -6.66421996e-04 -1.03487692e-03] [-8.16425037e-05 9.99994967e-01 -3.17174356e-03 -9.12505615e-02] [ 6.66166396e-04 3.17179725e-03 9.99994748e-01 5.95695399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.442640000000001 meters 0.16238125312199111 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.10, Z:0.06 [[ 0.99998276 -0.00263709 -0.00524582 -0.02057343] [ 0.00266538 0.9999819 0.00539474 -0.10005291] [ 0.0052315 -0.00540863 0.99997169 0.06324247] [ 0. 0. 0. 1. ]] SLAMing on 4.472640000000001 meters 0.28534728160369877 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.10, Z:0.06 [[ 0.99998313 -0.00242517 -0.00527803 -0.0206035 ] [ 0.00245653 0.99997933 0.00594191 -0.10256866] [ 0.00526351 -0.00595478 0.99996842 0.06356165] [ 0. 0. 0. 1. ]] SLAMing on 4.50264 meters 0.29484835558110223 Centerline is valid? [False, False] Translation: X:-0.02, Y:-0.10, Z:0.06 [[ 0.99998315 -0.00227699 -0.00534064 -0.02058698] [ 0.00231074 0.99997734 0.00632235 -0.10431225] [ 0.00532612 -0.00633458 0.99996575 0.06397891] [ 0. 0. 0. 1. ]] SLAMing on 4.532640000000001 meters 0.3161910283640416 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.10, Z:0.06 [[ 9.99999306e-01 -5.60349983e-04 1.03670044e-03 -4.36012198e-02] [ 5.60147048e-04 9.99999824e-01 1.96030770e-04 -1.02379142e-01] [-1.03681011e-03 -1.95449930e-04 9.99999443e-01 5.93254563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.562640000000001 meters 0.33695261914828323 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.10, Z:0.06 [[ 9.99999304e-01 -6.47248039e-04 9.86330814e-04 -4.34770475e-02] [ 6.47314865e-04 9.99999788e-01 -6.74342822e-05 -1.01201839e-01] [-9.86286959e-04 6.80727018e-05 9.99999511e-01 5.93603021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.592640000000001 meters 0.28560569132373836 Centerline is valid? [False, False] Translation: X:-0.04, Y:-0.10, Z:0.05 [[ 9.99998635e-01 1.65091894e-03 -7.22936942e-05 -3.68061771e-02] [-1.65076277e-03 9.99996413e-01 2.10946515e-03 -1.00800604e-01] [ 7.57759909e-05 -2.10934293e-03 9.99997772e-01 5.43148954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6226400000000005 meters 0.05846993642456572 Centerline is valid? [False, True] Translation: X:-0.04, Y:-0.10, Z:0.05 [[ 9.99998899e-01 1.47675475e-03 -1.46741288e-04 -3.66059797e-02] [-1.47652226e-03 9.99997674e-01 1.57200811e-03 -9.84058066e-02] [ 1.49062417e-04 -1.57178971e-03 9.99998754e-01 5.43240308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.652640000000001 meters 0.059846224487227956 Centerline is valid? [True, True] Translation: X:-0.01, Y:-0.08, Z:0.06 [[ 9.99961835e-01 8.50144746e-03 2.01327954e-03 -6.03853821e-03] [-8.50149635e-03 9.99963862e-01 1.57278093e-05 -7.70311275e-02] [-2.01307308e-03 -3.28430978e-05 9.99997973e-01 5.79927731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.682640000000001 meters 0.41587623403622825 Centerline is valid? [True, False] Translation: X:-0.01, Y:-0.07, Z:0.06 [[ 9.99963318e-01 8.33692471e-03 1.96413503e-03 -5.86060936e-03] [-8.33598696e-03 9.99965137e-01 -4.85141106e-04 -7.48024456e-02] [-1.96811114e-03 4.68750307e-04 9.99997953e-01 5.78913377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.71264 meters 0.057358722703966074 Centerline is valid? [False, True] Translation: X:-0.01, Y:-0.07, Z:0.06 [[ 0.99996612 0.00799666 0.00195276 -0.00576975] [-0.00799342 0.99996667 -0.00166378 -0.06967322] [-0.001966 0.00164812 0.99999671 0.05776208] [ 0. 0. 0. 1. ]] SLAMing on 4.742640000000001 meters 0.057358722703966074 Centerline is valid? [True, True] Translation: X:0.03, Y:-0.07, Z:0.06 [[ 9.99965616e-01 8.06629914e-03 1.92408008e-03 2.59292307e-02] [-8.06638855e-03 9.99967465e-01 3.87143789e-05 -7.03781999e-02] [-1.92370520e-03 -5.42334253e-05 9.99998148e-01 5.65070458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.772640000000001 meters 0.05155441859290325 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.07, Z:0.06 [[ 9.99939676e-01 1.05281777e-02 3.13074503e-03 5.86066337e-02] [-1.05284128e-02 9.99944573e-01 5.86239612e-05 -6.67915047e-02] [-3.12995430e-03 -9.15822010e-05 9.99995097e-01 6.46943969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.802640000000001 meters 0.0560693171697748 Centerline is valid? [True, True] Translation: X:0.09, Y:-0.06, Z:0.06 [[ 9.99928766e-01 1.17474662e-02 2.11197583e-03 8.96016270e-02] [-1.17475788e-02 9.99930994e-01 4.09101425e-05 -5.87336088e-02] [-2.11134950e-03 -6.57178307e-05 9.99997769e-01 5.97611023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8326400000000005 meters 0.050277726564888076 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.05, Z:0.06 [[ 9.99923735e-01 1.19091133e-02 3.27074323e-03 1.21647672e-01] [-1.19093734e-02 9.99929079e-01 6.00488548e-05 -5.46476969e-02] [-3.26979613e-03 -9.89967774e-05 9.99994649e-01 6.17710409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.862640000000001 meters 0.047025155050993625 Centerline is valid? [True, True] Translation: X:0.15, Y:-0.06, Z:0.06 [[ 9.99941668e-01 1.02164055e-02 3.50516750e-03 1.53513659e-01] [-1.02166732e-02 9.99947807e-01 5.84935017e-05 -5.68705923e-02] [-3.50438696e-03 -9.43012406e-05 9.99993855e-01 6.37478400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.892640000000001 meters 0.03842660750356224 Centerline is valid? [True, True] Translation: X:0.18, Y:-0.06, Z:0.07 [[ 9.99968168e-01 5.61892120e-03 5.66489241e-03 1.84780763e-01] [-5.61953335e-03 9.99984206e-01 9.21484845e-05 -6.18378395e-02] [-5.66428516e-03 -1.23979603e-04 9.99983950e-01 6.95966637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.922640000000001 meters 0.037373222140057144 Centerline is valid? [True, True] Translation: X:0.22, Y:-0.06, Z:0.07 [[ 9.99973476e-01 2.79759545e-03 6.72466269e-03 2.15530932e-01] [-2.79840011e-03 9.99996078e-01 1.10250721e-04 -6.19356437e-02] [-6.72432788e-03 -1.29066094e-04 9.99977383e-01 6.68629756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.952640000000001 meters 0.03458175794710831 Centerline is valid? [True, True] Translation: X:0.25, Y:-0.06, Z:0.07 [[ 9.99970429e-01 1.13340717e-04 7.68942707e-03 2.47075431e-01] [-1.14310868e-04 9.99999986e-01 1.25727487e-04 -6.37011898e-02] [-7.68941271e-03 -1.26602755e-04 9.99970428e-01 6.73480064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.982640000000001 meters 0.03288117596444901 Centerline is valid? [True, True] Translation: X:0.28, Y:-0.07, Z:0.07 [[ 9.99965942e-01 -2.22424792e-03 7.94785356e-03 2.78905370e-01] [ 2.22324742e-03 9.99997520e-01 1.34716796e-04 -6.50499378e-02] [-7.94813349e-03 -1.17042163e-04 9.99968406e-01 6.66020762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.012640000000001 meters 0.035825899534159246 Centerline is valid? [True, True] Translation: X:0.31, Y:-0.07, Z:0.06 [[ 9.99961907e-01 -4.06720759e-03 -7.72285830e-03 3.06506741e-01] [ 4.06499002e-03 9.99991692e-01 -3.02819676e-04 -6.86668459e-02] [ 7.72402577e-03 2.71414799e-04 9.99970132e-01 6.42168770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0426400000000005 meters 0.02859681792891295 Centerline is valid? [True, True] Translation: X:0.34, Y:-0.07, Z:0.06 [[ 9.99935448e-01 -8.07031266e-03 7.99816402e-03 3.39739864e-01] [ 8.06699474e-03 9.99967361e-01 4.47009890e-04 -6.88056890e-02] [-8.00151048e-03 -3.82459888e-04 9.99967914e-01 6.23592178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.072640000000001 meters 0.02814745869382315 Centerline is valid? [True, True] Translation: X:0.37, Y:-0.07, Z:0.06 [[ 9.99925720e-01 -9.06706802e-03 8.14507459e-03 3.71990877e-01] [ 9.06629453e-03 9.99958892e-01 1.31883198e-04 -6.96563443e-02] [-8.14593555e-03 -5.80277562e-05 9.99966820e-01 6.09387238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.102640000000001 meters 0.02637621017149638 Centerline is valid? [True, True] Translation: X:0.40, Y:-0.07, Z:0.06 [[ 9.99928433e-01 -8.62132050e-03 8.29466931e-03 4.03915719e-01] [ 8.62050592e-03 9.99962834e-01 1.33952771e-04 -6.76902570e-02] [-8.29551588e-03 -6.24389386e-05 9.99965590e-01 6.46735397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.132640000000001 meters 0.035400326305202 Centerline is valid? [True, True] Translation: X:0.43, Y:-0.06, Z:0.06 [[ 0.99995627 -0.00508744 -0.00784678 0.43157053] [ 0.00506986 0.9999846 -0.00225894 -0.06120533] [ 0.00785815 0.00221906 0.99996666 0.05984958] [ 0. 0. 0. 1. ]] SLAMing on 5.162640000000001 meters 0.04083132698656129 Centerline is valid? [True, True] Translation: X:0.46, Y:-0.04, Z:0.06 [[ 9.99964128e-01 1.01932763e-04 -8.46952856e-03 4.59932397e-01] [-1.62644339e-04 9.99974297e-01 -7.16785606e-03 -4.30145455e-02] [ 8.46858023e-03 7.16897646e-03 9.99938443e-01 6.19718269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.192640000000001 meters 0.042091706839160144 Centerline is valid? [True, True] Translation: X:0.49, Y:-0.04, Z:0.06 [[ 9.99959677e-01 3.42752276e-03 -8.30039815e-03 4.88022248e-01] [-3.43264175e-03 9.99993927e-01 -6.02548200e-04 -3.75467238e-02] [ 8.29828249e-03 6.31016196e-04 9.99965370e-01 6.25296397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.222640000000001 meters 0.03259977023370496 Centerline is valid? [True, True] Translation: X:0.52, Y:-0.04, Z:0.07 [[ 0.99992115 0.00335409 0.01210112 0.52211958] [-0.00347628 0.99994305 0.0100902 -0.03552922] [-0.01206658 -0.01013147 0.99987587 0.06699237] [ 0. 0. 0. 1. ]] SLAMing on 5.25264 meters 0.03735129459862364 Centerline is valid? [True, True] Translation: X:0.55, Y:-0.01, Z:0.06 [[ 9.99876109e-01 9.08318589e-03 1.28554706e-02 5.51804236e-01] [-9.08657762e-03 9.99958695e-01 2.05450237e-04 -1.44797974e-02] [-1.28530734e-02 -3.22237015e-04 9.99917344e-01 6.46911817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.282640000000001 meters 0.039484506027795636 Centerline is valid? [True, True] Translation: X:0.58, Y:-0.01, Z:0.06 [[ 9.99858878e-01 1.09135254e-02 1.27717724e-02 5.82694490e-01] [-1.09170828e-02 9.99940385e-01 2.08843660e-04 -7.76061741e-03] [-1.27687318e-02 -3.48244684e-04 9.99918416e-01 6.23272459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.312640000000001 meters 0.046724090786612854 Centerline is valid? [True, True] Translation: X:0.61, Y:0.00, Z:0.06 [[ 0.99989778 0.01384301 -0.00357695 0.60904062] [-0.01387052 0.9998735 -0.00778471 0.00288958] [ 0.00346873 0.00783353 0.9999633 0.05780123] [ 0. 0. 0. 1. ]] SLAMing on 5.342640000000001 meters 0.04813159436994742 Centerline is valid? [True, True] Translation: X:0.64, Y:0.01, Z:0.06 [[ 0.99988911 0.01386259 -0.00544084 0.63729635] [-0.01389645 0.99988399 -0.00623696 0.00649517] [ 0.00535374 0.00631188 0.99996575 0.05640528] [ 0. 0. 0. 1. ]] SLAMing on 5.3726400000000005 meters 0.03837200157763189 Centerline is valid? [True, True] Translation: X:0.67, Y:-0.00, Z:0.06 [[ 0.99987903 0.00844442 0.01306207 0.67131753] [-0.00863109 0.99986047 0.01430181 -0.00389074] [-0.01293948 -0.01441282 0.9998124 0.05852373] [ 0. 0. 0. 1. ]] SLAMing on 5.402640000000001 meters 0.047328637434538356 Centerline is valid? [True, True] Translation: X:0.70, Y:0.01, Z:0.05 [[ 0.99993266 0.00969499 -0.00637847 0.69727037] [-0.00977654 0.99986923 -0.01288193 0.01294735] [ 0.00625274 0.01294342 0.99989668 0.05438307] [ 0. 0. 0. 1. ]] SLAMing on 5.432640000000001 meters 0.051661384531748 Centerline is valid? [True, True] Translation: X:0.73, Y:0.01, Z:0.05 [[ 0.99990738 0.00845877 -0.01066182 0.72688195] [-0.00848386 0.99996134 -0.00230995 0.008318 ] [ 0.01064187 0.00240019 0.99994049 0.05163711] [ 0. 0. 0. 1. ]] SLAMing on 5.462640000000001 meters 0.032404018333780316 Centerline is valid? [True, True] Translation: X:0.76, Y:0.00, Z:0.06 [[ 9.99992334e-01 3.91006660e-03 -2.06512601e-04 7.59511544e-01] [-3.90970747e-03 9.99990892e-01 1.71168208e-03 1.65197952e-03] [ 2.13203511e-04 -1.71086155e-03 9.99998514e-01 6.36303544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.492640000000001 meters 0.02965808110778272 Centerline is valid? [True, True] Translation: X:0.79, Y:-0.00, Z:0.06 [[ 0.99992136 0.00132886 0.01247023 0.78990991] [-0.00151655 0.99988553 0.01505386 -0.00157366] [-0.0124488 -0.01507159 0.99980892 0.0585491 ] [ 0. 0. 0. 1. ]] SLAMing on 5.522640000000001 meters 0.02588568518389311 Centerline is valid? [True, True] Translation: X:0.82, Y:0.01, Z:0.06 [[ 9.99905095e-01 -2.03123634e-03 1.36262663e-02 8.21361344e-01] [ 2.02857565e-03 9.99997921e-01 2.09081041e-04 7.48016145e-03] [-1.36266626e-02 -1.81419286e-04 9.99907136e-01 5.85385638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.552640000000001 meters 0.026446214381963613 Centerline is valid? [True, True] Translation: X:0.85, Y:0.01, Z:0.05 [[ 9.99892774e-01 -4.41166340e-03 1.39634138e-02 8.52530397e-01] [ 4.40906172e-03 9.99990256e-01 2.17100084e-04 8.36871174e-03] [-1.39642355e-02 -1.55511252e-04 9.99902483e-01 5.18796072e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5826400000000005 meters 0.024782890717456978 Centerline is valid? [True, True] Translation: X:0.88, Y:0.01, Z:0.05 [[ 9.99874120e-01 -6.86646239e-03 1.43036976e-02 8.84817402e-01] [ 6.86406142e-03 9.99976419e-01 2.16943918e-04 6.19160740e-03] [-1.43048500e-02 -1.18735150e-04 9.99897673e-01 5.08743115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.612640000000001 meters 0.031225975960752675 Centerline is valid? [True, True] Translation: X:0.91, Y:0.02, Z:0.05 [[ 0.99993284 -0.00930078 -0.00691501 0.9118549 ] [ 0.00912142 0.99963238 -0.02553232 0.01546847] [ 0.00714993 0.02546753 0.99965008 0.05349212] [ 0. 0. 0. 1. ]] SLAMing on 5.642640000000001 meters 0.021487254364086435 Centerline is valid? [True, True] Translation: X:0.95, Y:-0.01, Z:0.05 [[ 0.99977797 -0.01631696 0.01333276 0.94695134] [ 0.01597067 0.99954266 0.02567901 -0.01474205] [-0.01374567 -0.02546038 0.99958133 0.05200532] [ 0. 0. 0. 1. ]] SLAMing on 5.672640000000001 meters 0.026873153949978665 Centerline is valid? [True, True] Translation: X:0.98, Y:-0.00, Z:0.05 [[ 9.99721958e-01 -1.75222575e-02 1.57789793e-02 9.78717876e-01] [ 1.75206801e-02 9.99846473e-01 2.38211064e-04 -3.34017879e-05] [-1.57807308e-02 3.83136176e-05 9.99875476e-01 5.05942932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.702640000000001 meters 0.021543730597876 Centerline is valid? [True, True] Translation: X:1.01, Y:-0.00, Z:0.05 [[ 9.99674268e-01 -2.15787411e-02 1.36277246e-02 1.01100186e+00] [ 2.15779456e-02 9.99767148e-01 2.05425832e-04 -2.69342845e-03] [-1.36289842e-02 8.86993830e-05 9.99907117e-01 5.15419298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.732640000000001 meters 0.02193821439843154 Centerline is valid? [True, True] Translation: X:1.04, Y:-0.00, Z:0.05 [[ 9.99649327e-01 -2.26505727e-02 1.37176866e-02 1.04289456e+00] [ 2.26498770e-02 9.99743437e-01 2.06099127e-04 -3.50699864e-03] [-1.37188354e-02 1.04677060e-04 9.99905887e-01 5.07441118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.762640000000001 meters 0.021543570750547414 Centerline is valid? [True, True] Translation: X:1.07, Y:-0.00, Z:0.05 [[ 9.99623289e-01 -2.34614755e-02 1.42421682e-02 1.07466108e+00] [ 2.34608186e-02 9.99724734e-01 2.13224419e-04 -3.72320165e-03] [-1.42432504e-02 1.20988829e-04 9.99898552e-01 5.16228851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7926400000000005 meters 0.021301615720113885 Centerline is valid? [True, True] Translation: X:1.11, Y:-0.00, Z:0.05 [[ 9.99611639e-01 -2.37706717e-02 1.45439573e-02 1.10665684e+00] [ 2.37700303e-02 9.99717429e-01 2.16987793e-04 -3.26372520e-03] [-1.45450055e-02 1.28806783e-04 9.99894208e-01 5.16201862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.822640000000001 meters 0.0229006776991783 Centerline is valid? [True, True] Translation: X:1.14, Y:-0.00, Z:0.05 [[ 9.99584030e-01 -2.44646066e-02 1.52725433e-02 1.13740895e+00] [ 2.44639991e-02 9.99700686e-01 2.26629112e-04 -4.06273329e-03] [-1.52735164e-02 1.47092643e-04 9.99883342e-01 4.67573309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.852640000000001 meters 0.022501188254258585 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.00, Z:0.05 [[ 9.99564749e-01 -2.51300318e-02 1.54529718e-02 1.16949471e+00] [ 2.51294940e-02 9.99684178e-01 2.29005985e-04 -3.45982684e-03] [-1.54538464e-02 1.59419053e-04 9.99880569e-01 4.74870557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.882640000000001 meters 0.022786205693961222 Centerline is valid? [True, True] Translation: X:1.20, Y:-0.01, Z:0.05 [[ 9.99519109e-01 -2.63003145e-02 1.64269339e-02 1.20147083e+00] [ 2.62998801e-02 9.99654069e-01 2.42507976e-04 -5.64983034e-03] [-1.64276294e-02 1.89635037e-04 9.99865039e-01 4.77546808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.912640000000001 meters 0.022512205036373377 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.01, Z:0.05 [[ 9.99515342e-01 -2.60904708e-02 1.69814206e-02 1.23394217e+00] [ 2.60899918e-02 9.99659567e-01 2.49787921e-04 -6.64689938e-03] [-1.69821566e-02 1.93378263e-04 9.99855774e-01 4.71436809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.942640000000001 meters 0.039753603274811644 Centerline is valid? [True, True] Translation: X:1.27, Y:0.04, Z:0.05 [[ 0.99958766 -0.02284597 -0.01739436 1.26585097] [ 0.02126065 0.99603094 -0.08643121 0.04342498] [ 0.01929993 0.08602575 0.99610596 0.05288623] [ 0. 0. 0. 1. ]] SLAMing on 5.972640000000001 meters 0.022064561728565437 Centerline is valid? [True, True] Translation: X:1.30, Y:-0.06, Z:0.05 [[ 0.99945914 -0.02892268 0.01564944 1.29910551] [ 0.02745724 0.99583857 0.08690016 -0.06164577] [-0.0180977 -0.08642347 0.9960941 0.05142352] [ 0. 0. 0. 1. ]] SLAMing on 6.002640000000001 meters 0.022491681357338606 Centerline is valid? [True, True] Translation: X:1.33, Y:-0.01, Z:0.04 [[ 9.99524601e-01 -2.47165416e-02 1.84299717e-02 1.33065513e+00] [ 2.47157506e-02 9.99694483e-01 2.70726188e-04 -1.10225326e-02] [-1.84310325e-02 1.84913100e-04 9.99830117e-01 4.43642573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.032640000000001 meters 0.020927664368226843 Centerline is valid? [True, True] Translation: X:1.36, Y:-0.01, Z:0.04 [[ 9.99563779e-01 -2.36140587e-02 1.77377658e-02 1.36143341e+00] [ 2.36131808e-02 9.99721136e-01 2.58962951e-04 -1.05595944e-02] [-1.77389346e-02 1.59995086e-04 9.99842640e-01 4.27756456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.062640000000001 meters 0.01965527572346931 Centerline is valid? [True, True] Translation: X:1.39, Y:-0.01, Z:0.04 [[ 9.99600884e-01 -2.12316664e-02 1.86356934e-02 1.39217942e+00] [ 2.12302710e-02 9.99774575e-01 2.72731148e-04 -9.06185812e-03] [-1.86372830e-02 1.23018526e-04 9.99826303e-01 4.17126579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.092640000000001 meters 0.0190363889559065 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.01, Z:0.04 [[ 9.99623303e-01 -1.97520522e-02 1.90554178e-02 1.42416461e+00] [ 1.97503829e-02 9.99804904e-01 2.75810982e-04 -8.27788529e-03] [-1.90571479e-02 1.00644712e-04 9.99818391e-01 4.08814003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1226400000000005 meters 0.018031763495650045 Centerline is valid? [True, True] Translation: X:1.46, Y:-0.01, Z:0.04 [[ 9.99645796e-01 -1.82749002e-02 1.93471016e-02 1.45611168e+00] [ 1.82729210e-02 9.99832997e-01 2.79091910e-04 -7.03216476e-03] [-1.93489709e-02 7.45350030e-05 9.99812788e-01 4.11313949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.152640000000001 meters 0.017963793728841562 Centerline is valid? [True, True] Translation: X:1.49, Y:-0.01, Z:0.04 [[ 9.99676421e-01 -1.62130104e-02 1.96008057e-02 1.48685551e+00] [ 1.62106073e-02 9.99868560e-01 2.81489425e-04 -5.30339486e-03] [-1.96027932e-02 3.63426237e-05 9.99807846e-01 3.76389584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.182640000000001 meters 0.017720200470896875 Centerline is valid? [True, True] Translation: X:1.52, Y:-0.00, Z:0.04 [[ 9.99750704e-01 -1.14363759e-02 1.91765172e-02 1.51882536e+00] [ 1.14332045e-02 9.99934601e-01 2.75010932e-04 -6.90393499e-05] [-1.91784082e-02 -5.56933310e-05 9.99816076e-01 3.63614204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.212640000000001 meters 0.018340942349862405 Centerline is valid? [True, True] Translation: X:1.55, Y:0.00, Z:0.04 [[ 9.99784685e-01 -8.66178702e-03 1.88562414e-02 1.55120307e+00] [ 8.65824378e-03 9.99962480e-01 2.69539952e-04 3.18814030e-03] [-1.88578687e-02 -1.06219980e-04 9.99822169e-01 3.50299128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.242640000000001 meters 0.022957416597431227 Centerline is valid? [True, True] Translation: X:1.58, Y:0.01, Z:0.03 [[ 9.99823526e-01 -2.43205214e-03 1.86279935e-02 1.58221788e+00] [ 2.42753532e-03 9.99997018e-01 2.65083431e-04 1.18889694e-02] [-1.86285826e-02 -2.19816539e-04 9.99826449e-01 2.97901930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.272640000000001 meters 0.022400918152345288 Centerline is valid? [True, True] Translation: X:1.61, Y:0.01, Z:0.03 [[ 9.99824919e-01 4.10110466e-04 1.87073248e-02 1.61492720e+00] [-4.15156317e-04 9.99999878e-01 2.65843150e-04 1.27523694e-02] [-1.87072135e-02 -2.73563070e-04 9.99824967e-01 3.31012119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.302640000000001 meters 0.027248680043112334 Centerline is valid? [True, True] Translation: X:1.65, Y:0.02, Z:0.03 [[ 9.99826784e-01 2.45072836e-03 1.84498232e-02 1.64516917e+00] [-2.45598314e-03 9.99996950e-01 2.62161899e-04 1.90820885e-02] [-1.84491244e-02 -3.07428943e-04 9.99829753e-01 2.55544497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3326400000000005 meters 0.027468995793958673 Centerline is valid? [True, True] Translation: X:1.68, Y:0.02, Z:0.03 [[ 9.99823319e-01 3.78229125e-03 1.84126574e-02 1.67712189e+00] [-3.78775466e-03 9.99992792e-01 2.61855056e-04 1.95586093e-02] [-1.84115343e-02 -3.31551420e-04 9.99830438e-01 2.53259549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.362640000000001 meters 0.027259102669666885 Centerline is valid? [True, True] Translation: X:1.71, Y:0.02, Z:0.02 [[ 9.99820686e-01 3.47095067e-03 1.86158189e-02 1.70793944e+00] [-3.47641727e-03 9.99993923e-01 2.61300158e-04 1.95834725e-02] [-1.86147988e-02 -3.25969657e-04 9.99826676e-01 2.25526307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.392640000000001 meters 0.026454835835646905 Centerline is valid? [True, True] Translation: X:1.74, Y:0.02, Z:0.02 [[ 9.99820773e-01 2.47092032e-03 1.87700995e-02 1.73978673e+00] [-2.47625228e-03 9.99996900e-01 2.60830225e-04 1.92923204e-02] [-1.87693968e-02 -3.07262979e-04 9.99823792e-01 2.05321679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.422640000000001 meters 0.01987473667155485 Centerline is valid? [True, True] Translation: X:1.77, Y:0.01, Z:0.03 [[ 9.99776791e-01 -8.23199570e-04 2.11113714e-02 1.77205862e+00] [ 8.17326014e-04 9.99999625e-01 2.86844538e-04 1.23354879e-02] [-2.11115996e-02 -2.69525639e-04 9.99777089e-01 2.56403489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.452640000000001 meters 0.020178588239535618 Centerline is valid? [True, True] Translation: X:1.80, Y:0.01, Z:0.02 [[ 9.99798978e-01 -2.75446926e-03 1.98599059e-02 1.80426755e+00] [ 2.74961176e-03 9.99996183e-01 2.71890383e-04 1.08545004e-02] [-1.98605790e-02 -2.17228697e-04 9.99802736e-01 2.11963786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.482640000000001 meters 0.01918355622029805 Centerline is valid? [True, True] Translation: X:1.84, Y:0.01, Z:0.02 [[ 9.99793997e-01 -4.45806311e-03 1.98012631e-02 1.83634234e+00] [ 4.45365126e-03 9.99990047e-01 2.66899292e-04 8.80813592e-03] [-1.98022558e-02 -1.78656389e-04 9.99803900e-01 2.02477580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.512640000000001 meters 0.01841833793071458 Centerline is valid? [True, True] Translation: X:1.87, Y:0.01, Z:0.02 [[ 9.99774729e-01 -5.68062440e-03 2.04504739e-02 1.86750215e+00] [ 5.67625545e-03 9.99983853e-01 2.71676662e-04 7.61416392e-03] [-2.04516870e-02 -1.55533347e-04 9.99790830e-01 1.99678690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.542640000000001 meters 0.016068106899254152 Centerline is valid? [True, True] Translation: X:1.90, Y:0.01, Z:0.02 [[ 9.99657754e-01 -7.17509447e-03 2.51573627e-02 1.89801244e+00] [ 7.16912912e-03 9.99974248e-01 3.27307282e-04 7.04566317e-03] [-2.51590633e-02 -1.46838881e-04 9.99683450e-01 2.39876803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.572640000000001 meters 0.016399750742186622 Centerline is valid? [True, True] Translation: X:1.93, Y:0.01, Z:0.02 [[ 9.99680295e-01 -7.67163671e-03 2.40926009e-02 1.93049200e+00] [ 7.66635910e-03 9.99970565e-01 3.11413309e-04 6.30323183e-03] [-2.40942808e-02 -1.26611218e-04 9.99709683e-01 2.37617976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.602640000000001 meters 0.014313961157854176 Centerline is valid? [True, True] Translation: X:1.96, Y:0.01, Z:0.03 [[ 9.99584402e-01 -7.35957380e-03 2.78721990e-02 1.96212456e+00] [ 7.35244402e-03 9.99972906e-01 3.58279466e-04 7.24399437e-03] [-2.78740807e-02 -1.53201783e-04 9.99611431e-01 2.68414725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.632640000000001 meters 0.014679246692521207 Centerline is valid? [True, True] Translation: X:1.99, Y:0.01, Z:0.02 [[ 9.99582121e-01 -6.53268899e-03 2.81586001e-02 1.99407839e+00] [ 6.52504124e-03 9.99978646e-01 3.63474157e-04 1.18257350e-02] [-2.81603732e-02 -1.79586242e-04 9.99603402e-01 2.47737692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.662640000000001 meters 0.014679246692521207 Centerline is valid? [True, True] Translation: X:2.03, Y:0.01, Z:0.02 [[ 9.99582591e-01 -6.46003779e-03 2.81586841e-02 2.02655619e+00] [ 6.45254851e-03 9.99979118e-01 3.56825332e-04 1.21029523e-02] [-2.81604012e-02 -1.74981114e-04 9.99603402e-01 2.34005089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.692640000000001 meters 0.016373410895198 Centerline is valid? [True, True] Translation: X:2.06, Y:0.01, Z:0.02 [[ 9.99658719e-01 -6.55220915e-03 2.52886006e-02 2.05786092e+00] [ 6.54620152e-03 9.99978522e-01 3.20341617e-04 1.44451181e-02] [-2.52901564e-02 -1.54688015e-04 9.99680141e-01 1.82702848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.722640000000001 meters 0.015383022227774958 Centerline is valid? [True, True] Translation: X:2.09, Y:0.02, Z:0.02 [[ 9.99632104e-01 -7.08294544e-03 2.61818460e-02 2.09018354e+00] [ 7.07684592e-03 9.99974906e-01 3.25619651e-04 1.57977857e-02] [-2.61834953e-02 -1.40214966e-04 9.99657144e-01 1.76789400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.752640000000001 meters 0.014405665619202904 Centerline is valid? [True, True] Translation: X:2.12, Y:0.02, Z:0.02 [[ 9.99596866e-01 -7.68113354e-03 2.73332275e-02 2.12227579e+00] [ 7.67474704e-03 9.99970491e-01 3.38554431e-04 1.57987711e-02] [-2.73350214e-02 -1.28642342e-04 9.99626320e-01 1.66532981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.782640000000001 meters 0.01314950848225735 Centerline is valid? [True, True] Translation: X:2.15, Y:0.02, Z:0.02 [[ 9.99569492e-01 -8.31633241e-03 2.81366164e-02 2.15469494e+00] [ 8.30985505e-03 9.99965412e-01 3.47133844e-04 1.51706650e-02] [-2.81385301e-02 -1.13173196e-04 9.99604027e-01 1.70700249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.812640000000001 meters 0.01732885979029416 Centerline is valid? [True, True] Translation: X:2.19, Y:0.02, Z:0.01 [[ 9.99543550e-01 -9.31941883e-03 2.87374355e-02 2.18644877e+00] [ 9.31311847e-03 9.99956570e-01 3.53078924e-04 1.55667901e-02] [-2.87394779e-02 -8.52826201e-05 9.99586932e-01 1.44020777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.842640000000001 meters 0.011868473986663545 Centerline is valid? [True, True] Translation: X:2.22, Y:0.01, Z:0.01 [[ 9.99515686e-01 -1.11665056e-02 2.90465496e-02 2.21785512e+00] [ 1.11608488e-02 9.99937652e-01 3.56873093e-04 1.38301920e-02] [-2.90487236e-02 -3.25161070e-05 9.99577996e-01 1.39889470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8726400000000005 meters 0.012703376293771705 Centerline is valid? [True, True] Translation: X:2.25, Y:0.01, Z:0.01 [[ 9.99536011e-01 -1.24082237e-02 2.78172481e-02 2.24858265e+00] [ 1.24036325e-02 9.99923015e-01 3.37600712e-04 1.21617146e-02] [-2.78192956e-02 7.59085490e-06 9.99612968e-01 1.11447745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.902640000000001 meters 0.011746971061283354 Centerline is valid? [True, True] Translation: X:2.28, Y:0.01, Z:0.01 [[ 9.99477902e-01 -1.38078120e-02 2.92107599e-02 2.28056934e+00] [ 1.38035335e-02 9.99904666e-01 3.48123198e-04 1.09346562e-02] [-2.92127819e-02 5.52702594e-05 9.99573214e-01 1.20289990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.932640000000001 meters 0.013459779654456338 Centerline is valid? [True, True] Translation: X:2.31, Y:0.01, Z:0.01 [[ 9.99464169e-01 -1.61708627e-02 2.84583512e-02 2.31167593e+00] [ 1.61677549e-02 9.99869236e-01 3.39317106e-04 9.36110795e-03] [-2.84601170e-02 1.20972358e-04 9.99594922e-01 9.02564563e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.962640000000001 meters 0.013338742388190782 Centerline is valid? [True, True] Translation: X:2.34, Y:0.01, Z:0.01 [[ 9.99401936e-01 -1.72438305e-02 2.99736517e-02 2.34390703e+00] [ 1.72410633e-02 9.99851300e-01 3.50781777e-04 9.63818453e-03] [-2.99752434e-02 1.66205640e-04 9.99550628e-01 9.62628515e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.992640000000001 meters 0.01838273671891943 Centerline is valid? [True, True] Translation: X:2.38, Y:0.01, Z:0.01 [[ 9.99374231e-01 -1.87073851e-02 3.00196788e-02 2.37610300e+00] [ 1.87053127e-02 9.99824979e-01 3.49885126e-04 1.01444968e-02] [-3.00209702e-02 2.11861301e-04 9.99549247e-01 7.35430208e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.022640000000001 meters 0.013697592083476779 Centerline is valid? [True, True] Translation: X:2.41, Y:0.01, Z:0.01 [[ 9.99375636e-01 -1.88106644e-02 2.99081343e-02 2.40891640e+00] [ 1.88086872e-02 9.99823041e-01 3.47461610e-04 1.07379156e-02] [-2.99093777e-02 2.15288074e-04 9.99552591e-01 7.80763452e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.052640000000001 meters 0.01378918998361342 Centerline is valid? [True, True] Translation: X:2.44, Y:0.01, Z:0.01 [[ 9.99398852e-01 -1.82441879e-02 2.94802254e-02 2.44126514e+00] [ 1.82420426e-02 9.99833542e-01 3.41741026e-04 1.21667141e-02] [-2.94815530e-02 1.96243939e-04 9.99565305e-01 5.61195802e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.082640000000001 meters 0.01314733759851556 Centerline is valid? [True, True] Translation: X:2.47, Y:0.02, Z:0.00 [[ 9.99453054e-01 -1.67326957e-02 2.85238565e-02 2.47365069e+00] [ 1.67302695e-02 9.99859987e-01 3.23727464e-04 1.66853163e-02] [-2.85252797e-02 1.53661405e-04 9.99593060e-01 1.88781204e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.112640000000001 meters 0.012832114032078765 Centerline is valid? [True, True] Translation: X:2.51, Y:0.02, Z:0.00 [[ 9.99474089e-01 -1.59854976e-02 2.82136468e-02 2.50649715e+00] [ 1.59828548e-02 9.99872215e-01 3.19196839e-04 1.88834617e-02] [-2.82151440e-02 1.31905649e-04 9.99601865e-01 8.56930368e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.142640000000001 meters 0.012509469897176682 Centerline is valid? [True, True] Translation: X:2.54, Y:0.02, Z:-0.00 [[ 9.99481644e-01 -1.53228989e-02 2.83134731e-02 2.53867646e+00] [ 1.53200420e-02 9.99882591e-01 3.17837788e-04 2.10441922e-02] [-2.83150190e-02 1.16090562e-04 9.99599043e-01 -1.12780816e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.172640000000001 meters 0.01611450726009742 Centerline is valid? [True, True] Translation: X:2.57, Y:0.03, Z:-0.00 [[ 9.99502032e-01 -1.38888212e-02 2.83335369e-02 2.57100965e+00] [ 1.38853705e-02 9.99903543e-01 3.18545215e-04 2.50054140e-02] [-2.83352281e-02 7.50350664e-05 9.99598474e-01 -2.92358752e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.202640000000001 meters 0.012267393369414344 Centerline is valid? [True, True] Translation: X:2.60, Y:0.03, Z:-0.00 [[ 9.99501543e-01 -1.34390160e-02 2.85667343e-02 2.60329798e+00] [ 1.34354812e-02 9.99909690e-01 3.15686651e-04 2.62340656e-02] [-2.85683970e-02 6.82785275e-05 9.99591838e-01 -4.53463547e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.232640000000001 meters 0.025767485262240524 Centerline is valid? [True, True] Translation: X:2.64, Y:0.03, Z:-0.01 [[ 9.99513138e-01 -1.30181078e-02 2.83551883e-02 2.63615085e+00] [ 1.30145989e-02 9.99915259e-01 3.08303935e-04 2.83672852e-02] [-2.83567990e-02 6.08775692e-05 9.99597863e-01 -7.62173764e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.262640000000001 meters 0.012026754416842046 Centerline is valid? [True, True] Translation: X:2.67, Y:0.03, Z:-0.01 [[ 9.99524217e-01 -1.28647596e-02 2.80327921e-02 2.66920835e+00] [ 1.28614173e-02 9.99917244e-01 2.99536087e-04 2.95788684e-02] [-2.80343257e-02 6.11478665e-05 9.99606959e-01 -6.84173301e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.292640000000001 meters 0.011944269945251362 Centerline is valid? [True, True] Translation: X:2.70, Y:0.03, Z:-0.01 [[ 9.99534335e-01 -1.34899678e-02 2.73702953e-02 2.70128325e+00] [ 1.34872214e-02 9.99909003e-01 2.84957314e-04 3.09414253e-02] [-2.73716488e-02 8.43246128e-05 9.99625323e-01 -7.60515615e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.322640000000001 meters 0.013081634847351907 Centerline is valid? [True, True] Translation: X:2.73, Y:0.03, Z:-0.01 [[ 9.99493876e-01 -1.44415010e-02 2.83449339e-02 2.73215171e+00] [ 1.44389366e-02 9.99895710e-01 2.95156814e-04 2.91064552e-02] [-2.83462403e-02 1.14263275e-04 9.99598158e-01 -1.15108078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.352640000000001 meters 0.014766963365012622 Centerline is valid? [True, True] Translation: X:2.76, Y:0.03, Z:-0.01 [[ 9.99410728e-01 -1.82167714e-02 2.90920326e-02 2.76421707e+00] [ 1.82158644e-02 9.99834033e-01 2.96222769e-04 2.56724515e-02] [-2.90926005e-02 2.33888308e-04 9.99576693e-01 -1.07153568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.382640000000001 meters 0.017498569990929923 Centerline is valid? [True, True] Translation: X:2.79, Y:0.02, Z:-0.01 [[ 9.99379879e-01 -2.05976357e-02 2.85586147e-02 2.79498488e+00] [ 2.05977300e-02 9.99787802e-01 2.90911122e-04 2.17432463e-02] [-2.85585467e-02 2.97511911e-04 9.99592077e-01 -1.37696689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.412640000000001 meters 0.019381706531207146 Centerline is valid? [True, True] Translation: X:2.83, Y:0.02, Z:-0.02 [[ 9.99333849e-01 -2.32355621e-02 2.81419229e-02 2.82666321e+00] [ 2.32368470e-02 9.99729948e-01 2.81414847e-04 1.86324957e-02] [-2.81408620e-02 3.72702176e-04 9.99603898e-01 -1.51736742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.442640000000001 meters 0.02027124616028486 Centerline is valid? [True, True] Translation: X:2.86, Y:0.01, Z:-0.01 [[ 9.99231589e-01 -2.72294045e-02 2.81920305e-02 2.85890711e+00] [ 2.72323660e-02 9.99629091e-01 2.78963293e-04 1.46282520e-02] [-2.81891699e-02 4.88986758e-04 9.99602487e-01 -1.36193019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.472640000000001 meters 0.024603687090593244 Centerline is valid? [True, True] Translation: X:2.89, Y:0.01, Z:-0.02 [[ 9.99205986e-01 -2.82100166e-02 2.81352436e-02 2.89009058e+00] [ 2.82133774e-02 9.99601885e-01 2.77592753e-04 7.87835752e-03] [-2.81318734e-02 5.16417905e-04 9.99604087e-01 -1.84999693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.502640000000001 meters 0.023060979463228607 Centerline is valid? [True, True] Translation: X:2.92, Y:0.01, Z:-0.02 [[ 9.99215296e-01 -2.85929235e-02 2.74086921e-02 2.92247842e+00] [ 2.85963469e-02 9.99591005e-01 2.67138096e-04 8.78060427e-03] [-2.74051204e-02 5.16859996e-04 9.99624276e-01 -1.85687624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.532640000000001 meters 0.020882579848982053 Centerline is valid? [True, True] Translation: X:2.95, Y:0.01, Z:-0.02 [[ 9.99266971e-01 -2.71929349e-02 2.69455774e-02 2.95486290e+00] [ 2.71957691e-02 9.99630093e-01 2.61347653e-04 9.81325873e-03] [-2.69427168e-02 4.71649624e-04 9.99636868e-01 -1.85396807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.562640000000001 meters 0.02622946919191813 Centerline is valid? [True, True] Translation: X:2.99, Y:0.01, Z:-0.02 [[ 9.99313758e-01 -2.56702238e-02 2.67030609e-02 2.98728330e+00] [ 2.56724994e-02 9.99670374e-01 2.57660642e-04 1.22671199e-02] [-2.67008731e-02 4.28050491e-04 9.99643376e-01 -2.04812318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.592640000000001 meters 0.019142261746691033 Centerline is valid? [True, True] Translation: X:3.02, Y:0.01, Z:-0.02 [[ 9.99370919e-01 -2.33557893e-02 2.66884512e-02 3.01832629e+00] [ 2.33572532e-02 9.99727149e-01 2.56930846e-04 1.23373560e-02] [-2.66871701e-02 3.66599697e-04 9.99643767e-01 -2.33033620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.622640000000001 meters 0.020809315978427084 Centerline is valid? [True, True] Translation: X:3.05, Y:0.02, Z:-0.03 [[ 9.99498413e-01 -1.84020270e-02 2.57737669e-02 3.05030887e+00] [ 1.84018326e-02 9.99830642e-01 2.44742990e-04 1.96771465e-02] [-2.57739057e-02 2.29664314e-04 9.99667771e-01 -2.56614208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.652640000000001 meters 0.014347993546262903 Centerline is valid? [True, True] Translation: X:3.08, Y:0.02, Z:-0.03 [[ 9.99517665e-01 -1.60831830e-02 2.65663157e-02 3.08108219e+00] [ 1.60822013e-02 9.99870642e-01 2.50625139e-04 2.08230744e-02] [-2.65669099e-02 1.76740583e-04 9.99647022e-01 -2.70261979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.682640000000001 meters 0.013185904970828567 Centerline is valid? [True, True] Translation: X:3.11, Y:0.02, Z:-0.03 [[ 9.99552662e-01 -1.41209632e-02 2.63642628e-02 3.11304101e+00] [ 1.41193357e-02 9.99900286e-01 2.47897663e-04 2.25398043e-02] [-2.63651345e-02 1.24459107e-04 9.99652372e-01 -2.76105405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.712640000000001 meters 0.012349163276441897 Centerline is valid? [True, True] Translation: X:3.14, Y:0.03, Z:-0.03 [[ 9.99577746e-01 -1.09745428e-02 2.69051817e-02 3.14397948e+00] [ 1.09716992e-02 9.99939777e-01 2.53317420e-04 2.51711100e-02] [-2.69063415e-02 4.19851050e-05 9.99637958e-01 -2.87546031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.742640000000001 meters 0.012025452697222355 Centerline is valid? [True, True] Translation: X:3.18, Y:0.03, Z:-0.03 [[ 9.99598566e-01 -9.47705142e-03 2.67000553e-02 3.17743059e+00] [ 9.47386887e-03 9.99955092e-01 2.45695631e-04 2.70344525e-02] [-2.67011847e-02 7.35582212e-06 9.99643460e-01 -2.96297454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.772640000000001 meters 0.012530221176405178 Centerline is valid? [True, True] Translation: X:3.21, Y:0.03, Z:-0.03 [[ 9.99611467e-01 -6.06609133e-03 2.72050887e-02 3.20980670e+00] [ 6.06153645e-03 9.99981597e-01 2.49892571e-04 3.22495335e-02] [-2.72061039e-02 -8.48908432e-05 9.99629842e-01 -3.14930683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.802640000000001 meters 0.012852119348228604 Centerline is valid? [True, True] Translation: X:3.24, Y:0.04, Z:-0.03 [[ 9.99609313e-01 -4.14613320e-03 2.76411263e-02 3.24273351e+00] [ 4.14089009e-03 9.99991396e-01 2.46923061e-04 3.55952804e-02] [-2.76419123e-02 -1.32367726e-04 9.99617881e-01 -3.17075666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.832640000000001 meters 0.013190655251681345 Centerline is valid? [True, True] Translation: X:3.28, Y:0.04, Z:-0.03 [[ 9.99618227e-01 -2.45055291e-03 2.75208212e-02 3.27503661e+00] [ 2.44477891e-03 9.99996982e-01 2.43450483e-04 3.87586851e-02] [-2.75213347e-02 -1.76075217e-04 9.99621201e-01 -3.19266579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.862640000000001 meters 0.014919486697707205 Centerline is valid? [True, True] Translation: X:3.31, Y:0.04, Z:-0.03 [[ 9.99622597e-01 -4.59654961e-04 2.74672852e-02 3.30598552e+00] [ 4.53144259e-04 9.99999868e-01 2.43258803e-04 4.29021818e-02] [-2.74673934e-02 -2.30720354e-04 9.99622673e-01 -3.49598005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.892640000000001 meters 0.015740696522343382 Centerline is valid? [True, True] Translation: X:3.34, Y:0.05, Z:-0.04 [[ 9.99626723e-01 1.20472045e-03 2.72939988e-02 3.33758996e+00] [-1.21164540e-03 9.99999238e-01 2.37180161e-04 4.51638370e-02] [-2.72936923e-02 -2.70162275e-04 9.99627421e-01 -3.64911496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.922640000000001 meters 0.016163520485856894 Centerline is valid? [True, True] Translation: X:3.37, Y:0.05, Z:-0.04 [[ 9.99647276e-01 2.08127693e-03 2.64762560e-02 3.36942440e+00] [-2.08799787e-03 9.99997795e-01 2.26204523e-04 4.64574464e-02] [-2.64757268e-02 -2.81407101e-04 9.99649417e-01 -3.92069628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9526400000000015 meters 0.01494998335689843 Centerline is valid? [True, True] Translation: X:3.40, Y:0.04, Z:-0.04 [[ 9.99650560e-01 8.15773888e-04 2.64214524e-02 3.40159004e+00] [-8.21903800e-04 9.99999638e-01 2.21146094e-04 4.45829293e-02] [-2.64212624e-02 -2.42784709e-04 9.99650868e-01 -4.02778852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.982640000000001 meters 0.012680797335042923 Centerline is valid? [True, True] Translation: X:3.43, Y:0.04, Z:-0.04 [[ 9.99639620e-01 -4.77683585e-03 2.64161290e-02 3.43295071e+00] [ 4.77281659e-03 9.99988587e-01 2.15200961e-04 3.57126257e-02] [-2.64168555e-02 -8.90440688e-05 9.99651010e-01 -4.29212551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.01264 meters 0.012377550576869201 Centerline is valid? [True, True] Translation: X:3.46, Y:0.03, Z:-0.04 [[ 9.99597823e-01 -8.33545371e-03 2.71055797e-02 3.46411262e+00] [ 8.33258252e-03 9.99965259e-01 2.18876952e-04 2.92621227e-02] [-2.71064624e-02 7.07055416e-06 9.99632552e-01 -4.45351904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.04264 meters 0.013112877798456433 Centerline is valid? [True, True] Translation: X:3.50, Y:0.02, Z:-0.04 [[ 9.99561507e-01 -1.21056423e-02 2.70230769e-02 3.49591926e+00] [ 1.21042803e-02 9.99926718e-01 2.13982841e-04 2.23745492e-02] [-2.70236870e-02 1.13205887e-04 9.99634787e-01 -4.49177213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.07264 meters 0.01528882375532535 Centerline is valid? [True, True] Translation: X:3.53, Y:0.02, Z:-0.05 [[ 9.99497353e-01 -1.58736351e-02 2.74421037e-02 3.52661094e+00] [ 1.58738186e-02 9.99873981e-01 2.11174319e-04 1.54581699e-02] [-2.74419976e-02 2.24542804e-04 9.99623372e-01 -4.56290800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.102640000000001 meters 0.019012092857772903 Centerline is valid? [True, True] Translation: X:3.56, Y:0.01, Z:-0.04 [[ 9.99368249e-01 -2.11257998e-02 2.85797878e-02 3.55877357e+00] [ 2.11282346e-02 9.99776750e-01 2.16818790e-04 5.56889147e-03] [-2.85779878e-02 3.87158646e-04 9.99591491e-01 -4.44138268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.13264 meters 0.020318484893487046 Centerline is valid? [True, True] Translation: X:3.59, Y:0.00, Z:-0.05 [[ 9.99333430e-01 -2.23545046e-02 2.88612402e-02 3.59029526e+00] [ 2.23575243e-02 9.99750016e-01 2.18110619e-04 1.94391500e-03] [-2.88589011e-02 4.27300646e-04 9.99583404e-01 -4.51263995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.16264 meters 0.02040943731776206 Centerline is valid? [True, True] Translation: X:3.62, Y:-0.00, Z:-0.05 [[ 9.99336623e-01 -2.28423456e-02 2.83644196e-02 3.62239862e+00] [ 2.28455483e-02 9.99738984e-01 2.11188799e-04 -4.52084790e-04] [-2.83618401e-02 4.36952018e-04 9.99597627e-01 -4.59618869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.19264 meters 0.027005409565880364 Centerline is valid? [True, True] Translation: X:3.65, Y:-0.00, Z:-0.05 [[ 9.99370473e-01 -2.22786645e-02 2.76101182e-02 3.65388992e+00] [ 2.22814855e-02 9.99751716e-01 2.05519122e-04 -3.91393881e-03] [-2.76078418e-02 4.09804706e-04 9.99618747e-01 -4.99258901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.22264 meters 0.019199156848250375 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.00, Z:-0.05 [[ 9.99367529e-01 -2.12302022e-02 2.85275288e-02 3.68659061e+00] [ 2.12329303e-02 9.99774534e-01 2.07323150e-04 -4.10841195e-03] [-2.85254984e-02 3.98531008e-04 9.99592986e-01 -4.78890620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.25264 meters 0.01833039616403725 Centerline is valid? [True, True] Translation: X:3.72, Y:-0.00, Z:-0.05 [[ 9.99380107e-01 -1.92909134e-02 2.94493244e-02 3.71749902e+00] [ 1.92929981e-02 9.99813850e-01 2.13378816e-04 -4.26632207e-03] [-2.94479586e-02 3.54919216e-04 9.99566252e-01 -4.88577161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.28264 meters 0.017489885695766465 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.00, Z:-0.05 [[ 9.99395984e-01 -1.88218967e-02 2.92130786e-02 3.75073537e+00] [ 1.88239155e-02 9.99822793e-01 2.05928848e-04 -3.58894072e-03] [-2.92117778e-02 3.44100058e-04 9.99573186e-01 -4.97134879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.31264 meters 0.016425656854023266 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.00, Z:-0.05 [[ 9.99394972e-01 -1.83306820e-02 2.95580115e-02 3.78294204e+00] [ 1.83326076e-02 9.99831922e-01 2.05872986e-04 -3.74325222e-03] [-2.95568173e-02 3.36126999e-04 9.99563045e-01 -5.04026828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.34264 meters 0.01685529650872162 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.01, Z:-0.05 [[ 9.99404916e-01 -1.80392914e-02 2.94006294e-02 3.81440605e+00] [ 1.80410853e-02 9.99837226e-01 2.04270177e-04 -7.36890731e-03] [-2.93995286e-02 3.26270644e-04 9.99567687e-01 -5.31238467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.37264 meters 0.017323571616304975 Centerline is valid? [True, True] Translation: X:3.85, Y:-0.01, Z:-0.06 [[ 9.99426134e-01 -1.86406571e-02 2.82830125e-02 3.84610989e+00] [ 1.86426806e-02 9.99826192e-01 1.92163343e-04 -1.44850805e-02] [-2.82816787e-02 3.35218102e-04 9.99599937e-01 -5.62347944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.40264 meters 0.01950339122604856 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.02, Z:-0.06 [[ 9.99451796e-01 -1.89236835e-02 2.71662013e-02 3.87661870e+00] [ 1.89256743e-02 9.99820876e-01 1.83857358e-04 -1.86988914e-02] [-2.71648145e-02 3.30382112e-04 9.99630914e-01 -6.18746041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.432640000000001 meters 0.025918321292588708 Centerline is valid? [True, True] Translation: X:3.91, Y:-0.02, Z:-0.07 [[ 9.99482890e-01 -1.91415742e-02 2.58370494e-02 3.90822054e+00] [ 1.91434982e-02 9.99816731e-01 1.72900212e-04 -1.86102275e-02] [-2.58356238e-02 3.21800706e-04 9.99666153e-01 -6.55538754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.46264 meters 0.029053482261340084 Centerline is valid? [True, True] Translation: X:3.94, Y:-0.02, Z:-0.07 [[ 9.99494762e-01 -1.93891109e-02 2.51849776e-02 3.93877604e+00] [ 1.93910765e-02 9.99811962e-01 1.66195022e-04 -2.41005359e-02] [-2.51834642e-02 3.22252774e-04 9.99682794e-01 -7.00811903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.49264 meters 0.019258075929214274 Centerline is valid? [True, True] Translation: X:3.97, Y:-0.02, Z:-0.07 [[ 9.99494852e-01 -1.84843222e-02 2.58528556e-02 3.97135762e+00] [ 1.84861668e-02 9.99829102e-01 1.67670000e-04 -2.47317528e-02] [-2.58515366e-02 3.10334898e-04 9.99665745e-01 -6.78482705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.52264 meters 0.016825655257712756 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.02, Z:-0.07 [[ 9.99507235e-01 -1.66609102e-02 2.66026426e-02 4.00362230e+00] [ 1.66622524e-02 9.99861160e-01 1.71231642e-04 -2.31432287e-02] [-2.66018020e-02 2.72112680e-04 9.99646072e-01 -6.65291557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.55264 meters 0.016825655257712756 Centerline is valid? [True, True] Translation: X:4.04, Y:-0.02, Z:-0.07 [[ 9.99508469e-01 -1.65867279e-02 2.66026485e-02 4.03609954e+00] [ 1.65880682e-02 9.99862394e-01 1.70314969e-04 -2.30707012e-02] [-2.66018128e-02 2.71055293e-04 9.99646072e-01 -6.79022294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.58264 meters 0.013296067816207019 Centerline is valid? [True, True] Translation: X:4.07, Y:-0.02, Z:-0.07 [[ 9.99548916e-01 -1.10547698e-02 2.79241354e-02 4.06647885e+00] [ 1.10541754e-02 9.99938885e-01 1.75659823e-04 -1.98334128e-02] [-2.79243707e-02 1.33097705e-04 9.99610030e-01 -6.63102570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.61264 meters 0.021615539458032056 Centerline is valid? [True, True] Translation: X:4.10, Y:-0.02, Z:-0.07 [[ 9.99577541e-01 -7.00779198e-03 2.82069266e-02 4.09814297e+00] [ 7.00557010e-03 9.99975445e-01 1.77593452e-04 -1.57199868e-02] [-2.82074785e-02 2.00871760e-05 9.99602090e-01 -6.92517414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.64264 meters 0.014490577880051961 Centerline is valid? [True, True] Translation: X:4.13, Y:-0.00, Z:-0.07 [[ 9.99625693e-01 1.15044264e-03 2.73340405e-02 4.12975004e+00] [-1.15558891e-03 9.99999317e-01 1.72477796e-04 -3.51732139e-03] [-2.73338234e-02 -2.04000151e-04 9.99626340e-01 -7.00266995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.67264 meters 0.016927144026098784 Centerline is valid? [True, True] Translation: X:4.16, Y:0.00, Z:-0.07 [[ 9.99645554e-01 5.02048076e-03 2.61450194e-02 4.16130624e+00] [-5.02641228e-03 9.99987355e-01 1.61155385e-04 2.60142612e-03] [-2.61438797e-02 -2.92513910e-04 9.99658148e-01 -7.30095570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.70264 meters 0.020559467768320523 Centerline is valid? [True, True] Translation: X:4.19, Y:0.01, Z:-0.08 [[ 9.99638513e-01 8.36860303e-03 2.55501422e-02 4.19220852e+00] [-8.37525973e-03 9.99964915e-01 1.53531918e-04 8.92615921e-03] [-2.55479609e-02 -3.67465496e-04 9.99673530e-01 -7.72460887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.73264 meters 0.024964763835153822 Centerline is valid? [True, True] Translation: X:4.22, Y:0.02, Z:-0.08 [[ 9.99581433e-01 1.36625517e-02 2.55008484e-02 4.22310566e+00] [-1.36707493e-02 9.99906540e-01 1.47149143e-04 1.74136890e-02] [-2.54964547e-02 -4.95703258e-04 9.99674790e-01 -7.80747313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.762640000000001 meters 0.025160710283863942 Centerline is valid? [True, True] Translation: X:4.26, Y:0.02, Z:-0.08 [[ 9.99550056e-01 1.56602857e-02 2.55820507e-02 4.25571613e+00] [-1.56692257e-02 9.99877219e-01 1.49030385e-04 1.98605126e-02] [-2.55765759e-02 -5.49814256e-04 9.99672715e-01 -7.75909790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.79264 meters 0.02906207535992068 Centerline is valid? [True, True] Translation: X:4.29, Y:0.03, Z:-0.08 [[ 9.99510439e-01 1.72061855e-02 2.61310143e-02 4.28673194e+00] [-1.72159122e-02 9.99851784e-01 1.47284911e-04 2.75800663e-02] [-2.61246070e-02 -5.97082055e-04 9.99658516e-01 -8.02536906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.82264 meters 0.03027876650230627 Centerline is valid? [True, True] Translation: X:4.32, Y:0.03, Z:-0.08 [[ 9.99474346e-01 1.83492027e-02 2.67271153e-02 4.31777523e+00] [-1.83596644e-02 9.99831436e-01 1.46066199e-04 3.13282126e-02] [-2.67199299e-02 -6.36690286e-04 9.99642756e-01 -8.07125396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.852640000000001 meters 0.028427863589576247 Centerline is valid? [True, True] Translation: X:4.35, Y:0.03, Z:-0.08 [[ 9.99447409e-01 1.87915608e-02 2.74181472e-02 4.35049743e+00] [-1.88026361e-02 9.99823204e-01 1.46156141e-04 3.18382983e-02] [-2.74105533e-02 -6.61608819e-04 9.99624041e-01 -7.87937177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.88264 meters 0.031192457558935016 Centerline is valid? [True, True] Translation: X:4.38, Y:0.04, Z:-0.08 [[ 9.99431055e-01 1.88332276e-02 2.79799067e-02 4.38134001e+00] [-1.88446075e-02 9.99822414e-01 1.43063509e-04 3.74341959e-02] [-2.79722435e-02 -6.70252473e-04 9.99608476e-01 -8.15146290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.91264 meters 0.026394979998277165 Centerline is valid? [True, True] Translation: X:4.41, Y:0.04, Z:-0.08 [[ 9.99396790e-01 1.84171092e-02 2.94426047e-02 4.41334362e+00] [-1.84293921e-02 9.99830154e-01 1.45848905e-04 3.71501694e-02] [-2.94349179e-02 -6.88370233e-04 9.99566462e-01 -7.73189277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.94264 meters 0.029275578214031463 Centerline is valid? [True, True] Translation: X:4.44, Y:0.04, Z:-0.08 [[ 9.99370696e-01 1.81556290e-02 3.04726997e-02 4.44444380e+00] [-1.81684928e-02 9.99834929e-01 1.45286962e-04 4.35869706e-02] [-3.04650318e-02 -6.98838559e-04 9.99535589e-01 -7.91949376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.97264 meters 0.025565486991315164 Centerline is valid? [True, True] Translation: X:4.48, Y:0.04, Z:-0.08 [[ 9.99377756e-01 1.75661894e-02 3.05864232e-02 4.47647511e+00] [-1.75787265e-02 9.99845472e-01 1.41021749e-04 4.11992644e-02] [-3.05792195e-02 -6.78604366e-04 9.99532116e-01 -7.85773793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.00264 meters 0.023972953581203868 Centerline is valid? [True, True] Translation: X:4.51, Y:0.04, Z:-0.08 [[ 9.99432021e-01 1.55280529e-02 2.99084366e-02 4.50733685e+00] [-1.55389747e-02 9.99879254e-01 1.32770790e-04 4.39786456e-02] [-2.99027636e-02 -5.97441819e-04 9.99552634e-01 -8.12249980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.03264 meters 0.023236902284531513 Centerline is valid? [True, True] Translation: X:4.54, Y:0.04, Z:-0.08 [[ 9.99466633e-01 1.43070579e-02 2.93557152e-02 4.53844620e+00] [-1.43169205e-02 9.99897500e-01 1.25797777e-04 4.49703174e-02] [-2.93509065e-02 -5.46014122e-04 9.99569020e-01 -8.38387528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.06264 meters 0.03136621368744252 Centerline is valid? [True, True] Translation: X:4.57, Y:0.05, Z:-0.09 [[ 9.99507884e-01 1.28635454e-02 2.86097841e-02 4.56938597e+00] [-1.28721966e-02 9.99917143e-01 1.18223611e-04 4.56171240e-02] [-2.86058928e-02 -4.86436196e-04 9.99590649e-01 -8.96062385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.09264 meters 0.020995666973452325 Centerline is valid? [True, True] Translation: X:4.60, Y:0.04, Z:-0.09 [[ 9.99551212e-01 1.09209188e-02 2.78945929e-02 4.60078545e+00] [-1.09282697e-02 9.99940279e-01 1.11085220e-04 4.45891850e-02] [-2.78917138e-02 -4.15875001e-04 9.99610864e-01 -9.06646775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.12264 meters 0.01664650844288118 Centerline is valid? [True, True] Translation: X:4.63, Y:0.04, Z:-0.09 [[ 9.99626974e-01 5.91703596e-03 2.66627505e-02 4.63324770e+00] [-5.92183096e-03 9.99982461e-01 1.00881578e-04 3.81517937e-02] [-2.66616859e-02 -2.58736247e-04 9.99644481e-01 -9.39235422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.15264 meters 0.025148994386349578 Centerline is valid? [True, True] Translation: X:4.67, Y:0.04, Z:-0.10 [[ 9.99640796e-01 3.86530728e-03 2.65205451e-02 4.66585153e+00] [-3.86930088e-03 9.99992509e-01 9.92698115e-05 3.53608032e-02] [-2.65199627e-02 -2.01850122e-04 9.99648264e-01 -9.68355847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.182640000000001 meters 0.013893816870015726 Centerline is valid? [True, True] Translation: X:4.70, Y:0.03, Z:-0.10 [[ 9.99656670e-01 6.95083142e-04 2.61927384e-02 4.69710917e+00] [-6.97830988e-04 9.99999752e-01 9.57682189e-05 3.44442695e-02] [-2.61926653e-02 -1.14013443e-04 9.99656907e-01 -9.73348665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.21264 meters 0.013656518273180521 Centerline is valid? [True, True] Translation: X:4.73, Y:0.04, Z:-0.10 [[ 9.99661552e-01 1.11218656e-04 2.60148027e-02 4.73004556e+00] [-1.13706326e-04 9.99999989e-01 9.41459041e-05 3.58942895e-02] [-2.60147920e-02 -9.70720882e-05 9.99661553e-01 -9.91497671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.24264 meters 0.025588049248380054 Centerline is valid? [True, True] Translation: X:4.76, Y:0.04, Z:-0.10 [[ 9.99650852e-01 6.50201965e-05 2.64229137e-02 4.76178325e+00] [-6.74267179e-05 9.99999994e-01 9.01861168e-05 3.75588593e-02] [-2.64229077e-02 -9.19362388e-05 9.99650850e-01 -1.01670569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.27264 meters 0.012500231700321688 Centerline is valid? [True, True] Translation: X:4.79, Y:0.04, Z:-0.10 [[ 9.99636368e-01 -2.82839379e-04 2.69639103e-02 4.79431857e+00] [ 2.80584215e-04 9.99999957e-01 8.74198601e-05 3.53407577e-02] [-2.69639339e-02 -7.98224238e-05 9.99636404e-01 -9.88890590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.30264 meters 0.012370145788880202 Centerline is valid? [True, True] Translation: X:4.83, Y:0.03, Z:-0.10 [[ 9.99628290e-01 -4.35727609e-04 2.72597013e-02 4.82731479e+00] [ 4.33600410e-04 9.99999902e-01 8.39455055e-05 3.38337733e-02] [-2.72597352e-02 -7.20944844e-05 9.99628382e-01 -9.92521532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.33264 meters 0.012476255889243367 Centerline is valid? [True, True] Translation: X:4.86, Y:0.03, Z:-0.10 [[ 9.99631164e-01 -6.78935101e-04 2.71491362e-02 4.85922761e+00] [ 6.77066223e-04 9.99999768e-01 7.80299883e-05 3.25996460e-02] [-2.71491828e-02 -5.96194449e-05 9.99631391e-01 -1.01007248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.36264 meters 0.016011940026621794 Centerline is valid? [True, True] Translation: X:4.89, Y:0.03, Z:-0.10 [[ 9.99615232e-01 -1.39343477e-03 2.77028217e-02 4.89175823e+00] [ 1.39191519e-03 9.99999029e-01 7.41366744e-05 3.14139422e-02] [-2.77028981e-02 -3.55481707e-05 9.99616200e-01 -1.02627189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.39264 meters 0.012036268218152051 Centerline is valid? [True, True] Translation: X:4.92, Y:0.03, Z:-0.10 [[ 9.99619023e-01 -1.11699262e-03 2.75782706e-02 4.92465295e+00] [ 1.11550181e-03 9.99999375e-01 6.94421744e-05 3.16473781e-02] [-2.75783309e-02 -3.86521078e-05 9.99619645e-01 -1.02524428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.42264 meters 0.012555096624379702 Centerline is valid? [True, True] Translation: X:4.96, Y:0.03, Z:-0.11 [[ 9.99620297e-01 -5.52100255e-04 2.75491645e-02 4.95690286e+00] [ 5.50554709e-04 9.99999846e-01 6.36864694e-05 3.24112510e-02] [-2.75491954e-02 -4.84949652e-05 9.99620448e-01 -1.06139944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.45264 meters 0.012265932924186934 Centerline is valid? [True, True] Translation: X:4.99, Y:0.03, Z:-0.11 [[ 9.99623176e-01 2.35097497e-04 2.74490734e-02 4.98992398e+00] [-2.36793691e-04 9.99999970e-01 5.85437252e-05 3.14530765e-02] [-2.74490588e-02 -6.50214319e-05 9.99623201e-01 -1.06490313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.48264 meters 0.012307559670440912 Centerline is valid? [True, True] Translation: X:5.02, Y:0.03, Z:-0.11 [[ 9.99621730e-01 9.61316473e-04 2.74858783e-02 5.02284623e+00] [-9.63143623e-04 9.99999535e-01 5.32371126e-05 3.05488712e-02] [-2.74858144e-02 -7.96898230e-05 9.99622190e-01 -1.07375013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.512640000000001 meters 0.012788656146093166 Centerline is valid? [True, True] Translation: X:5.05, Y:0.03, Z:-0.11 [[ 9.99619526e-01 1.72259694e-03 2.75288296e-02 5.05463939e+00] [-1.72456150e-03 9.99998512e-01 4.76217791e-05 2.98731888e-02] [-2.75287066e-02 -9.50788199e-05 9.99621009e-01 -1.09530886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.54264 meters 0.0127197392254938 Centerline is valid? [True, True] Translation: X:5.09, Y:0.03, Z:-0.11 [[ 9.99632964e-01 2.21419478e-03 2.70006546e-02 5.08699212e+00] [-2.21612705e-03 9.99997544e-01 4.16401500e-05 2.90274871e-02] [-2.70004961e-02 -1.01461748e-04 9.99635415e-01 -1.10590459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.57264 meters 0.028139435682822643 Centerline is valid? [True, True] Translation: X:5.12, Y:0.03, Z:-0.11 [[ 9.99616990e-01 3.40140953e-03 2.74645886e-02 5.11905189e+00] [-3.40370215e-03 9.99994207e-01 3.67263673e-05 2.98892462e-02] [-2.74643046e-02 -1.30193580e-04 9.99622776e-01 -1.14510071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.602640000000001 meters 0.013028938034040956 Centerline is valid? [True, True] Translation: X:5.15, Y:0.03, Z:-0.11 [[ 9.99605267e-01 3.74675252e-03 2.78436900e-02 5.15238673e+00] [-3.74917407e-03 9.99992971e-01 3.47643910e-05 2.94183276e-02] [-2.78433641e-02 -1.39141509e-04 9.99612289e-01 -1.11609757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.63264 meters 0.013314706850052205 Centerline is valid? [True, True] Translation: X:5.19, Y:0.03, Z:-0.11 [[ 9.99604052e-01 4.39870518e-03 2.77919116e-02 5.18569990e+00] [-4.40121801e-03 9.99990314e-01 2.92450143e-05 2.96101851e-02] [-2.77915138e-02 -1.51551697e-04 9.99613730e-01 -1.13109222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.66264 meters 0.01790612307710709 Centerline is valid? [True, True] Translation: X:5.22, Y:0.03, Z:-0.11 [[ 9.99590920e-01 5.55851752e-03 2.80552404e-02 5.21829561e+00] [-5.56138188e-03 9.99984535e-01 2.40692893e-05 2.91562751e-02] [-2.80546727e-02 -1.80085348e-04 9.99606374e-01 -1.14271631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.69264 meters 0.013881333077926002 Centerline is valid? [True, True] Translation: X:5.25, Y:0.03, Z:-0.11 [[ 9.99583972e-01 6.28305061e-03 2.81497172e-02 5.25003907e+00] [-6.28602683e-03 9.99980243e-01 1.72362259e-05 2.90508027e-02] [-2.81490527e-02 -1.94178932e-04 9.99603718e-01 -1.14481060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.72264 meters 0.014931588268851942 Centerline is valid? [True, True] Translation: X:5.28, Y:0.03, Z:-0.12 [[ 9.99582965e-01 7.85873096e-03 2.77873449e-02 5.28123094e+00] [-7.86212937e-03 9.99969093e-01 1.30461749e-05 3.00683067e-02] [-2.77863836e-02 -2.31508435e-04 9.99613857e-01 -1.16598423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.75264 meters 0.015841945417609547 Centerline is valid? [True, True] Translation: X:5.31, Y:0.03, Z:-0.12 [[ 9.99574263e-01 8.85012625e-03 2.78023184e-02 5.31271256e+00] [-8.85387477e-03 9.99960804e-01 1.17249630e-05 3.20216110e-02] [-2.78011249e-02 -2.57878217e-04 9.99613441e-01 -1.18570736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.78264 meters 0.016136607033535866 Centerline is valid? [True, True] Translation: X:5.34, Y:0.03, Z:-0.12 [[ 9.99567966e-01 9.78968747e-03 2.77136015e-02 5.34468817e+00] [-9.79362927e-03 9.99952041e-01 6.49921871e-06 3.37900074e-02] [-2.77122087e-02 -2.77913149e-04 9.99615904e-01 -1.19768690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.81264 meters 0.017194380250776208 Centerline is valid? [True, True] Translation: X:5.38, Y:0.04, Z:-0.12 [[ 9.99552965e-01 1.08103286e-02 2.78748510e-02 5.37703275e+00] [-1.08145845e-02 9.99941521e-01 1.92201375e-06 3.61988248e-02] [-2.78732001e-02 -3.03376085e-04 9.99611421e-01 -1.21784918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.842640000000001 meters 0.017000995817051234 Centerline is valid? [True, True] Translation: X:5.41, Y:0.04, Z:-0.12 [[ 9.99545392e-01 1.09146038e-02 2.81048141e-02 5.41045206e+00] [-1.09188301e-02 9.99940388e-01 -3.08856467e-06 3.63016972e-02] [-2.81031724e-02 -3.03784530e-04 9.99604982e-01 -1.22120383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.87264 meters 0.0257097492552601 Centerline is valid? [True, True] Translation: X:5.44, Y:0.04, Z:-0.12 [[ 9.99533245e-01 1.05873880e-02 2.86565624e-02 5.44299838e+00] [-1.05914778e-02 9.99943909e-01 -9.07126338e-06 3.59155733e-02] [-2.86550511e-02 -2.94448314e-04 9.99589316e-01 -1.24181966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.90264 meters 0.028610151289134203 Centerline is valid? [True, True] Translation: X:5.47, Y:0.03, Z:-0.13 [[ 9.99531821e-01 8.08610725e-03 2.95085438e-02 5.47381601e+00] [-8.08919246e-03 9.99967282e-01 -1.48234566e-05 3.27689989e-02] [-2.95076982e-02 -2.23883773e-04 9.99564528e-01 -1.25138717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.932640000000001 meters 0.013202358608940666 Centerline is valid? [True, True] Translation: X:5.51, Y:0.03, Z:-0.12 [[ 9.99550490e-01 6.41021377e-03 2.92869875e-02 5.50512528e+00] [-6.41239808e-03 9.99979440e-01 -1.93377983e-05 2.84732072e-02] [-2.92865093e-02 -1.68470717e-04 9.99571044e-01 -1.24329590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.96264 meters 0.01268241735484626 Centerline is valid? [True, True] Translation: X:5.54, Y:0.02, Z:-0.13 [[ 9.99562734e-01 4.63087288e-03 2.92043736e-02 5.53601362e+00] [-4.63215116e-03 9.99989271e-01 -2.38839646e-05 2.49031921e-02] [-2.92041708e-02 -1.11405552e-04 9.99573461e-01 -1.26729443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.99264 meters 0.011706000958432008 Centerline is valid? [True, True] Translation: X:5.57, Y:0.02, Z:-0.13 [[ 9.99565569e-01 2.96495493e-03 2.93237433e-02 5.56854090e+00] [-2.96539699e-03 9.99995603e-01 -2.84126174e-05 2.16496309e-02] [-2.93236986e-02 -5.85562660e-05 9.99569966e-01 -1.26360037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.02264 meters 0.011839617013293119 Centerline is valid? [True, True] Translation: X:5.60, Y:0.02, Z:-0.13 [[ 9.99578897e-01 -1.65933000e-04 2.90172485e-02 5.60146900e+00] [ 1.66953906e-04 9.99999986e-01 -3.27599261e-05 1.75419032e-02] [-2.90172427e-02 3.75906738e-05 9.99578910e-01 -1.28881208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.05264 meters 0.012525628814625505 Centerline is valid? [True, True] Translation: X:5.63, Y:0.02, Z:-0.13 [[ 9.99602465e-01 -1.56776555e-03 2.81505627e-02 5.63337109e+00] [ 1.56944211e-03 9.99998768e-01 -3.74623862e-05 1.53262459e-02] [-2.81504693e-02 8.16281722e-05 9.99603694e-01 -1.31836092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.08264 meters 0.02206382485448142 Centerline is valid? [True, True] Translation: X:5.67, Y:0.01, Z:-0.14 [[ 9.99615083e-01 -2.67709235e-03 2.76137482e-02 5.66518999e+00] [ 2.67925552e-03 9.99996410e-01 -4.13376985e-05 1.36554076e-02] [-2.76135384e-02 1.15306074e-04 9.99618667e-01 -1.35657437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.11264 meters 0.014340511330070261 Centerline is valid? [True, True] Translation: X:5.70, Y:0.01, Z:-0.14 [[ 9.99597919e-01 -3.72986359e-03 2.81085131e-02 5.69727994e+00] [ 3.73265771e-03 9.99993033e-01 -4.69350416e-05 9.59069290e-03] [-2.81081422e-02 1.51835628e-04 9.99604877e-01 -1.36903473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.14264 meters 0.01502997964382693 Centerline is valid? [True, True] Translation: X:5.73, Y:0.00, Z:-0.14 [[ 9.99603118e-01 -5.71115132e-03 2.75860307e-02 5.72906267e+00] [ 5.71474033e-03 9.99983669e-01 -5.12649844e-05 4.46571468e-03] [-2.75852874e-02 2.08891640e-04 9.99619432e-01 -1.37327934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.17264 meters 0.028110145470416317 Centerline is valid? [True, True] Translation: X:5.76, Y:0.00, Z:-0.14 [[ 9.99606736e-01 -6.50032275e-03 2.72785519e-02 5.76007845e+00] [ 6.50428292e-03 9.99978845e-01 -5.64465167e-05 2.68601345e-03] [-2.72776080e-02 2.33851738e-04 9.99627869e-01 -1.42375887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.20264 meters 0.016759851288924474 Centerline is valid? [True, True] Translation: X:5.79, Y:0.00, Z:-0.14 [[ 9.99602209e-01 -7.09142301e-03 2.72971710e-02 5.79257602e+00] [ 7.09564374e-03 9.99974824e-01 -5.77597451e-05 4.48320992e-04] [-2.72960742e-02 2.51427769e-04 9.99627361e-01 -1.40884004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.23264 meters 0.015993272547055785 Centerline is valid? [True, True] Translation: X:5.83, Y:0.00, Z:-0.14 [[ 9.99601876e-01 -6.78856369e-03 2.73862095e-02 5.82515916e+00] [ 6.79288741e-03 9.99976926e-01 -6.48482661e-05 3.39246312e-04] [-2.73851373e-02 2.50853886e-04 9.99624925e-01 -1.40990071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.262640000000001 meters 0.023477309323263088 Centerline is valid? [True, True] Translation: X:5.86, Y:0.00, Z:-0.14 [[ 9.99609088e-01 -5.94139856e-03 2.73197979e-02 5.85720983e+00] [ 5.94542110e-03 9.99982324e-01 -6.60117052e-05 6.89814610e-04] [-2.73189228e-02 2.28413603e-04 9.99626742e-01 -1.44482946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.29264 meters 0.017088692016745535 Centerline is valid? [True, True] Translation: X:5.89, Y:0.00, Z:-0.14 [[ 9.99620880e-01 -2.80840224e-03 2.73899414e-02 5.88918040e+00] [ 2.81130204e-03 9.99996046e-01 -6.73636481e-05 3.83991499e-03] [-2.73896439e-02 1.44339507e-04 9.99624823e-01 -1.44473143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.32264 meters 0.012745539850713227 Centerline is valid? [True, True] Translation: X:5.92, Y:0.01, Z:-0.14 [[ 9.99622595e-01 -1.16396794e-03 2.74465601e-02 5.92101157e+00] [ 1.16631256e-03 9.99999317e-01 -6.94163458e-05 6.10706848e-03] [-2.74464606e-02 1.01401416e-04 9.99623270e-01 -1.43884411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.352640000000001 meters 0.012397339989656054 Centerline is valid? [True, True] Translation: X:5.95, Y:0.01, Z:-0.15 [[ 9.99617548e-01 4.25102875e-04 2.76509864e-02 5.95244462e+00] [-4.23336977e-04 9.99999908e-01 -6.97177585e-05 7.34127692e-03] [-2.76510135e-02 5.79854098e-05 9.99617636e-01 -1.45202473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.38264 meters 0.012328902914105556 Centerline is valid? [True, True] Translation: X:5.99, Y:0.01, Z:-0.15 [[ 9.99631594e-01 2.72998222e-03 2.70041432e-02 5.98578110e+00] [-2.72904074e-03 9.99996274e-01 -7.17186187e-05 8.91906604e-03] [-2.70042383e-02 -2.00320980e-06 9.99635319e-01 -1.47508714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.41264 meters 0.013348357315024458 Centerline is valid? [True, True] Translation: X:6.02, Y:0.01, Z:-0.15 [[ 9.99652481e-01 3.69916227e-03 2.61004312e-02 6.01624015e+00] [-3.69845813e-03 9.99993158e-01 -7.52523129e-05 1.02845266e-02] [-2.61005309e-02 -2.13051904e-05 9.99659323e-01 -1.53142020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.44264 meters 0.013413103053879747 Centerline is valid? [True, True] Translation: X:6.05, Y:0.01, Z:-0.16 [[ 9.99687071e-01 4.35530492e-03 2.46331221e-02 6.04810235e+00] [-4.35481692e-03 9.99990515e-01 -7.34555488e-05 1.14649540e-02] [-2.46332084e-02 -3.38401744e-05 9.99696556e-01 -1.55172977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.47264 meters 0.013413103053879747 Centerline is valid? [True, True] Translation: X:6.08, Y:0.01, Z:-0.16 [[ 9.99686194e-01 4.55221266e-03 2.46331100e-02 6.08058675e+00] [-4.55169106e-03 9.99989638e-01 -7.72447245e-05 1.11690336e-02] [-2.46332064e-02 -3.49018220e-05 9.99696556e-01 -1.56546541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.50264 meters 0.013690946297958395 Centerline is valid? [True, True] Translation: X:6.11, Y:0.01, Z:-0.16 [[ 9.99716713e-01 4.76110662e-03 2.33200693e-02 6.11235321e+00] [-4.76058936e-03 9.99988665e-01 -7.76971800e-05 1.14198618e-02] [-2.33201749e-02 -3.33421043e-05 9.99728047e-01 -1.60097733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.53264 meters 0.014253031189580313 Centerline is valid? [True, True] Translation: X:6.14, Y:0.01, Z:-0.16 [[ 9.99744608e-01 4.79510912e-03 2.20845117e-02 6.14395642e+00] [-4.79457114e-03 9.99988503e-01 -7.73099541e-05 1.04379003e-02] [-2.20846285e-02 -2.85955525e-05 9.99756104e-01 -1.64097083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.56264 meters 0.014747159012156508 Centerline is valid? [True, True] Translation: X:6.18, Y:0.01, Z:-0.17 [[ 9.99739184e-01 5.08060853e-03 2.22654668e-02 6.17575595e+00] [-5.08006198e-03 9.99987093e-01 -8.11092522e-05 9.84341314e-03] [-2.22655915e-02 -3.20218539e-05 9.99752090e-01 -1.67106233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.592640000000001 meters 0.014087168122328676 Centerline is valid? [True, True] Translation: X:6.21, Y:0.01, Z:-0.17 [[ 9.99727019e-01 5.23842926e-03 2.27693976e-02 6.20835709e+00] [-5.23779175e-03 9.99986279e-01 -8.76372912e-05 9.46387288e-03] [-2.27695442e-02 -3.16479948e-05 9.99740740e-01 -1.65543586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.62264 meters 0.013350002208026658 Centerline is valid? [True, True] Translation: X:6.24, Y:0.01, Z:-0.16 [[ 9.99682193e-01 5.24150424e-03 2.46584601e-02 6.24082305e+00] [-5.24063772e-03 9.99986263e-01 -9.97642919e-05 8.73900771e-03] [-2.46586443e-02 -2.94934700e-05 9.99695929e-01 -1.62823162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.65264 meters 0.013171221925841903 Centerline is valid? [True, True] Translation: X:6.27, Y:0.01, Z:-0.16 [[ 9.99665545e-01 5.14765889e-03 2.53436377e-02 6.27193848e+00] [-5.14656499e-03 9.99986750e-01 -1.08389826e-04 8.73351362e-03] [-2.53438598e-02 -2.20791036e-05 9.99678793e-01 -1.63025568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.682640000000001 meters 0.012695265906273196 Centerline is valid? [True, True] Translation: X:6.30, Y:0.01, Z:-0.16 [[ 9.99638640e-01 5.22260037e-03 2.63687935e-02 6.30430310e+00] [-5.22140131e-03 9.99986362e-01 -1.14326117e-04 9.34608977e-03] [-2.63690309e-02 -2.33972482e-05 9.99652276e-01 -1.62577644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.71264 meters 0.015258526436217628 Centerline is valid? [True, True] Translation: X:6.33, Y:0.01, Z:-0.16 [[ 9.99615534e-01 5.25976864e-03 2.72234922e-02 6.33497091e+00] [-5.25833881e-03 9.99986167e-01 -1.24110441e-04 9.97412030e-03] [-2.72237685e-02 -1.90876211e-05 9.99629364e-01 -1.64550786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.74264 meters 0.012369163165867314 Centerline is valid? [True, True] Translation: X:6.37, Y:0.01, Z:-0.16 [[ 9.99599941e-01 6.39464575e-03 2.75511584e-02 6.36788757e+00] [-6.39357688e-03 9.99979553e-01 -1.26888467e-04 9.22518480e-03] [-2.75514064e-02 -4.93127449e-05 9.99620387e-01 -1.62597814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.77264 meters 0.012676510572370547 Centerline is valid? [True, True] Translation: X:6.40, Y:0.01, Z:-0.16 [[ 9.99589306e-01 7.65288021e-03 2.76161655e-02 6.39981611e+00] [-7.65210440e-03 9.99970713e-01 -1.33775267e-04 9.49741979e-03] [-2.76163805e-02 -7.76014557e-05 9.99618592e-01 -1.63672614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.80264 meters 0.012949904618641955 Centerline is valid? [True, True] Translation: X:6.43, Y:0.01, Z:-0.16 [[ 9.99557559e-01 9.19322347e-03 2.82872976e-02 6.43192323e+00] [-9.19294705e-03 9.99957734e-01 -1.39822468e-04 1.11133906e-02] [-2.82873874e-02 -1.20283025e-04 9.99599825e-01 -1.64522369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.83264 meters 0.015115577208958042 Centerline is valid? [True, True] Translation: X:6.46, Y:0.02, Z:-0.17 [[ 9.99525179e-01 1.27037428e-02 2.80718871e-02 6.46255270e+00] [-1.27046493e-02 9.99919282e-01 -1.46070643e-04 2.01293446e-02] [-2.80714768e-02 -2.10642195e-04 9.99605896e-01 -1.66523359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.86264 meters 0.016171029819792456 Centerline is valid? [True, True] Translation: X:6.50, Y:0.02, Z:-0.17 [[ 9.99520626e-01 1.49896620e-02 2.70892655e-02 6.49502181e+00] [-1.49913890e-02 9.99887613e-01 -1.39348539e-04 2.32270597e-02] [-2.70883098e-02 -2.66823977e-04 9.99633009e-01 -1.68163184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.89264 meters 0.017020027394108916 Centerline is valid? [True, True] Translation: X:6.53, Y:0.03, Z:-0.17 [[ 9.99501201e-01 1.71034681e-02 2.65484412e-02 6.52762164e+00] [-1.71057574e-02 9.99853676e-01 -1.40887202e-04 2.54077654e-02] [-2.65469661e-02 -3.13314267e-04 9.99647518e-01 -1.69079858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.922640000000001 meters 0.020868337119583188 Centerline is valid? [True, True] Translation: X:6.56, Y:0.03, Z:-0.17 [[ 9.99413776e-01 2.15976139e-02 2.65640147e-02 6.55915705e+00] [-2.16013624e-02 9.99766653e-01 -1.45873035e-04 3.49421936e-02] [-2.65609666e-02 -4.28031389e-04 9.99647104e-01 -1.71312984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.95264 meters 0.022921677003872022 Centerline is valid? [True, True] Translation: X:6.59, Y:0.04, Z:-0.17 [[ 9.99381474e-01 2.39179275e-02 2.57798762e-02 6.59085303e+00] [-2.39221259e-02 9.99713814e-01 -1.45583002e-04 3.95218000e-02] [-2.57759805e-02 -4.71216489e-04 9.99667633e-01 -1.73737130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.98264 meters 0.026451669937443054 Centerline is valid? [True, True] Translation: X:6.62, Y:0.05, Z:-0.18 [[ 9.99355201e-01 2.56337311e-02 2.51414826e-02 6.62144671e+00] [-2.56381113e-02 9.99671279e-01 -1.48153837e-04 4.51261986e-02] [-2.51370158e-02 -4.96521823e-04 9.99683892e-01 -1.78117584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.012640000000001 meters 0.027785040068292615 Centerline is valid? [True, True] Translation: X:6.65, Y:0.05, Z:-0.18 [[ 9.99301326e-01 2.79478933e-02 2.48148160e-02 6.65388662e+00] [-2.79529185e-02 9.99609230e-01 -1.44412660e-04 5.00173912e-02] [-2.48091552e-02 -5.49334768e-04 9.99692055e-01 -1.79266269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.04264 meters 0.027770043439241648 Centerline is valid? [True, True] Translation: X:6.69, Y:0.05, Z:-0.18 [[ 9.99293511e-01 2.85276918e-02 2.44673289e-02 6.68565338e+00] [-2.85326582e-02 9.99592850e-01 -1.46177050e-04 5.29423042e-02] [-2.44615371e-02 -5.52044154e-04 9.99700619e-01 -1.80665847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.07264 meters 0.02943295259582039 Centerline is valid? [True, True] Translation: X:6.72, Y:0.06, Z:-0.18 [[ 9.99296427e-01 2.86826261e-02 2.41652022e-02 6.71836706e+00] [-2.86874296e-02 9.99588420e-01 -1.47939007e-04 5.55111599e-02] [-2.41594996e-02 -5.45402616e-04 9.99707968e-01 -1.84360741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.102640000000001 meters 0.025897870977746436 Centerline is valid? [True, True] Translation: X:6.75, Y:0.05, Z:-0.18 [[ 9.99310385e-01 2.79949849e-02 2.43933534e-02 6.75072852e+00] [-2.79995492e-02 9.99607924e-01 -1.54485218e-04 5.40075396e-02] [-2.43881141e-02 -5.28624216e-04 9.99702426e-01 -1.82425487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.13264 meters 0.03251529480840609 Centerline is valid? [True, True] Translation: X:6.78, Y:0.06, Z:-0.18 [[ 9.99334531e-01 2.54288296e-02 2.61509125e-02 6.78071100e+00] [-2.54329977e-02 9.99676514e-01 -1.73259636e-04 5.55229166e-02] [-2.61468588e-02 -4.91951760e-04 9.99657991e-01 -1.84540073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.16264 meters 0.022245600390473727 Centerline is valid? [True, True] Translation: X:6.81, Y:0.06, Z:-0.18 [[ 9.99376458e-01 2.37246238e-02 2.61502913e-02 6.81261148e+00] [-2.37282667e-02 9.99718430e-01 -1.71032195e-04 5.53109613e-02] [-2.61469858e-02 -4.49575536e-04 9.99658008e-01 -1.82711101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.19264 meters 0.0181940025872866 Centerline is valid? [True, True] Translation: X:6.84, Y:0.05, Z:-0.18 [[ 9.99449775e-01 1.98949662e-02 2.65393770e-02 6.84393186e+00] [-1.98971847e-02 9.99802015e-01 -1.80506846e-04 5.28626656e-02] [-2.65377138e-02 -3.47651359e-04 9.99647752e-01 -1.82482297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.22264 meters 0.02486895742208165 Centerline is valid? [True, True] Translation: X:6.87, Y:0.05, Z:-0.19 [[ 9.99463607e-01 1.85730710e-02 2.69729365e-02 6.87454221e+00] [-1.85749193e-02 9.99827455e-01 -1.82051965e-04 5.39144281e-02] [-2.69716637e-02 -3.19065805e-04 9.99636148e-01 -1.86664054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.25264 meters 0.01630192529708973 Centerline is valid? [True, True] Translation: X:6.91, Y:0.05, Z:-0.18 [[ 9.99483401e-01 1.71595088e-02 2.71750359e-02 6.90707599e+00] [-1.71607446e-02 9.99852726e-01 -1.87753891e-04 5.36910266e-02] [-2.71742555e-02 -2.78686954e-04 9.99630673e-01 -1.84890085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.28264 meters 0.015815128015695002 Centerline is valid? [True, True] Translation: X:6.94, Y:0.05, Z:-0.19 [[ 9.99494283e-01 1.59270577e-02 2.75228425e-02 6.93810076e+00] [-1.59276945e-02 9.99873127e-01 -1.96106225e-04 5.46122003e-02] [-2.75224740e-02 -2.42368378e-04 9.99621156e-01 -1.86814137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.31264 meters 0.014777719903271251 Centerline is valid? [True, True] Translation: X:6.97, Y:0.05, Z:-0.19 [[ 9.99550330e-01 1.35611505e-02 2.67438505e-02 6.96890594e+00] [-1.35608621e-02 9.99908029e-01 -1.92156502e-04 5.38090578e-02] [-2.67439967e-02 -1.70599576e-04 9.99642301e-01 -1.90011199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.342640000000001 meters 0.01366377466608897 Centerline is valid? [True, True] Translation: X:7.00, Y:0.05, Z:-0.19 [[ 9.99576428e-01 1.23969825e-02 2.63302064e-02 7.00166877e+00] [-1.23962105e-02 9.99923145e-01 -1.92553061e-04 5.22246090e-02] [-2.63305698e-02 -1.33923279e-04 9.99653281e-01 -1.90531559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.37264 meters 0.013778903811701132 Centerline is valid? [True, True] Translation: X:7.03, Y:0.05, Z:-0.19 [[ 9.99590604e-01 1.14815046e-02 2.62068589e-02 7.03402765e+00] [-1.14802597e-02 9.99934080e-01 -1.97961817e-04 5.21760947e-02] [-2.62074042e-02 -1.02980774e-04 9.99656522e-01 -1.93331062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.40264 meters 0.01352965956315242 Centerline is valid? [True, True] Translation: X:7.07, Y:0.05, Z:-0.20 [[ 9.99601021e-01 1.07463560e-02 2.61211565e-02 7.06676089e+00] [-1.07448130e-02 9.99942253e-01 -1.99431977e-04 5.13765785e-02] [-2.61217913e-02 -8.13145354e-05 9.99658764e-01 -1.95056189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.432640000000001 meters 0.013749606737142329 Centerline is valid? [True, True] Translation: X:7.10, Y:0.05, Z:-0.20 [[ 9.99633477e-01 9.57403445e-03 2.53228951e-02 7.09769873e+00] [-9.57207720e-03 9.99954167e-01 -1.98508965e-04 5.10557156e-02] [-2.53236350e-02 -4.39564990e-05 9.99679304e-01 -1.97742034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.46264 meters 0.013285159965203753 Centerline is valid? [True, True] Translation: X:7.13, Y:0.05, Z:-0.20 [[ 9.99623310e-01 9.53088336e-03 2.57371572e-02 7.13012823e+00] [-9.52874887e-03 9.99954579e-01 -2.05577618e-04 5.25689792e-02] [-2.57379476e-02 -3.97427283e-05 9.99668723e-01 -1.97610488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.49264 meters 0.013236016492140306 Centerline is valid? [True, True] Translation: X:7.16, Y:0.06, Z:-0.20 [[ 9.99617959e-01 1.02805953e-02 2.56562994e-02 7.16277925e+00] [-1.02786237e-02 9.99947152e-01 -2.08725213e-04 5.51814940e-02] [-2.56570894e-02 -5.50659760e-05 9.99670801e-01 -1.98826587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.52264 meters 0.013374043858462963 Centerline is valid? [True, True] Translation: X:7.19, Y:0.06, Z:-0.20 [[ 9.99613110e-01 1.07051169e-02 2.56716078e-02 7.19428294e+00] [-1.07031497e-02 9.99942697e-01 -2.14036828e-04 5.51133778e-02] [-2.56724281e-02 -6.08130433e-05 9.99670407e-01 -2.00548562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.55264 meters 0.013827638531149872 Centerline is valid? [True, True] Translation: X:7.23, Y:0.06, Z:-0.20 [[ 9.99609069e-01 1.13883112e-02 2.55345796e-02 7.22623316e+00] [-1.13864702e-02 9.99935148e-01 -2.17499532e-04 5.64841981e-02] [-2.55354006e-02 -7.33342265e-05 9.99673916e-01 -2.02661605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.58264 meters 0.013911393993357711 Centerline is valid? [True, True] Translation: X:7.26, Y:0.06, Z:-0.20 [[ 9.99593871e-01 1.24789940e-02 2.56196710e-02 7.25971817e+00] [-1.24773856e-02 9.99922130e-01 -2.22644417e-04 5.94014152e-02] [-2.56204544e-02 -9.71125198e-05 9.99671738e-01 -2.02640106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.61264 meters 0.013530264039469778 Centerline is valid? [True, True] Translation: X:7.29, Y:0.06, Z:-0.20 [[ 9.99578963e-01 1.30732203e-02 2.59034213e-02 7.29260817e+00] [-1.30716474e-02 9.99914536e-01 -2.30056124e-04 6.22449637e-02] [-2.59042151e-02 -1.08641127e-04 9.99664424e-01 -2.02316975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.64264 meters 0.012844528903379646 Centerline is valid? [True, True] Translation: X:7.32, Y:0.07, Z:-0.20 [[ 9.99545127e-01 1.33096102e-02 2.70627573e-02 7.32480677e+00] [-1.33078162e-02 9.99911417e-01 -2.46402073e-04 6.51750171e-02] [-2.70636395e-02 -1.13856209e-04 9.99633706e-01 -2.01152837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.672640000000001 meters 0.012790181077212467 Centerline is valid? [True, True] Translation: X:7.36, Y:0.06, Z:-0.20 [[ 9.99547529e-01 1.26951179e-02 2.72685205e-02 7.35591840e+00] [-1.26929290e-02 9.99919409e-01 -2.53370048e-04 6.43888782e-02] [-2.72695395e-02 -9.28619892e-05 9.99628113e-01 -2.02785501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.70264 meters 0.012699585878477321 Centerline is valid? [True, True] Translation: X:7.39, Y:0.06, Z:-0.21 [[ 9.99567432e-01 1.15601263e-02 2.70427786e-02 7.38769597e+00] [-1.15574250e-02 9.99933178e-01 -2.56195053e-04 6.25001613e-02] [-2.70439332e-02 -5.64606545e-05 9.99634244e-01 -2.05344002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.73264 meters 0.01681231813389386 Centerline is valid? [True, True] Translation: X:7.42, Y:0.06, Z:-0.21 [[ 9.99619090e-01 8.37902905e-03 2.62957461e-02 7.41843837e+00] [-8.37530666e-03 9.99964895e-01 -2.51694038e-04 5.71153649e-02] [-2.62969319e-02 3.13632283e-05 9.99654175e-01 -2.11335889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.762640000000001 meters 0.013157228339661856 Centerline is valid? [True, True] Translation: X:7.45, Y:0.05, Z:-0.21 [[ 9.99637682e-01 6.34667969e-03 2.61576701e-02 7.45147343e+00] [-6.34221258e-03 9.99979856e-01 -2.53736294e-04 5.29729775e-02] [-2.61587535e-02 8.77468571e-05 9.99657797e-01 -2.09294480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.79264 meters 0.014246476442126137 Centerline is valid? [True, True] Translation: X:7.48, Y:0.05, Z:-0.21 [[ 9.99638167e-01 4.03808554e-03 2.65937594e-02 7.48347420e+00] [-4.03247441e-03 9.99991835e-01 -2.64619838e-04 4.78564834e-02] [-2.65946108e-02 1.57285436e-04 9.99646288e-01 -2.10929861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.82264 meters 0.01744257026640108 Centerline is valid? [True, True] Translation: X:7.52, Y:0.04, Z:-0.21 [[ 9.99638067e-01 -1.26453137e-03 2.68725982e-02 7.51508420e+00] [ 1.27228228e-03 9.99999154e-01 -2.71336009e-04 3.73975846e-02] [-2.68722323e-02 3.05427334e-04 9.99638830e-01 -2.11219011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.852640000000001 meters 0.019761562392334394 Centerline is valid? [True, True] Translation: X:7.55, Y:0.03, Z:-0.21 [[ 9.99634157e-01 -3.79582526e-03 2.67795349e-02 7.54697727e+00] [ 3.80445955e-03 9.99992726e-01 -2.71478270e-04 3.05393895e-02] [-2.67783096e-02 3.73260609e-04 9.99641327e-01 -2.12773609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.88264 meters 0.031073705912873888 Centerline is valid? [True, True] Translation: X:7.58, Y:0.02, Z:-0.22 [[ 9.99632201e-01 -8.25323712e-03 2.58330710e-02 7.57780229e+00] [ 8.26292817e-03 9.99965825e-01 -2.68415878e-04 1.77153544e-02] [-2.58299729e-02 4.81773966e-04 9.99666234e-01 -2.18746944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.91264 meters 0.024955043072476656 Centerline is valid? [True, True] Translation: X:7.61, Y:0.01, Z:-0.22 [[ 9.99637190e-01 -9.75643810e-03 2.51057874e-02 7.61030482e+00] [ 9.76601613e-03 9.99952278e-01 -2.58920897e-04 1.20989430e-02] [-2.51020631e-02 5.04010483e-04 9.99684767e-01 -2.17210504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.94264 meters 0.026081442674710634 Centerline is valid? [True, True] Translation: X:7.64, Y:0.01, Z:-0.22 [[ 9.99637167e-01 -1.02508306e-02 2.49089262e-02 7.64131091e+00] [ 1.02605514e-02 9.99947325e-01 -2.62473615e-04 6.86800906e-03] [-2.49049235e-02 5.17957698e-04 9.99689690e-01 -2.19165737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.97264 meters 0.025034191683875384 Centerline is valid? [True, True] Translation: X:7.67, Y:0.00, Z:-0.22 [[ 9.99658914e-01 -8.93176357e-03 2.45413793e-02 7.67301636e+00] [ 8.94087625e-03 9.99959995e-01 -2.61614619e-04 2.28804987e-03] [-2.45380609e-02 4.80946821e-04 9.99698781e-01 -2.20276512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.002640000000001 meters 0.02560639096894072 Centerline is valid? [True, True] Translation: X:7.70, Y:-0.00, Z:-0.22 [[ 9.99671355e-01 -7.07467312e-03 2.46400106e-02 7.70434824e+00] [ 7.08327825e-03 9.99974879e-01 -2.61971135e-04 -2.01428957e-03] [-2.46375383e-02 4.36417091e-04 9.99696355e-01 -2.23735905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.03264 meters 0.020581356902646734 Centerline is valid? [True, True] Translation: X:7.74, Y:0.00, Z:-0.22 [[ 9.99695611e-01 -4.98264229e-03 2.41631767e-02 7.73704549e+00] [ 4.99044150e-03 9.99987513e-01 -2.62481736e-04 5.84664818e-04] [-2.41615671e-02 3.82986759e-04 9.99707993e-01 -2.21110057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.06264 meters 0.019546535562906014 Centerline is valid? [True, True] Translation: X:7.77, Y:-0.00, Z:-0.22 [[ 9.99705360e-01 -2.08853607e-03 2.41832651e-02 7.76784967e+00] [ 2.09548209e-03 9.99997770e-01 -2.61886472e-04 -1.15410153e-03] [-2.41826642e-02 3.12484909e-04 9.99707508e-01 -2.23990540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.092640000000001 meters 0.017054834319702766 Centerline is valid? [True, True] Translation: X:7.80, Y:-0.00, Z:-0.22 [[ 9.99703131e-01 1.26753167e-03 2.43319348e-02 7.79987266e+00] [-1.26134574e-03 9.99999168e-01 -2.69577295e-04 -3.16513566e-05] [-2.43322563e-02 2.38806284e-04 9.99703898e-01 -2.24651777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.12264 meters 0.0138681266748447 Centerline is valid? [True, True] Translation: X:7.83, Y:0.01, Z:-0.23 [[ 9.99663201e-01 9.41189311e-03 2.41847379e-02 7.83164906e+00] [-9.40813585e-03 9.99955706e-01 -2.69137868e-04 6.38913836e-03] [-2.41861998e-02 4.15139223e-05 9.99707470e-01 -2.26824089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.15264 meters 0.014248629819037332 Centerline is valid? [True, True] Translation: X:7.86, Y:0.01, Z:-0.23 [[ 9.99615417e-01 1.43126514e-02 2.37521610e-02 7.86393972e+00] [-1.43104366e-02 9.99897566e-01 -2.63229847e-04 1.10995190e-02] [-2.37534955e-02 -7.67751803e-05 9.99717843e-01 -2.29107546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.182640000000001 meters 0.019521736242971783 Centerline is valid? [True, True] Translation: X:7.90, Y:0.02, Z:-0.23 [[ 9.99421651e-01 2.41384793e-02 2.39519635e-02 7.89648314e+00] [-2.41388958e-02 9.99708577e-01 -2.71781190e-04 2.12644165e-02] [-2.39515437e-02 -3.06549945e-04 9.99713074e-01 -2.30003396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.21264 meters 0.022566396131978902 Centerline is valid? [True, True] Translation: X:7.93, Y:0.02, Z:-0.23 [[ 9.99290679e-01 2.88664890e-02 2.41839678e-02 7.92888297e+00] [-2.88682687e-02 9.99583187e-01 -2.75606884e-04 2.47079866e-02] [-2.41818434e-02 -4.22737891e-04 9.99707487e-01 -2.30227316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.24264 meters 0.027231148949497696 Centerline is valid? [True, True] Translation: X:7.96, Y:0.03, Z:-0.23 [[ 9.99161854e-01 3.32572090e-02 2.38652161e-02 7.95948803e+00] [-3.32601495e-02 9.99446691e-01 -2.73824067e-04 3.00727163e-02] [-2.38611179e-02 -5.20166094e-04 9.99715148e-01 -2.32723102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.27264 meters 0.03381181057760733 Centerline is valid? [True, True] Translation: X:7.99, Y:0.04, Z:-0.24 [[ 9.99033066e-01 3.72728055e-02 2.33167530e-02 7.98946850e+00] [-3.72766932e-02 9.99304947e-01 -2.68038419e-04 3.73579567e-02] [-2.33105372e-02 -6.01392205e-04 9.99728092e-01 -2.37264863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.30264 meters 0.0467716791233068 Centerline is valid? [True, True] Translation: X:8.02, Y:0.04, Z:-0.24 [[ 9.98799532e-01 4.34197141e-02 2.26765134e-02 8.01944915e+00] [-4.34249778e-02 9.99056657e-01 -2.60489477e-04 4.44963003e-02] [-2.26664321e-02 -7.24550325e-04 9.99742821e-01 -2.42567024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.332640000000001 meters 0.039756276162411265 Centerline is valid? [True, True] Translation: X:8.05, Y:0.05, Z:-0.24 [[ 9.98725439e-01 4.52726577e-02 2.23133076e-02 8.05196600e+00] [-4.52782283e-02 9.98974382e-01 -2.55760819e-04 4.50191588e-02] [-2.23020016e-02 -7.54872198e-04 9.99750994e-01 -2.39508073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.36264 meters 0.039756276162411265 Centerline is valid? [True, True] Translation: X:8.08, Y:0.04, Z:-0.24 [[ 9.98716721e-01 4.54645719e-02 2.23133287e-02 8.08447813e+00] [-4.54702305e-02 9.98965662e-01 -2.53962526e-04 4.44553694e-02] [-2.23017955e-02 -7.60955579e-04 9.99750994e-01 -2.40882609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.39264 meters 0.04107053444798289 Centerline is valid? [True, True] Translation: X:8.12, Y:0.05, Z:-0.24 [[ 9.98662687e-01 4.67725616e-02 2.20264713e-02 8.11650748e+00] [-4.67782911e-02 9.98905264e-01 -2.55336325e-04 4.63191073e-02] [-2.20143009e-02 -7.75365827e-04 9.99757355e-01 -2.43062020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.422640000000001 meters 0.04789742215532437 Centerline is valid? [True, True] Translation: X:8.15, Y:0.05, Z:-0.25 [[ 9.98629464e-01 4.74529590e-02 2.20773625e-02 8.14708009e+00] [-4.74587828e-02 9.98873163e-01 -2.60374923e-04 4.81673367e-02] [-2.20648405e-02 -7.87746684e-04 9.99756231e-01 -2.48156509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.45264 meters 0.04156356145008395 Centerline is valid? [True, True] Translation: X:8.18, Y:0.05, Z:-0.25 [[ 9.98676269e-01 4.64464872e-02 2.21005180e-02 8.17905806e+00] [-4.64520280e-02 9.98920487e-01 -2.62869998e-04 4.61198331e-02] [-2.20888696e-02 -7.64091852e-04 9.99755719e-01 -2.45797496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.48264 meters 0.040390506750402344 Centerline is valid? [True, True] Translation: X:8.21, Y:0.04, Z:-0.25 [[ 9.98706647e-01 4.51987433e-02 2.32831908e-02 8.21050535e+00] [-4.52043949e-02 9.98977719e-01 -2.83800057e-04 4.48638874e-02] [-2.32722163e-02 -7.69069550e-04 9.99728869e-01 -2.45515110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.512640000000001 meters 0.036870135553180236 Centerline is valid? [True, True] Translation: X:8.24, Y:0.04, Z:-0.24 [[ 9.98806948e-01 4.18479875e-02 2.51679804e-02 8.24038438e+00] [-4.18535020e-02 9.99123711e-01 -3.07848035e-04 4.23246935e-02] [-2.51588088e-02 -7.45887363e-04 9.99683189e-01 -2.43004754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.54264 meters 0.035113139062461496 Centerline is valid? [True, True] Translation: X:8.27, Y:0.04, Z:-0.24 [[ 9.98882379e-01 3.98685334e-02 2.53868599e-02 8.27221266e+00] [-3.98735205e-02 9.99204687e-01 -3.09938557e-04 4.08212134e-02] [-2.53790262e-02 -7.02671318e-04 9.99677654e-01 -2.43891719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.57264 meters 0.03331060502373669 Centerline is valid? [True, True] Translation: X:8.30, Y:0.04, Z:-0.24 [[ 9.98939058e-01 3.82564009e-02 2.56360327e-02 8.30428388e+00] [-3.82609871e-02 9.99267732e-01 -3.11769555e-04 3.92420760e-02] [-2.56291874e-02 -6.69421130e-04 9.99671294e-01 -2.44929239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.602640000000001 meters 0.030350970247788347 Centerline is valid? [True, True] Translation: X:8.33, Y:0.04, Z:-0.24 [[ 9.99015183e-01 3.50041990e-02 2.72648248e-02 8.33382625e+00] [-3.50079728e-02 9.99386976e-01 -3.39051282e-04 3.85104439e-02] [-2.72599790e-02 -6.15768868e-04 9.99628188e-01 -2.44064676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.63264 meters 0.028429877110029075 Centerline is valid? [True, True] Translation: X:8.37, Y:0.04, Z:-0.24 [[ 9.99055514e-01 3.34586373e-02 2.77236214e-02 8.36569777e+00] [-3.34620229e-02 9.99439931e-01 -3.41932279e-04 3.65317172e-02] [-2.77195349e-02 -5.86079127e-04 9.99615568e-01 -2.44116627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.66264 meters 0.028454101517824078 Centerline is valid? [True, True] Translation: X:8.40, Y:0.03, Z:-0.24 [[ 9.99082760e-01 3.21970159e-02 2.82310267e-02 8.39835422e+00] [-3.21998526e-02 9.99481388e-01 -3.54238769e-04 3.19401269e-02] [-2.82277912e-02 -5.55121052e-04 9.99601362e-01 -2.44305591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.69264 meters 0.021204542426274734 Centerline is valid? [True, True] Translation: X:8.43, Y:0.03, Z:-0.24 [[ 9.99183805e-01 2.92095679e-02 2.79020607e-02 8.43093539e+00] [-2.92111283e-02 9.99573202e-01 -3.51765595e-04 2.96744553e-02] [-2.79004271e-02 -4.63572191e-04 9.99610600e-01 -2.43164403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.72264 meters 0.02074483268250079 Centerline is valid? [True, True] Translation: X:8.46, Y:0.03, Z:-0.25 [[ 9.99233417e-01 2.83274193e-02 2.70210358e-02 8.46268887e+00] [-2.83285678e-02 9.99598608e-01 -3.40375190e-04 2.92593897e-02] [-2.70198317e-02 -4.25352978e-04 9.99634807e-01 -2.45791103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.752640000000001 meters 0.02155416539155875 Centerline is valid? [True, True] Translation: X:8.49, Y:0.03, Z:-0.25 [[ 9.99258605e-01 2.76590048e-02 2.67809701e-02 8.49367693e+00] [-2.76597509e-02 9.99617337e-01 -3.42653958e-04 3.11175682e-02] [-2.67801995e-02 -3.98355048e-04 9.99641267e-01 -2.49543718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.78264 meters 0.020067936392792314 Centerline is valid? [True, True] Translation: X:8.53, Y:0.03, Z:-0.25 [[ 9.99280269e-01 2.71102758e-02 2.65325664e-02 8.52576173e+00] [-2.71107084e-02 9.99632378e-01 -3.43481316e-04 3.34041258e-02] [-2.65321244e-02 -3.76082570e-04 9.99647890e-01 -2.50286147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.81264 meters 0.01957509738117293 Centerline is valid? [True, True] Translation: X:8.56, Y:0.03, Z:-0.25 [[ 9.99301141e-01 2.71040189e-02 2.57410580e-02 8.55781136e+00] [-2.71043185e-02 9.99632554e-01 -3.37329082e-04 3.41986652e-02] [-2.57407425e-02 -3.60600497e-04 9.99668587e-01 -2.52444101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.842640000000001 meters 0.025038667606805367 Centerline is valid? [True, True] Translation: X:8.59, Y:0.04, Z:-0.26 [[ 9.99318838e-01 2.71038096e-02 2.50448230e-02 8.58896361e+00] [-2.71039835e-02 9.99632564e-01 -3.32577899e-04 3.57638464e-02] [-2.50446348e-02 -3.46463112e-04 9.99686274e-01 -2.59221637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.87264 meters 0.019325648424382637 Centerline is valid? [True, True] Translation: X:8.62, Y:0.03, Z:-0.26 [[ 9.99345947e-01 2.66985905e-02 2.43898280e-02 8.62187576e+00] [-2.66985602e-02 9.99643476e-01 -3.26934324e-04 3.35351135e-02] [-2.43898611e-02 -3.24452799e-04 9.99702470e-01 -2.57689245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.90264 meters 0.019843244472002745 Centerline is valid? [True, True] Translation: X:8.65, Y:0.04, Z:-0.26 [[ 9.99339344e-01 2.63677404e-02 2.50123347e-02 8.65275768e+00] [-2.63674594e-02 9.99652260e-01 -3.41096734e-04 3.83627625e-02] [-2.50126308e-02 -3.18640333e-04 9.99687084e-01 -2.59159825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.932640000000001 meters 0.018765894165875867 Centerline is valid? [True, True] Translation: X:8.69, Y:0.04, Z:-0.26 [[ 9.99342041e-01 2.61584067e-02 2.51241521e-02 8.68528105e+00] [-2.61579606e-02 9.99657762e-01 -3.46461394e-04 3.92275636e-02] [-2.51246166e-02 -3.10963146e-04 9.99684279e-01 -2.58962978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.96264 meters 0.018108944778743696 Centerline is valid? [True, True] Translation: X:8.72, Y:0.04, Z:-0.26 [[ 9.99358376e-01 2.54673349e-02 2.51843311e-02 8.71767350e+00] [-2.54665584e-02 9.99675613e-01 -3.51616391e-04 3.97762328e-02] [-2.51851164e-02 -2.89967453e-04 9.99682763e-01 -2.60583000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.99264 meters 0.01689586744716057 Centerline is valid? [True, True] Translation: X:8.75, Y:0.04, Z:-0.26 [[ 9.99377435e-01 2.43942197e-02 2.54885273e-02 8.75002902e+00] [-2.43929626e-02 9.99702382e-01 -3.60285300e-04 3.93446986e-02] [-2.54897303e-02 -2.61679694e-04 9.99675050e-01 -2.60986293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.02264 meters 0.015095154082247162 Centerline is valid? [True, True] Translation: X:8.78, Y:0.04, Z:-0.26 [[ 9.99418162e-01 2.15899497e-02 2.64047534e-02 8.78170423e+00] [-2.15874936e-02 9.99766891e-01 -3.78100600e-04 3.86303010e-02] [-2.64067614e-02 -1.92131839e-04 9.99651262e-01 -2.61041562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.05264 meters 0.013524068962491243 Centerline is valid? [True, True] Translation: X:8.81, Y:0.04, Z:-0.26 [[ 9.99450188e-01 1.99077409e-02 2.65142067e-02 8.81361150e+00] [-1.99045524e-02 9.99801811e-01 -3.84198631e-04 3.51709286e-02] [-2.65166004e-02 -1.43766023e-04 9.99648363e-01 -2.60442332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.082640000000001 meters 0.012793772905160608 Centerline is valid? [True, True] Translation: X:8.84, Y:0.03, Z:-0.26 [[ 9.99522367e-01 1.62474039e-02 2.62880084e-02 8.84416229e+00] [-1.62428772e-02 9.99868001e-01 -3.85736674e-04 2.97731094e-02] [-2.62908057e-02 -4.14404579e-05 9.99654336e-01 -2.63657017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.11264 meters 0.013190560178677277 Centerline is valid? [True, True] Translation: X:8.88, Y:0.03, Z:-0.27 [[ 9.99563611e-01 1.46761533e-02 2.56358672e-02 8.87544024e+00] [-1.46712273e-02 9.99892299e-01 -3.80240106e-04 2.68945200e-02] [-2.56386867e-02 3.96453975e-06 9.99671275e-01 -2.66866361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.14264 meters 0.013248884034129226 Centerline is valid? [True, True] Translation: X:8.91, Y:0.02, Z:-0.27 [[ 9.99588110e-01 1.32597062e-02 2.54517357e-02 8.90795938e+00] [-1.32543052e-02 9.99912085e-01 -3.80898615e-04 2.40545378e-02] [-2.54545487e-02 4.33966528e-05 9.99675980e-01 -2.67819758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.172640000000001 meters 0.013370272275508016 Centerline is valid? [True, True] Translation: X:8.94, Y:0.02, Z:-0.27 [[ 9.99578725e-01 1.16405748e-02 2.65870346e-02 8.94038196e+00] [-1.16339487e-02 9.99932242e-01 -4.03899478e-04 1.99241937e-02] [-2.65899348e-02 9.44171288e-05 9.99646421e-01 -2.66965605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.20264 meters 0.013537060068503491 Centerline is valid? [True, True] Translation: X:8.97, Y:0.02, Z:-0.27 [[ 9.99581519e-01 1.12647302e-02 2.66437961e-02 8.97338724e+00] [-1.12578299e-02 9.99936545e-01 -4.08976170e-04 1.71838712e-02] [-2.66467125e-02 1.08853696e-04 9.99644907e-01 -2.68236508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.23264 meters 0.013770629293701977 Centerline is valid? [True, True] Translation: X:9.01, Y:0.01, Z:-0.27 [[ 9.99597959e-01 1.09826972e-02 2.61400339e-02 9.00535328e+00] [-1.09757736e-02 9.99939681e-01 -4.08333873e-04 1.45682508e-02] [-2.61429417e-02 1.21262614e-04 9.99658208e-01 -2.69987798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.262640000000001 meters 0.013800712915030336 Centerline is valid? [True, True] Translation: X:9.04, Y:0.01, Z:-0.27 [[ 9.99600000e-01 1.10777032e-02 2.60216006e-02 9.03833866e+00] [-1.10708909e-02 9.99938633e-01 -4.05849628e-04 1.00455876e-02] [-2.60244996e-02 1.17604988e-04 9.99661298e-01 -2.71097821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.29264 meters 0.0198494528198569 Centerline is valid? [True, True] Translation: X:9.07, Y:0.01, Z:-0.27 [[ 9.99581284e-01 1.18687662e-02 2.63891818e-02 9.07008727e+00] [-1.18618833e-02 9.99929558e-01 -4.17351668e-04 8.20400619e-03] [-2.63922763e-02 1.04151521e-04 9.99651658e-01 -2.73962907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.32264 meters 0.013414171944856544 Centerline is valid? [True, True] Translation: X:9.10, Y:0.01, Z:-0.27 [[ 9.99572402e-01 1.26291902e-02 2.63726679e-02 9.10237208e+00] [-1.26224643e-02 9.99920245e-01 -4.21499814e-04 5.77229590e-03] [-2.63758877e-02 8.84315245e-05 9.99652092e-01 -2.73271497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.352640000000001 meters 0.013261711732599595 Centerline is valid? [True, True] Translation: X:9.14, Y:0.00, Z:-0.27 [[ 9.99559553e-01 1.35293626e-02 2.64131664e-02 9.13516281e+00] [-1.35228052e-02 9.99908472e-01 -4.26875629e-04 3.43725706e-03] [-2.64165242e-02 6.95075076e-05 9.99651020e-01 -2.74617410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.38264 meters 0.012863676528046514 Centerline is valid? [True, True] Translation: X:9.17, Y:-0.00, Z:-0.28 [[ 9.99525902e-01 1.55853576e-02 2.65531284e-02 9.16839096e+00] [-1.55793156e-02 9.99878541e-01 -4.34418580e-04 -2.46557454e-04] [-2.65566738e-02 2.05330559e-05 9.99647309e-01 -2.75664817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.412640000000001 meters 0.027770092146988733 Centerline is valid? [True, True] Translation: X:9.20, Y:-0.00, Z:-0.28 [[ 9.99504626e-01 1.72013656e-02 2.63555794e-02 9.20101849e+00] [-1.71958397e-02 9.99852045e-01 -4.36315382e-04 -1.24106992e-03] [-2.63591852e-02 -1.71070741e-05 9.99652536e-01 -2.79294680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.44264 meters 0.023125565186829216 Centerline is valid? [True, True] Translation: X:9.23, Y:-0.00, Z:-0.28 [[ 9.99489673e-01 1.84462273e-02 2.60793101e-02 9.23268174e+00] [-1.84411020e-02 9.99829853e-01 -4.37040826e-04 -2.36033001e-03] [-2.60829345e-02 -4.41134256e-05 9.99659781e-01 -2.81784444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.47264 meters 0.014139439536278496 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.01, Z:-0.28 [[ 9.99424465e-01 2.14568040e-02 2.62744009e-02 9.26463551e+00] [-2.14525116e-02 9.99769769e-01 -4.45263726e-04 -5.06025028e-03] [-2.62779056e-02 -1.18644428e-04 9.99654669e-01 -2.81260428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.502640000000001 meters 0.014788268034169013 Centerline is valid? [True, True] Translation: X:9.30, Y:-0.01, Z:-0.28 [[ 9.99367865e-01 2.37383470e-02 2.64643528e-02 9.29793129e+00] [-2.37346676e-02 9.99718190e-01 -4.53182519e-04 -6.88759016e-03] [-2.64676527e-02 -1.75226571e-04 9.99649655e-01 -2.81487249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.53264 meters 0.031023211340771212 Centerline is valid? [True, True] Translation: X:9.33, Y:-0.01, Z:-0.28 [[ 9.99283687e-01 2.66872473e-02 2.68310234e-02 9.33001800e+00] [-2.66843743e-02 9.99643800e-01 -4.65186700e-04 -6.97798826e-03] [-2.68338808e-02 -2.51115590e-04 9.99639875e-01 -2.84939344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.56264 meters 0.01818953634722202 Centerline is valid? [True, True] Translation: X:9.36, Y:-0.01, Z:-0.28 [[ 9.99200426e-01 2.95416614e-02 2.69406510e-02 9.36251784e+00] [-2.95396772e-02 9.99563497e-01 -4.71716751e-04 -6.66357729e-03] [-2.69428266e-02 -3.24478555e-04 9.99636923e-01 -2.82067726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.592640000000001 meters 0.023856237071917877 Centerline is valid? [True, True] Translation: X:9.39, Y:-0.00, Z:-0.28 [[ 9.98956169e-01 3.62037700e-02 2.78542582e-02 9.39296063e+00] [-3.62040421e-02 9.99344296e-01 -4.94713686e-04 -1.44633106e-03] [-2.78539045e-02 -5.14239448e-04 9.99611872e-01 -2.82121087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.62264 meters 0.026322710884937886 Centerline is valid? [True, True] Translation: X:9.43, Y:0.00, Z:-0.28 [[ 9.98824585e-01 3.98786771e-02 2.75524818e-02 9.42536780e+00] [-3.98803209e-02 9.99204343e-01 -4.90062704e-04 2.97659993e-04] [-2.75501025e-02 -6.09315138e-04 9.99620238e-01 -2.82539837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.65264 meters 0.03362789479852817 Centerline is valid? [True, True] Translation: X:9.46, Y:0.01, Z:-0.28 [[ 9.98515956e-01 4.72601885e-02 2.70621639e-02 9.45528058e+00] [-4.72644306e-02 9.98882295e-01 -4.83239227e-04 9.99377164e-03] [-2.70547544e-02 -7.96555689e-04 9.99633636e-01 -2.84412408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.682640000000001 meters 0.04341172310027684 Centerline is valid? [True, True] Translation: X:9.49, Y:0.02, Z:-0.29 [[ 9.98324460e-01 5.09963833e-02 2.73430342e-02 9.48526390e+00] [-5.10021014e-02 9.98698426e-01 -4.88693913e-04 1.63683024e-02] [-2.73323669e-02 -9.06677119e-04 9.99625990e-01 -2.89303303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.71264 meters 0.038622617542736805 Centerline is valid? [True, True] Translation: X:9.52, Y:0.02, Z:-0.29 [[ 9.98165866e-01 5.39116782e-02 2.75397089e-02 9.51697041e+00] [-5.39185969e-02 9.98545213e-01 -4.91844126e-04 1.62946359e-02] [-2.75261607e-02 -9.93960448e-04 9.99620589e-01 -2.86443028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.74264 meters 0.04558499522012736 Centerline is valid? [True, True] Translation: X:9.55, Y:0.03, Z:-0.29 [[ 9.97936728e-01 5.78964681e-02 2.77540244e-02 9.54664315e+00] [-5.79050038e-02 9.98321974e-01 -4.96729099e-04 2.60567215e-02] [-2.77362113e-02 -1.11139268e-03 9.99614659e-01 -2.88904201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.77264 meters 0.04448794325435931 Centerline is valid? [True, True] Translation: X:9.58, Y:0.03, Z:-0.29 [[ 9.97864743e-01 5.92441203e-02 2.74970644e-02 9.57914288e+00] [-5.92530291e-02 9.98242875e-01 -4.91408656e-04 2.69124866e-02] [-2.74778617e-02 -1.13892498e-03 9.99621763e-01 -2.89585424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.80264 meters 0.05044001675049313 Centerline is valid? [True, True] Translation: X:9.61, Y:0.04, Z:-0.29 [[ 9.97807781e-01 6.03373772e-02 2.71851725e-02 9.61024189e+00] [-6.03464986e-02 9.98177371e-01 -4.85511422e-04 3.72194630e-02] [-2.71649185e-02 -1.15608290e-03 9.99630297e-01 -2.93649287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.832640000000001 meters 0.05004996079950929 Centerline is valid? [True, True] Translation: X:9.64, Y:0.04, Z:-0.30 [[ 9.97793371e-01 6.09059921e-02 2.64357536e-02 9.64210876e+00] [-6.09147138e-02 9.98142861e-01 -4.76009232e-04 4.09831614e-02] [-2.64156506e-02 -1.13536751e-03 9.99650401e-01 -2.96548142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.86264 meters 0.045934002197796295 Centerline is valid? [True, True] Translation: X:9.67, Y:0.04, Z:-0.30 [[ 9.97844625e-01 6.03414029e-02 2.57879870e-02 9.67437812e+00] [-6.03494119e-02 9.98177203e-01 -4.68299010e-04 3.71811267e-02] [-2.57692385e-02 -1.08900020e-03 9.99667325e-01 -2.97364845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.89264 meters 0.04338349333390728 Centerline is valid? [True, True] Translation: X:9.71, Y:0.04, Z:-0.30 [[ 9.97964025e-01 5.84479641e-02 2.55272489e-02 9.70558298e+00] [-5.84550230e-02 9.98289932e-01 -4.70247599e-04 3.62049149e-02] [-2.55110806e-02 -1.02290573e-03 9.99674016e-01 -2.99418533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.922640000000001 meters 0.04392318114899528 Centerline is valid? [True, True] Translation: X:9.73, Y:0.03, Z:-0.31 [[ 9.98341698e-01 5.17055522e-02 2.53059356e-02 9.73465761e+00] [-5.17102939e-02 9.98662018e-01 -4.67419361e-04 3.33033119e-02] [-2.52962449e-02 -8.41933129e-04 9.99679644e-01 -3.05222791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.95264 meters 0.03552827280009835 Centerline is valid? [True, True] Translation: X:9.76, Y:0.03, Z:-0.30 [[ 9.98572335e-01 4.69003560e-02 2.55665604e-02 9.76486350e+00] [-4.69036364e-02 9.98899307e-01 -4.71687361e-04 3.11528027e-02] [-2.55605417e-02 -7.28150702e-04 9.99673011e-01 -3.04543241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.98264 meters 0.02679567087027566 Centerline is valid? [True, True] Translation: X:9.80, Y:0.02, Z:-0.30 [[ 9.98800490e-01 4.17969795e-02 2.55067311e-02 9.79603027e+00] [-4.17985869e-02 9.99125946e-01 -4.70373342e-04 2.09498314e-02] [-2.55040970e-02 -5.96336191e-04 9.99674540e-01 -3.02572000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.012640000000001 meters 0.025363736480841385 Centerline is valid? [True, True] Translation: X:9.83, Y:0.02, Z:-0.31 [[ 9.99017713e-01 3.65291161e-02 2.50845106e-02 9.82629197e+00] [-3.65290083e-02 9.99332486e-01 -4.62679000e-04 1.97565523e-02] [-2.50846676e-02 -4.54087780e-04 9.99685227e-01 -3.07924501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.04264 meters 0.016952715705176695 Centerline is valid? [True, True] Translation: X:9.86, Y:0.01, Z:-0.31 [[ 9.99347713e-01 2.65185603e-02 2.45135387e-02 9.85677439e+00] [-2.65154305e-02 9.99648302e-01 -4.52765897e-04 7.72273539e-03] [-2.45169240e-02 -1.97516468e-04 9.99699396e-01 -3.09797517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.07264 meters 0.013686817973772537 Centerline is valid? [True, True] Translation: X:9.89, Y:0.00, Z:-0.31 [[ 9.99443398e-01 2.21306456e-02 2.49625462e-02 9.88948213e+00] [-2.21260333e-02 9.99755083e-01 -4.60992882e-04 6.86198228e-04] [-2.49666346e-02 -9.15858366e-05 9.99688281e-01 -3.07774939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.102640000000001 meters 0.016919016059769344 Centerline is valid? [True, True] Translation: X:9.92, Y:-0.00, Z:-0.31 [[ 9.99503190e-01 1.84342286e-02 2.55646748e-02 9.92098179e+00] [-1.84281865e-02 9.99830075e-01 -4.71937494e-04 -4.90766620e-03] [-2.55690305e-02 5.92434992e-07 9.99673059e-01 -3.10530661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.13264 meters 0.015215056571818234 Centerline is valid? [True, True] Translation: X:9.95, Y:-0.01, Z:-0.31 [[ 9.99589881e-01 1.18740676e-02 2.60591042e-02 9.95178450e+00] [-1.18654055e-02 9.99929485e-01 -4.87010087e-04 -1.39831172e-02] [-2.60630494e-02 1.77608517e-04 9.99660285e-01 -3.09231440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.162640000000001 meters 0.016533350934823624 Centerline is valid? [True, True] Translation: X:9.98, Y:-0.02, Z:-0.31 [[ 9.99613483e-01 9.76498147e-03 2.60293863e-02 9.98418789e+00] [-9.75559363e-03 9.99952294e-01 -4.87629129e-04 -1.72079720e-02] [-2.60329063e-02 2.33508536e-04 9.99661059e-01 -3.09822087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.19264 meters 0.03117357113152818 Centerline is valid? [True, True] Translation: X:10.02, Y:-0.02, Z:-0.31 [[ 9.99619446e-01 6.72614003e-03 2.67529850e-02 1.00158551e+01] [-6.71500894e-03 9.99977326e-01 -5.05887797e-04 -2.19458052e-02] [-2.67557811e-02 3.26048746e-04 9.99641947e-01 -3.12979191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.22264 meters 0.022459682691201167 Centerline is valid? [True, True] Translation: X:10.05, Y:-0.02, Z:-0.31 [[ 9.99619197e-01 5.60423156e-03 2.70194874e-02 1.00481033e+01] [-5.59234240e-03 9.99984230e-01 -5.15567014e-04 -2.39661463e-02] [-2.70219507e-02 3.64268460e-04 9.99634774e-01 -3.11844380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.252640000000001 meters 0.020188306958065377 Centerline is valid? [True, True] Translation: X:10.08, Y:-0.03, Z:-0.31 [[ 9.99627365e-01 4.82647102e-03 2.68670047e-02 1.00795389e+01] [-4.81430505e-03 9.99988277e-01 -5.17488581e-04 -2.73058664e-02] [-2.68691874e-02 3.87949790e-04 9.99638883e-01 -3.11618449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.28264 meters 0.020188306958065377 Centerline is valid? [True, True] Translation: X:10.11, Y:-0.03, Z:-0.31 [[ 9.99626407e-01 5.02139298e-03 2.68669322e-02 1.01120218e+01] [-5.00919713e-03 9.99987318e-01 -5.21219679e-04 -2.81206300e-02] [-2.68692088e-02 3.86443195e-04 9.99638883e-01 -3.12992138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.31264 meters 0.020447864908163436 Centerline is valid? [True, True] Translation: X:10.14, Y:-0.03, Z:-0.31 [[ 9.99641771e-01 4.66988793e-03 2.63537829e-02 1.01442676e+01] [-4.65789056e-03 9.99989019e-01 -5.16611868e-04 -3.06761497e-02] [-2.63559060e-02 3.93673766e-04 9.99652545e-01 -3.14652616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.342640000000001 meters 0.020644703957367536 Centerline is valid? [True, True] Translation: X:10.18, Y:-0.04, Z:-0.32 [[ 9.99644775e-01 4.83413560e-03 2.62098152e-02 1.01766368e+01] [-4.82221311e-03 9.99988239e-01 -5.18073059e-04 -3.58066751e-02] [-2.62120113e-02 3.91499713e-04 9.99656330e-01 -3.16507198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.37264 meters 0.02303160646811827 Centerline is valid? [True, True] Translation: X:10.21, Y:-0.04, Z:-0.32 [[ 9.99641903e-01 5.67515575e-03 2.61506911e-02 1.02074731e+01] [-5.66343855e-03 9.99983826e-01 -5.22107462e-04 -3.76193028e-02] [-2.61532312e-02 3.73817665e-04 9.99657876e-01 -3.19734327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.40264 meters 0.020106001032409358 Centerline is valid? [True, True] Translation: X:10.24, Y:-0.04, Z:-0.32 [[ 9.99648459e-01 6.50805975e-03 2.57022060e-02 1.02391185e+01] [-6.49689902e-03 9.99978761e-01 -5.17715674e-04 -3.90126108e-02] [-2.57050295e-02 3.50549038e-04 9.99669510e-01 -3.20032502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.432640000000001 meters 0.01941369363831902 Centerline is valid? [True, True] Translation: X:10.27, Y:-0.04, Z:-0.32 [[ 9.99657115e-01 7.82655332e-03 2.49879551e-02 1.02722622e+01] [-7.81637523e-03 9.99969324e-01 -5.04968266e-04 -3.91442066e-02] [-2.49911407e-02 3.09479887e-04 9.99687625e-01 -3.22142705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.46264 meters 0.037823908781070836 Centerline is valid? [True, True] Translation: X:10.30, Y:-0.04, Z:-0.33 [[ 9.99613690e-01 1.12541135e-02 2.54129150e-02 1.03047929e+01] [-1.12445224e-02 9.99936643e-01 -5.20283654e-04 -3.85316109e-02] [-2.54171602e-02 2.34326570e-04 9.99676904e-01 -3.25118712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.492640000000002 meters 0.015391120466035859 Centerline is valid? [True, True] Translation: X:10.34, Y:-0.04, Z:-0.32 [[ 9.99597894e-01 1.30698218e-02 2.51640674e-02 1.03359054e+01] [-1.30609619e-02 9.99914569e-01 -5.16420598e-04 -4.00486533e-02] [-2.51686671e-02 1.87546017e-04 9.99683201e-01 -3.23779625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.52264 meters 0.021636928734563722 Centerline is valid? [True, True] Translation: X:10.37, Y:-0.04, Z:-0.33 [[ 9.99517356e-01 1.82055684e-02 2.51716568e-02 1.03679282e+01] [-1.81982333e-02 9.99834263e-01 -5.20469685e-04 -3.71326164e-02] [-2.51769604e-02 6.21388012e-05 9.99683008e-01 -3.26973912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.55264 meters 0.01314598189654463 Centerline is valid? [True, True] Translation: X:10.40, Y:-0.04, Z:-0.33 [[ 9.99451326e-01 2.09083083e-02 2.56883221e-02 1.03991191e+01] [-2.09014358e-02 9.99781397e-01 -5.36039911e-04 -3.60091209e-02] [-2.56939143e-02 -1.17701693e-06 9.99669857e-01 -3.25830437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.582640000000001 meters 0.013415345122952524 Centerline is valid? [True, True] Translation: X:10.43, Y:-0.04, Z:-0.33 [[ 9.99381398e-01 2.36413281e-02 2.60367028e-02 1.04312043e+01] [-2.36350662e-02 9.99720502e-01 -5.48262464e-04 -3.54561996e-02] [-2.60423873e-02 -6.74558859e-05 9.99660837e-01 -3.26748351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.61264 meters 0.014993358603832945 Centerline is valid? [True, True] Translation: X:10.46, Y:-0.03, Z:-0.33 [[ 9.99235273e-01 2.88984935e-02 2.63390824e-02 1.04632966e+01] [-2.88938454e-02 9.99582330e-01 -5.57118120e-04 -3.35844603e-02] [-2.63441812e-02 -2.04345299e-04 9.99652911e-01 -3.26993905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.64264 meters 0.016933549188545807 Centerline is valid? [True, True] Translation: X:10.49, Y:-0.03, Z:-0.33 [[ 9.99155613e-01 3.14521528e-02 2.64352597e-02 1.04947913e+01] [-3.14482348e-02 9.99505223e-01 -5.64046643e-04 -3.18026922e-02] [-2.64399206e-02 -2.67771884e-04 9.99650368e-01 -3.29353837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.672640000000001 meters 0.019035836502108876 Centerline is valid? [True, True] Translation: X:10.53, Y:-0.03, Z:-0.33 [[ 9.99026585e-01 3.47245228e-02 2.72045914e-02 1.05267701e+01] [-3.47214654e-02 9.99396857e-01 -5.84897316e-04 -3.20824098e-02] [-2.72084935e-02 -3.60255314e-04 9.99629715e-01 -3.29285855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.70264 meters 0.02022819883270956 Centerline is valid? [True, True] Translation: X:10.56, Y:-0.03, Z:-0.33 [[ 9.98970693e-01 3.57914341e-02 2.78662538e-02 1.05592335e+01] [-3.57885074e-02 9.99359204e-01 -6.03925222e-04 -3.24693768e-02] [-2.78700126e-02 -3.93988032e-04 9.99611478e-01 -3.30143667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.73264 meters 0.01995113242903245 Centerline is valid? [True, True] Translation: X:10.59, Y:-0.03, Z:-0.33 [[ 9.98929400e-01 3.68041301e-02 2.80269585e-02 1.05917994e+01] [-3.68014190e-02 9.99322411e-01 -6.12718064e-04 -3.35363872e-02] [-2.80305182e-02 -4.19369754e-04 9.99606980e-01 -3.29422287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.762640000000001 meters 0.02087720213484079 Centerline is valid? [True, True] Translation: X:10.62, Y:-0.03, Z:-0.33 [[ 9.98901823e-01 3.77248723e-02 2.77845585e-02 1.06232072e+01] [-3.77224268e-02 9.99288068e-01 -6.12349463e-04 -3.23804539e-02] [-2.77878786e-02 -4.36423981e-04 9.99613747e-01 -3.31430899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.79264 meters 0.030707899147339155 Centerline is valid? [True, True] Translation: X:10.65, Y:-0.03, Z:-0.34 [[ 9.98855644e-01 4.00128237e-02 2.61987989e-02 1.06538772e+01] [-4.00113363e-02 9.99199057e-01 -5.81198251e-04 -3.03644759e-02] [-2.62010705e-02 -4.67715799e-04 9.99656584e-01 -3.38328105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.82264 meters 0.02424643992967371 Centerline is valid? [True, True] Translation: X:10.69, Y:-0.03, Z:-0.34 [[ 9.98813084e-01 4.11207778e-02 2.61056428e-02 1.06865756e+01] [-4.11195775e-02 9.99154062e-01 -5.83021000e-04 -2.95660051e-02] [-2.61075334e-02 -4.91124000e-04 9.99659020e-01 -3.37882907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.852640000000001 meters 0.02610126370476732 Centerline is valid? [True, True] Translation: X:10.72, Y:-0.03, Z:-0.34 [[ 9.98753110e-01 4.26268388e-02 2.59841712e-02 1.07179777e+01] [-4.26260399e-02 9.99090926e-01 -5.84892523e-04 -2.62472952e-02] [-2.59854818e-02 -5.23439094e-04 9.99662183e-01 -3.39603928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.88264 meters 0.0269111571367258 Centerline is valid? [True, True] Translation: X:10.75, Y:-0.02, Z:-0.34 [[ 9.98678732e-01 4.42763727e-02 2.60843287e-02 1.07497715e+01] [-4.42759944e-02 9.99019162e-01 -5.92336744e-04 -2.30632139e-02] [-2.60849708e-02 -5.63355486e-04 9.99659571e-01 -3.39960966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.912640000000001 meters 0.03209049709446517 Centerline is valid? [True, True] Translation: X:10.78, Y:-0.01, Z:-0.34 [[ 9.98505836e-01 4.78108763e-02 2.64615929e-02 1.07813396e+01] [-4.78116583e-02 9.98856186e-01 -6.03508392e-04 -1.33710149e-02] [-2.64601800e-02 -6.62565984e-04 9.99649649e-01 -3.42610157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.94264 meters 0.029975173836877072 Centerline is valid? [True, True] Translation: X:10.81, Y:-0.02, Z:-0.34 [[ 9.98439447e-01 4.91268789e-02 2.65559812e-02 1.08138716e+01] [-4.91281143e-02 9.98792301e-01 -6.06311575e-04 -1.53987730e-02] [-2.65536957e-02 -6.99279883e-04 9.99647144e-01 -3.41429509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.97264 meters 0.031156589327523288 Centerline is valid? [True, True] Translation: X:10.84, Y:-0.01, Z:-0.34 [[ 9.98416211e-01 4.96252773e-02 2.65028554e-02 1.08445692e+01] [-4.96265464e-02 9.98767657e-01 -6.10256102e-04 -1.26842583e-02] [-2.65004789e-02 -7.05955599e-04 9.99648551e-01 -3.43581528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.002640000000001 meters 0.028167346190569823 Centerline is valid? [True, True] Translation: X:10.88, Y:-0.01, Z:-0.34 [[ 9.98525469e-01 4.70718815e-02 2.70393197e-02 1.08756760e+01] [-4.70721198e-02 9.98891296e-01 -6.28056104e-04 -1.20879911e-02] [-2.70389048e-02 -6.45668077e-04 9.99634173e-01 -3.44026170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.03264 meters 0.02599185850820813 Centerline is valid? [True, True] Translation: X:10.91, Y:-0.01, Z:-0.34 [[ 9.98630363e-01 4.44628770e-02 2.75762711e-02 1.09075265e+01] [-4.44621163e-02 9.99010865e-01 -6.41052883e-04 -1.40286838e-02] [-2.75774975e-02 -5.85924501e-04 9.99619497e-01 -3.44913025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.06264 meters 0.022573819736144637 Centerline is valid? [True, True] Translation: X:10.94, Y:-0.02, Z:-0.35 [[ 9.98750650e-01 4.12094071e-02 2.82652313e-02 1.09393212e+01] [-4.12072815e-02 9.99150403e-01 -6.57926536e-04 -1.84929630e-02] [-2.82683300e-02 -5.07628788e-04 9.99600242e-01 -3.45282231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.092640000000001 meters 0.016645128076551913 Centerline is valid? [True, True] Translation: X:10.97, Y:-0.03, Z:-0.35 [[ 9.99026469e-01 3.37766023e-02 2.83770058e-02 1.09702041e+01] [-3.37714076e-02 9.99429364e-01 -6.62439665e-04 -2.72693155e-02] [-2.83831878e-02 -2.96536672e-04 9.99597072e-01 -3.46432154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.12264 meters 0.014380461596854096 Centerline is valid? [True, True] Translation: X:11.00, Y:-0.03, Z:-0.35 [[ 9.99135292e-01 3.04273221e-02 2.83345435e-02 1.10019842e+01] [-3.04208353e-02 9.99536961e-01 -6.60073222e-04 -3.20592094e-02] [-2.83415078e-02 -2.02458030e-04 9.99598278e-01 -3.48204997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.15264 meters 0.012762098817659301 Centerline is valid? [True, True] Translation: X:11.03, Y:-0.04, Z:-0.35 [[ 9.99273334e-01 2.58330921e-02 2.80259931e-02 1.10333302e+01] [-2.58247994e-02 9.99666268e-01 -6.57867369e-04 -3.60103564e-02] [-2.80336347e-02 -6.63763287e-05 9.99606978e-01 -3.50084471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.182640000000001 meters 0.012640775728676407 Centerline is valid? [True, True] Translation: X:11.07, Y:-0.04, Z:-0.35 [[ 9.99302969e-01 2.50144880e-02 2.77101475e-02 1.10664282e+01] [-2.50059593e-02 9.99687088e-01 -6.54321864e-04 -3.62414575e-02] [-2.77178442e-02 -3.90530376e-05 9.99615786e-01 -3.51568128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.21264 meters 0.01263335735925279 Centerline is valid? [True, True] Translation: X:11.10, Y:-0.04, Z:-0.35 [[ 9.99318496e-01 2.46384335e-02 2.74861998e-02 1.10991488e+01] [-2.46297523e-02 9.99696427e-01 -6.54397284e-04 -3.65082397e-02] [-2.74939791e-02 -2.30269839e-05 9.99621969e-01 -3.53333014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.242640000000002 meters 0.012548833679222044 Centerline is valid? [True, True] Translation: X:11.13, Y:-0.04, Z:-0.35 [[ 9.99323043e-01 2.37400609e-02 2.81045296e-02 1.11303054e+01] [-2.37304288e-02 9.99718165e-01 -6.76251646e-04 -3.75594658e-02] [-2.81126630e-02 8.86131515e-06 9.99604761e-01 -3.53737391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.27264 meters 0.012204266617812511 Centerline is valid? [True, True] Translation: X:11.16, Y:-0.04, Z:-0.35 [[ 9.99316971e-01 2.32955356e-02 2.86864083e-02 1.11622270e+01] [-2.32852659e-02 9.99728622e-01 -6.92046038e-04 -3.81384332e-02] [-2.86947450e-02 2.36027053e-05 9.99588221e-01 -3.52844191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.30264 meters 0.0188771336828905 Centerline is valid? [True, True] Translation: X:11.19, Y:-0.04, Z:-0.36 [[ 9.99318940e-01 2.28071203e-02 2.90084804e-02 1.11944605e+01] [-2.27962657e-02 9.99739883e-01 -7.04886284e-04 -3.87021834e-02] [-2.90170112e-02 4.31211862e-05 9.99578917e-01 -3.55790537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.332640000000001 meters 0.012734770044637318 Centerline is valid? [True, True] Translation: X:11.23, Y:-0.04, Z:-0.36 [[ 9.99349308e-01 2.12718070e-02 2.91285108e-02 1.12265188e+01] [-2.12600465e-02 9.99773725e-01 -7.13421359e-04 -3.96323976e-02] [-2.91370955e-02 9.36836467e-05 9.99575420e-01 -3.55991239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.36264 meters 0.023288747889677 Centerline is valid? [True, True] Translation: X:11.26, Y:-0.04, Z:-0.36 [[ 9.99374458e-01 1.80272852e-02 3.04254772e-02 1.12580498e+01] [-1.80127672e-02 9.99837475e-01 -7.51209474e-04 -4.25490408e-02] [-3.04340746e-02 2.02692523e-04 9.99536756e-01 -3.58109216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.39264 meters 0.015317263954274334 Centerline is valid? [True, True] Translation: X:11.29, Y:-0.05, Z:-0.36 [[ 9.99408894e-01 1.58659985e-02 3.04980818e-02 1.12905820e+01] [-1.58502302e-02 9.99874089e-01 -7.58729544e-04 -4.53198239e-02] [-3.05062798e-02 2.74879438e-04 9.99534537e-01 -3.56738051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.422640000000001 meters 0.020702773395717546 Centerline is valid? [True, True] Translation: X:11.32, Y:-0.05, Z:-0.36 [[ 9.99420079e-01 1.39228479e-02 3.10750788e-02 1.13217078e+01] [-1.39053406e-02 9.99903012e-01 -7.79431713e-04 -4.85417120e-02] [-3.10829169e-02 3.46870149e-04 9.99516749e-01 -3.58928886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.45264 meters 0.02987583567534502 Centerline is valid? [True, True] Translation: X:11.35, Y:-0.05, Z:-0.36 [[ 9.99439717e-01 1.20324497e-02 3.12325373e-02 1.13541488e+01] [-1.20137773e-02 9.99927523e-01 -7.85444812e-04 -5.22118779e-02] [-3.12397245e-02 4.09783994e-04 9.99511837e-01 -3.60306564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.48264 meters 0.022664130423169695 Centerline is valid? [True, True] Translation: X:11.38, Y:-0.06, Z:-0.36 [[ 9.99478102e-01 8.18129553e-03 3.12504422e-02 1.13848575e+01] [-8.16054910e-03 9.99966389e-01 -7.91362349e-04 -6.16896702e-02] [-3.12558663e-02 5.35928571e-04 9.99511272e-01 -3.60729682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.512640000000001 meters 0.022884671541953325 Centerline is valid? [True, True] Translation: X:11.42, Y:-0.06, Z:-0.36 [[ 9.99498673e-01 6.49259353e-03 3.09878861e-02 1.14172501e+01] [-6.47123895e-03 9.99978750e-01 -7.89367084e-04 -6.36594182e-02] [-3.09923526e-02 5.88441338e-04 9.99519448e-01 -3.61204311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.54264 meters 0.027193719701939966 Centerline is valid? [True, True] Translation: X:11.45, Y:-0.07, Z:-0.36 [[ 9.99521781e-01 2.31946968e-03 3.08355364e-02 1.14473967e+01] [-2.29612067e-03 9.99997050e-01 -7.92599146e-04 -7.09493400e-02] [-3.08372839e-02 7.21417997e-04 9.99524158e-01 -3.63599416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.572640000000002 meters 0.04366849070282516 Centerline is valid? [True, True] Translation: X:11.48, Y:-0.08, Z:-0.37 [[ 9.99521980e-01 4.37897450e-04 3.09130955e-02 1.14778962e+01] [-4.13545277e-04 9.99999599e-01 -7.94151473e-04 -7.66083803e-02] [-3.09134308e-02 7.80987888e-04 9.99521761e-01 -3.67561964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.602640000000001 meters 0.032820001608450056 Centerline is valid? [True, True] Translation: X:11.51, Y:-0.08, Z:-0.37 [[ 9.99535429e-01 -1.37454807e-03 3.04472694e-02 1.15087291e+01] [ 1.39906334e-03 9.99998714e-01 -7.83882257e-04 -8.38262048e-02] [-3.04461528e-02 8.26115747e-04 9.99536067e-01 -3.68531988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.63264 meters 0.04214207964487124 Centerline is valid? [True, True] Translation: X:11.54, Y:-0.09, Z:-0.37 [[ 9.99584551e-01 -3.70394628e-03 2.85833190e-02 1.15394956e+01] [ 3.72667385e-03 9.99992781e-01 -7.41903727e-04 -8.95044895e-02] [-2.85803647e-02 8.48116212e-04 9.99591138e-01 -3.72765348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.662640000000001 meters 0.037850730489795675 Centerline is valid? [True, True] Translation: X:11.57, Y:-0.10, Z:-0.38 [[ 9.99597438e-01 -4.07253518e-03 2.80780571e-02 1.15702519e+01] [ 4.09456143e-03 9.99991353e-01 -7.27014434e-04 -9.84872518e-02] [-2.80748536e-02 8.41689095e-04 9.99605469e-01 -3.76290354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.69264 meters 0.03623183860420896 Centerline is valid? [True, True] Translation: X:11.60, Y:-0.10, Z:-0.38 [[ 9.99591717e-01 -3.23023732e-03 2.83895070e-02 1.16024163e+01] [ 3.25254545e-03 9.99994437e-01 -7.39644412e-04 -1.02441785e-01] [-2.83869598e-02 8.31680590e-04 9.99596663e-01 -3.76339154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.72264 meters 0.038226119291997 Centerline is valid? [True, True] Translation: X:11.63, Y:-0.11, Z:-0.38 [[ 9.99585913e-01 -1.23540890e-03 2.87484859e-02 1.16327078e+01] [ 1.25766656e-03 9.99998923e-01 -7.56151377e-04 -1.05295006e-01] [-2.87475208e-02 7.91994274e-04 9.99586391e-01 -3.78403583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.752640000000001 meters 0.02880014737735415 Centerline is valid? [True, True] Translation: X:11.66, Y:-0.10, Z:-0.38 [[ 9.99568945e-01 1.53921155e-03 2.93181739e-02 1.16646346e+01] [-1.51725932e-03 9.99998552e-01 -7.70990149e-04 -1.01490674e-01] [-2.93193182e-02 7.26174537e-04 9.99569833e-01 -3.75608622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.78264 meters 0.027155965221432682 Centerline is valid? [True, True] Translation: X:11.70, Y:-0.10, Z:-0.38 [[ 9.99545723e-01 5.59448496e-03 2.96150271e-02 1.16966933e+01] [-5.57381208e-03 9.99984162e-01 -7.80560794e-04 -9.83078149e-02] [-2.96189249e-02 6.15137608e-04 9.99561074e-01 -3.76731416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.81264 meters 0.020038239437096438 Centerline is valid? [True, True] Translation: X:11.73, Y:-0.09, Z:-0.38 [[ 9.99482560e-01 1.03690370e-02 3.04482524e-02 1.17287079e+01] [-1.03493689e-02 9.99946121e-01 -8.03481524e-04 -9.29834346e-02] [-3.04549432e-02 4.87945573e-04 9.99536022e-01 -3.75093352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.842640000000001 meters 0.01298805073991069 Centerline is valid? [True, True] Translation: X:11.76, Y:-0.08, Z:-0.38 [[ 9.99294992e-01 2.06758546e-02 3.13373307e-02 1.17586590e+01] [-2.06600119e-02 9.99786215e-01 -8.29297396e-04 -8.19045755e-02] [-3.13477777e-02 1.81283110e-04 9.99508521e-01 -3.75560841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.87264 meters 0.011439165305445156 Centerline is valid? [True, True] Translation: X:11.79, Y:-0.08, Z:-0.38 [[ 9.99163598e-01 2.58573247e-02 3.16781280e-02 1.17896951e+01] [-2.58437916e-02 9.99665643e-01 -8.36643962e-04 -7.71230348e-02] [-3.16891696e-02 1.72612519e-05 9.99497772e-01 -3.76964053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.902640000000002 meters 0.014623016909704445 Centerline is valid? [True, True] Translation: X:11.82, Y:-0.07, Z:-0.38 [[ 9.98883571e-01 3.50369143e-02 3.16863581e-02 1.18219082e+01] [-3.50278346e-02 9.99385983e-01 -8.41763922e-04 -6.77818166e-02] [-3.16963949e-02 -2.69080359e-04 9.99497507e-01 -3.79182933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.932640000000001 meters 0.017246553237610648 Centerline is valid? [True, True] Translation: X:11.85, Y:-0.06, Z:-0.38 [[ 9.98761559e-01 3.88267153e-02 3.11100218e-02 1.18538396e+01] [-3.88196397e-02 9.99245888e-01 -8.31619356e-04 -6.39031441e-02] [-3.11188504e-02 -3.77090395e-04 9.99515620e-01 -3.81376201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.96264 meters 0.019878628150417216 Centerline is valid? [True, True] Translation: X:11.89, Y:-0.06, Z:-0.39 [[ 9.98675341e-01 4.18939567e-02 2.98740783e-02 1.18862555e+01] [-4.18886138e-02 9.99121963e-01 -8.04931791e-04 -5.99015535e-02] [-2.98815695e-02 -4.47518198e-04 9.99553346e-01 -3.85036367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.992640000000002 meters 0.03325235612022928 Centerline is valid? [True, True] Translation: X:11.92, Y:-0.05, Z:-0.39 [[ 9.98541364e-01 4.59075970e-02 2.84189359e-02 1.19168045e+01] [-4.59043347e-02 9.98945546e-01 -7.67535917e-04 -5.07271405e-02] [-2.84242052e-02 -5.38135986e-04 9.99595806e-01 -3.92434997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.02264 meters 0.024428853889182506 Centerline is valid? [True, True] Translation: X:11.95, Y:-0.05, Z:-0.39 [[ 9.98474280e-01 4.70116291e-02 2.89658367e-02 1.19492165e+01] [-4.70087553e-02 9.98894172e-01 -7.80550333e-04 -5.15613380e-02] [-2.89705004e-02 -5.82288500e-04 9.99580097e-01 -3.90387559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.05264 meters 0.026299757647032258 Centerline is valid? [True, True] Translation: X:11.98, Y:-0.05, Z:-0.39 [[ 9.98431574e-01 4.71753177e-02 3.01476674e-02 1.19809481e+01] [-4.71721134e-02 9.98886441e-01 -8.17899759e-04 -4.86711274e-02] [-3.01526809e-02 -6.05512242e-04 9.99545121e-01 -3.91214316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.08264 meters 0.02454397764451726 Centerline is valid? [True, True] Translation: X:12.01, Y:-0.05, Z:-0.39 [[ 9.98437477e-01 4.64040360e-02 3.11331133e-02 1.20133511e+01] [-4.64000689e-02 9.98922575e-01 -8.50265858e-04 -5.11441926e-02] [-3.11390255e-02 -5.95641306e-04 9.99514885e-01 -3.90720700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.112640000000003 meters 0.021351107285454876 Centerline is valid? [True, True] Translation: X:12.05, Y:-0.06, Z:-0.39 [[ 9.98474502e-01 4.49947949e-02 3.20021531e-02 1.20454822e+01] [-4.49897056e-02 9.98987063e-01 -8.79446615e-04 -5.61917714e-02] [-3.20093075e-02 -5.61662425e-04 9.99487413e-01 -3.89643053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.14264 meters 0.021351107285454876 Centerline is valid? [True, True] Translation: X:12.08, Y:-0.06, Z:-0.39 [[ 9.98465574e-01 4.51925867e-02 3.20020063e-02 1.20779614e+01] [-4.51874290e-02 9.98978135e-01 -8.84749569e-04 -5.72711688e-02] [-3.20092887e-02 -5.62696403e-04 9.99487413e-01 -3.91016735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.17264 meters 0.020018875560661467 Centerline is valid? [True, True] Translation: X:12.11, Y:-0.06, Z:-0.39 [[ 9.98546293e-01 4.31183416e-02 3.23436035e-02 1.21093533e+01] [-4.31117630e-02 9.99069849e-01 -9.01070113e-04 -6.07956594e-02] [-3.23523717e-02 -4.94629549e-04 9.99476403e-01 -3.92375549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.202640000000002 meters 0.014871636073613031 Centerline is valid? [True, True] Translation: X:12.14, Y:-0.07, Z:-0.39 [[ 9.98785301e-01 3.71099874e-02 3.24156178e-02 1.21404968e+01] [-3.71000039e-02 9.99311144e-01 -9.09604743e-04 -7.04199951e-02] [-3.24270435e-02 -2.94119701e-04 9.99474062e-01 -3.93688513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.23264 meters 0.027658763803088203 Centerline is valid? [True, True] Translation: X:12.17, Y:-0.08, Z:-0.40 [[ 9.98884938e-01 3.41789709e-02 3.25680496e-02 1.21720875e+01] [-3.41673560e-02 9.99415708e-01 -9.13262385e-04 -7.53679127e-02] [-3.25802347e-02 -2.00520102e-04 9.99469103e-01 -3.96390849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.26264 meters 0.011505737405345485 Centerline is valid? [True, True] Translation: X:12.20, Y:-0.08, Z:-0.40 [[ 9.98983231e-01 3.10543214e-02 3.26823178e-02 1.22039026e+01] [-3.10407675e-02 9.99517694e-01 -9.22134698e-04 -8.04176246e-02] [-3.26951912e-02 -9.32871272e-05 9.99465365e-01 -3.96266169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.292640000000002 meters 0.011567874131592371 Centerline is valid? [True, True] Translation: X:12.24, Y:-0.09, Z:-0.40 [[ 9.99137870e-01 2.55255845e-02 3.27408242e-02 1.22365343e+01] [-2.55088368e-02 9.99674165e-01 -9.29192361e-04 -9.03963048e-02] [-3.27538743e-02 9.32109359e-05 9.99463444e-01 -3.97687033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.32264 meters 0.012356192024867398 Centerline is valid? [True, True] Translation: X:12.27, Y:-0.09, Z:-0.40 [[ 9.99184329e-01 2.35950315e-02 3.27711964e-02 1.22687088e+01] [-2.35769931e-02 9.99721585e-01 -9.36806815e-04 -9.44345483e-02] [-3.27841764e-02 1.63396417e-04 9.99462441e-01 -3.98824987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.35264 meters 0.013380897788590711 Centerline is valid? [True, True] Translation: X:12.30, Y:-0.10, Z:-0.40 [[ 9.99241285e-01 2.20281310e-02 3.21187669e-02 1.23009223e+01] [-2.20098227e-02 9.99757328e-01 -9.23506071e-04 -9.84821149e-02] [-3.21313156e-02 2.15877030e-04 9.99483633e-01 -4.00942324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.382640000000002 meters 0.01359769346049015 Centerline is valid? [True, True] Translation: X:12.33, Y:-0.10, Z:-0.40 [[ 9.99249117e-01 2.20971169e-02 3.18264089e-02 1.23335600e+01] [-2.20790113e-02 9.99755805e-01 -9.20255780e-04 -1.01024420e-01] [-3.18389720e-02 2.16869136e-04 9.99492988e-01 -4.02316894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.41264 meters 0.013459057091695786 Centerline is valid? [True, True] Translation: X:12.36, Y:-0.10, Z:-0.40 [[ 9.99230417e-01 2.25700591e-02 3.20806277e-02 1.23649986e+01] [-2.25516688e-02 9.99745242e-01 -9.35013367e-04 -1.03413221e-01] [-3.20935582e-02 2.10822107e-04 9.99484847e-01 -4.03402420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.44264 meters 0.012798528526130991 Centerline is valid? [True, True] Translation: X:12.40, Y:-0.11, Z:-0.40 [[ 9.99193018e-01 2.35519153e-02 3.25364401e-02 1.23970008e+01] [-2.35334378e-02 9.99722598e-01 -9.50787405e-04 -1.05136119e-01] [-3.25498073e-02 1.84325848e-04 9.99470098e-01 -4.03495469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.472640000000002 meters 0.01183715705005927 Centerline is valid? [True, True] Translation: X:12.43, Y:-0.11, Z:-0.40 [[ 9.99095335e-01 2.60446346e-02 3.36182833e-02 1.24282010e+01] [-2.60261126e-02 9.99660775e-01 -9.88507878e-04 -1.05254538e-01] [-3.36326244e-02 1.12660385e-04 9.99434257e-01 -4.03890369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.50264 meters 0.011071656636139139 Centerline is valid? [True, True] Translation: X:12.46, Y:-0.10, Z:-0.40 [[ 9.99053083e-01 2.76911765e-02 3.35579649e-02 1.24611617e+01] [-2.76734838e-02 9.99616524e-01 -9.91665503e-04 -1.04115306e-01] [-3.35725566e-02 6.20606784e-05 9.99436281e-01 -4.03411339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.53264 meters 0.020934224080237325 Centerline is valid? [True, True] Translation: X:12.49, Y:-0.10, Z:-0.41 [[ 9.99005978e-01 2.96976637e-02 3.32431186e-02 1.24938651e+01] [-2.96811962e-02 9.99558927e-01 -9.88847590e-04 -1.02944684e-01] [-3.32578224e-02 1.16912628e-06 9.99446806e-01 -4.06973081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.562640000000002 meters 0.012011704407059518 Centerline is valid? [True, True] Translation: X:12.53, Y:-0.10, Z:-0.41 [[ 9.98863928e-01 3.45211927e-02 3.28502744e-02 1.25253243e+01] [-3.45074975e-02 9.99403955e-01 -9.83918097e-04 -9.70524342e-02] [-3.28646602e-02 -1.50780469e-04 9.99459800e-01 -4.08257739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.59264 meters 0.013456181675230505 Centerline is valid? [True, True] Translation: X:12.56, Y:-0.09, Z:-0.41 [[ 9.98786598e-01 3.68753875e-02 3.26425854e-02 1.25563463e+01] [-3.68629318e-02 9.99319847e-01 -9.83511646e-04 -9.47346605e-02] [-3.26566509e-02 -2.20983151e-04 9.99466605e-01 -4.10772371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.62264 meters 0.014403575012186436 Centerline is valid? [True, True] Translation: X:12.59, Y:-0.09, Z:-0.41 [[ 9.98718908e-01 3.88857874e-02 3.23795939e-02 1.25882113e+01] [-3.88745158e-02 9.99243622e-01 -9.77808224e-04 -9.42460146e-02] [-3.23931256e-02 -2.82185475e-04 9.99475165e-01 -4.11728753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.65264 meters 0.017974635906348384 Centerline is valid? [True, True] Translation: X:12.62, Y:-0.09, Z:-0.42 [[ 9.98612053e-01 4.22182628e-02 3.14894539e-02 1.26189011e+01] [-4.22090627e-02 9.99108342e-01 -9.57138189e-04 -8.89685844e-02] [-3.15017848e-02 -3.73330602e-04 9.99503626e-01 -4.15902476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.68264 meters 0.019479941097461897 Centerline is valid? [True, True] Translation: X:12.65, Y:-0.09, Z:-0.42 [[ 9.98547309e-01 4.39632285e-02 3.11529555e-02 1.26515043e+01] [-4.39550172e-02 9.99033061e-01 -9.48693423e-04 -8.69720406e-02] [-3.11645401e-02 -4.22013432e-04 9.99514179e-01 -4.17774061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.71264 meters 0.020663728435595753 Centerline is valid? [True, True] Translation: X:12.68, Y:-0.08, Z:-0.42 [[ 9.98432147e-01 4.64155284e-02 3.12865267e-02 1.26833816e+01] [-4.64082845e-02 9.98922096e-01 -9.58042182e-04 -8.41143190e-02] [-3.12972708e-02 -4.95413918e-04 9.99509998e-01 -4.17890600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.74264 meters 0.02120435991773811 Centerline is valid? [True, True] Translation: X:12.72, Y:-0.08, Z:-0.42 [[ 9.98392715e-01 4.71839800e-02 3.13952101e-02 1.27165422e+01] [-4.71769204e-02 9.98886082e-01 -9.65982638e-04 -8.34244670e-02] [-3.14058173e-02 -5.16699300e-04 9.99506582e-01 -4.19206896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.77264 meters 0.02162115187754473 Centerline is valid? [True, True] Translation: X:12.75, Y:-0.08, Z:-0.42 [[ 9.98391825e-01 4.72557354e-02 3.13154677e-02 1.27489446e+01] [-4.72485524e-02 9.98882693e-01 -9.69737292e-04 -8.31846300e-02] [-3.13263044e-02 -5.11432731e-04 9.99509080e-01 -4.21198751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.80264 meters 0.020948091676993994 Centerline is valid? [True, True] Translation: X:12.78, Y:-0.09, Z:-0.42 [[ 9.98458145e-01 4.60164541e-02 3.10454151e-02 1.27803209e+01] [-4.60086142e-02 9.98940575e-01 -9.67213631e-04 -8.64821137e-02] [-3.10570326e-02 -4.62634199e-04 9.99517507e-01 -4.24440237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.83264 meters 0.01959665552349031 Centerline is valid? [True, True] Translation: X:12.81, Y:-0.09, Z:-0.43 [[ 9.98520075e-01 4.48671371e-02 3.07343343e-02 1.28122951e+01] [-4.48587683e-02 9.98992875e-01 -9.62101229e-04 -9.10428708e-02] [-3.07465477e-02 -4.18026992e-04 9.99527126e-01 -4.26202232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.862640000000003 meters 0.017345520885224692 Centerline is valid? [True, True] Translation: X:12.84, Y:-0.10, Z:-0.43 [[ 9.98586867e-01 4.35585412e-02 3.04453940e-02 1.28443857e+01] [-4.35495718e-02 9.99050808e-01 -9.57954551e-04 -9.67097975e-02] [-3.04582226e-02 -3.69283040e-04 9.99535972e-01 -4.26869343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.89264 meters 0.016542468844210664 Centerline is valid? [True, True] Translation: X:12.88, Y:-0.10, Z:-0.43 [[ 9.98646957e-01 4.21748416e-02 3.04226437e-02 1.28756790e+01] [-4.21650796e-02 9.99110194e-01 -9.62629837e-04 -1.00260199e-01] [-3.04361722e-02 -3.21445834e-04 9.99536661e-01 -4.29126097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.92264 meters 0.015084725811372246 Centerline is valid? [True, True] Translation: X:12.91, Y:-0.11, Z:-0.43 [[ 9.98747425e-01 3.97696252e-02 3.03637587e-02 1.29062409e+01] [-3.97586427e-02 9.99208846e-01 -9.65601971e-04 -1.06365862e-01] [-3.03781379e-02 -2.42829350e-04 9.99538448e-01 -4.31417694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.952640000000002 meters 0.014607342889591438 Centerline is valid? [True, True] Translation: X:12.94, Y:-0.11, Z:-0.43 [[ 9.98766775e-01 3.92925188e-02 3.03484427e-02 1.29393454e+01] [-3.92811943e-02 9.99227726e-01 -9.69489327e-04 -1.09967730e-01] [-3.03630991e-02 -2.23829346e-04 9.99538910e-01 -4.32627596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.98264 meters 0.014795577796570977 Centerline is valid? [True, True] Translation: X:12.97, Y:-0.11, Z:-0.43 [[ 9.98696724e-01 3.98602757e-02 3.18749454e-02 1.29708417e+01] [-3.98478348e-02 9.99205233e-01 -1.02569704e-03 -1.12758776e-01] [-3.18904968e-02 -2.45787284e-04 9.99491339e-01 -4.31719820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.01264 meters 0.014730761192844222 Centerline is valid? [True, True] Translation: X:13.00, Y:-0.11, Z:-0.43 [[ 9.98614399e-01 4.12481792e-02 3.26782666e-02 1.30037555e+01] [-4.12357733e-02 9.99148888e-01 -1.05377209e-03 -1.14598562e-01] [-3.26939200e-02 -2.95201611e-04 9.99465367e-01 -4.29592350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.042640000000002 meters 0.01676277247148004 Centerline is valid? [True, True] Translation: X:13.03, Y:-0.11, Z:-0.43 [[ 9.98518007e-01 4.30741693e-02 3.32626701e-02 1.30348491e+01] [-4.30620947e-02 9.99071814e-01 -1.07963170e-03 -1.12918023e-01] [-3.32783004e-02 -3.54328556e-04 9.99446061e-01 -4.31028403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.07264 meters 0.020827453260926096 Centerline is valid? [True, True] Translation: X:13.07, Y:-0.11, Z:-0.43 [[ 9.98354474e-01 4.69576375e-02 3.29139073e-02 1.30663755e+01] [-4.69477528e-02 9.98896769e-01 -1.07350851e-03 -1.08829692e-01] [-3.29280051e-02 -4.73491958e-04 9.99457614e-01 -4.32771938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.10264 meters 0.023456967504582996 Centerline is valid? [True, True] Translation: X:13.10, Y:-0.11, Z:-0.43 [[ 9.98242110e-01 4.93461317e-02 3.28275779e-02 1.30977972e+01] [-4.93374260e-02 9.98781588e-01 -1.07566786e-03 -1.06034854e-01] [-3.28406604e-02 -5.45851238e-04 9.99460451e-01 -4.34489507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.132640000000002 meters 0.024899776680848765 Centerline is valid? [True, True] Translation: X:13.13, Y:-0.11, Z:-0.44 [[ 9.98114294e-01 5.20523171e-02 3.25332616e-02 1.31299150e+01] [-5.20450536e-02 9.98644164e-01 -1.07062005e-03 -1.05025314e-01] [-3.25448801e-02 -6.24594172e-04 9.99470080e-01 -4.35475886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.16264 meters 0.025989497475639278 Centerline is valid? [True, True] Translation: X:13.16, Y:-0.10, Z:-0.44 [[ 9.97973297e-01 5.48325510e-02 3.22907012e-02 1.31615431e+01] [-5.48266785e-02 9.98495315e-01 -1.06792897e-03 -1.04556717e-01] [-3.23006712e-02 -7.04627303e-04 9.99477949e-01 -4.36376804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.19264 meters 0.03888585551118989 Centerline is valid? [True, True] Translation: X:13.19, Y:-0.10, Z:-0.44 [[ 9.97731012e-01 5.94856570e-02 3.15322886e-02 1.31922234e+01] [-5.94821774e-02 9.98228816e-01 -1.04920912e-03 -9.85095604e-02] [-3.15388521e-02 -8.28780708e-04 9.99502183e-01 -4.40997802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.222640000000002 meters 0.03162894117156378 Centerline is valid? [True, True] Translation: X:13.22, Y:-0.10, Z:-0.44 [[ 9.97598693e-01 6.17410383e-02 3.13829855e-02 1.32244977e+01] [-6.17387072e-02 9.98091800e-01 -1.04420916e-03 -9.74641644e-02] [-3.13875710e-02 -8.95843259e-04 9.99506887e-01 -4.39875223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.25264 meters 0.03827412320301834 Centerline is valid? [True, True] Translation: X:13.26, Y:-0.09, Z:-0.44 [[ 9.97361703e-01 6.51263929e-02 3.20653306e-02 1.32550088e+01] [-6.51256422e-02 9.97876499e-01 -1.06892509e-03 -8.60966655e-02] [-3.20668551e-02 -1.02217030e-03 9.99485203e-01 -4.42243025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.28264 meters 0.037035427571744786 Centerline is valid? [True, True] Translation: X:13.29, Y:-0.09, Z:-0.44 [[ 9.97265886e-01 6.65268507e-02 3.21703519e-02 1.32867882e+01] [-6.65268570e-02 9.97784060e-01 -1.07136412e-03 -8.70683097e-02] [-3.21703388e-02 -1.07175752e-03 9.99481826e-01 -4.42352947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.312640000000002 meters 0.040431196462966695 Centerline is valid? [True, True] Translation: X:13.32, Y:-0.08, Z:-0.44 [[ 9.97165639e-01 6.78928413e-02 3.24229867e-02 1.33177822e+01] [-6.78934011e-02 9.97691991e-01 -1.08494832e-03 -8.23741976e-02] [-3.24218144e-02 -1.11943366e-03 9.99473648e-01 -4.44329651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.34264 meters 0.0395530172167031 Centerline is valid? [True, True] Translation: X:13.35, Y:-0.08, Z:-0.45 [[ 9.97101287e-01 6.89995893e-02 3.20636996e-02 1.33501456e+01] [-6.90005555e-02 9.97616039e-01 -1.07767711e-03 -8.47233166e-02] [-3.20616203e-02 -1.13785985e-03 9.99485246e-01 -4.46287067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.37264 meters 0.03819884052877331 Centerline is valid? [True, True] Translation: X:13.38, Y:-0.08, Z:-0.45 [[ 9.97132082e-01 6.88429799e-02 3.14365285e-02 1.33818893e+01] [-6.88436460e-02 9.97626896e-01 -1.06246776e-03 -8.33656925e-02] [-3.14350698e-02 -1.10478456e-03 9.99505185e-01 -4.48175310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.40264 meters 0.03517974174488737 Centerline is valid? [True, True] Translation: X:13.41, Y:-0.09, Z:-0.45 [[ 9.97344722e-01 6.60407042e-02 3.06941456e-02 1.34128298e+01] [-6.60398645e-02 9.97816441e-01 -1.04222137e-03 -8.67121943e-02] [-3.06959521e-02 -9.87583230e-04 9.99528280e-01 -4.51020407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.43264 meters 0.03347943768208011 Centerline is valid? [True, True] Translation: X:13.44, Y:-0.09, Z:-0.45 [[ 9.97504792e-01 6.36509857e-02 3.05408403e-02 1.34434654e+01] [-6.36490124e-02 9.97971806e-01 -1.03776901e-03 -8.91024572e-02] [-3.05449526e-02 -9.08714759e-04 9.99532981e-01 -4.52692969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.46264 meters 0.03352756729573066 Centerline is valid? [True, True] Translation: X:13.47, Y:-0.09, Z:-0.46 [[ 9.97656919e-01 6.12354388e-02 3.05105324e-02 1.34741463e+01] [-6.12323176e-02 9.98123002e-01 -1.03749672e-03 -8.92310174e-02] [-3.05167957e-02 -8.33164831e-04 9.99533907e-01 -4.55593810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.49264 meters 0.028360734558377853 Centerline is valid? [True, True] Translation: X:13.51, Y:-0.10, Z:-0.46 [[ 9.97818982e-01 5.88320615e-02 2.99343763e-02 1.35064022e+01] [-5.88280096e-02 9.98267615e-01 -1.01679088e-03 -9.64664653e-02] [-2.99423383e-02 -7.46406533e-04 9.99551349e-01 -4.56223886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.522640000000003 meters 0.02636526961035142 Centerline is valid? [True, True] Translation: X:13.54, Y:-0.10, Z:-0.46 [[ 9.97957403e-01 5.68190817e-02 2.91995644e-02 1.35383435e+01] [-5.68142225e-02 9.98384270e-01 -9.96709206e-04 -9.97273474e-02] [-2.92090179e-02 -6.64277216e-04 9.99573105e-01 -4.58245586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.55264 meters 0.023638552104956714 Centerline is valid? [True, True] Translation: X:13.57, Y:-0.10, Z:-0.46 [[ 9.98163686e-01 5.34064128e-02 2.85834185e-02 1.35686951e+01] [-5.34001809e-02 9.98572710e-01 -9.81862038e-04 -1.04573639e-01] [-2.85950594e-02 -5.46300684e-04 9.99590928e-01 -4.60875342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.58264 meters 0.02324544416703056 Centerline is valid? [True, True] Translation: X:13.60, Y:-0.11, Z:-0.46 [[ 9.98193801e-01 5.27024873e-02 2.88371913e-02 1.35998075e+01] [-5.26958225e-02 9.98610118e-01 -9.91555518e-04 -1.06183713e-01] [-2.88493684e-02 -5.29834942e-04 9.99583630e-01 -4.62263701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.612640000000003 meters 0.034566145558451236 Centerline is valid? [True, True] Translation: X:13.63, Y:-0.11, Z:-0.46 [[ 9.98240222e-01 5.16793127e-02 2.90810624e-02 1.36315128e+01] [-5.16719685e-02 9.98663606e-01 -1.00448546e-03 -1.06866329e-01] [-2.90941098e-02 -4.99957955e-04 9.99576552e-01 -4.64494948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.64264 meters 0.032402378980015384 Centerline is valid? [True, True] Translation: X:13.66, Y:-0.10, Z:-0.47 [[ 9.98230557e-01 5.18330496e-02 2.91391406e-02 1.36640329e+01] [-5.18255996e-02 9.98655639e-01 -1.01135530e-03 -1.04461153e-01] [-2.91523887e-02 -5.00587673e-04 9.99574853e-01 -4.67510552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.67264 meters 0.023855445037851686 Centerline is valid? [True, True] Translation: X:13.70, Y:-0.11, Z:-0.47 [[ 9.98188114e-01 5.23763220e-02 2.96177155e-02 1.36972045e+01] [-5.23687004e-02 9.98627283e-01 -1.03349758e-03 -1.05055672e-01] [-2.96311896e-02 -5.19416266e-04 9.99560765e-01 -4.65663032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.702640000000002 meters 0.030643308022968392 Centerline is valid? [True, True] Translation: X:13.73, Y:-0.11, Z:-0.46 [[ 9.98142514e-01 5.24861404e-02 3.09309850e-02 1.37294907e+01] [-5.24776851e-02 9.98621507e-01 -1.08564319e-03 -1.08150648e-01] [-3.09453281e-02 -5.39559868e-04 9.99520933e-01 -4.64533206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.73264 meters 0.0220676531999392 Centerline is valid? [True, True] Translation: X:13.76, Y:-0.11, Z:-0.46 [[ 9.98121836e-01 5.25980151e-02 3.14046009e-02 1.37606808e+01] [-5.25891539e-02 9.98615618e-01 -1.10864161e-03 -1.08732003e-01] [-3.14194373e-02 -5.44981994e-04 9.99506139e-01 -4.63699667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.76264 meters 0.028308234533503167 Centerline is valid? [True, True] Translation: X:13.79, Y:-0.11, Z:-0.47 [[ 9.98187361e-01 5.10899948e-02 3.18088746e-02 1.37925882e+01] [-5.10800632e-02 9.98693928e-01 -1.12528765e-03 -1.12230113e-01] [-3.18248208e-02 -5.01551408e-04 9.99493336e-01 -4.66089461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.792640000000002 meters 0.01987515592495309 Centerline is valid? [True, True] Translation: X:13.82, Y:-0.12, Z:-0.47 [[ 9.98209439e-01 5.07469499e-02 3.16648541e-02 1.38246371e+01] [-5.07367666e-02 9.98711427e-01 -1.12552160e-03 -1.15317804e-01] [-3.16811684e-02 -4.83066030e-04 9.99497909e-01 -4.65978900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.82264 meters 0.02528229847363855 Centerline is valid? [True, True] Translation: X:13.86, Y:-0.12, Z:-0.47 [[ 9.98277486e-01 4.99301638e-02 3.08064803e-02 1.38570047e+01] [-4.99199896e-02 9.98752615e-01 -1.09976428e-03 -1.19318275e-01] [-3.08229642e-02 -4.39989255e-04 9.99524763e-01 -4.70210430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.85264 meters 0.02022244537528901 Centerline is valid? [True, True] Translation: X:13.89, Y:-0.12, Z:-0.47 [[ 9.98306478e-01 4.96785554e-02 3.02690852e-02 1.38886349e+01] [-4.96684128e-02 9.98765171e-01 -1.08733514e-03 -1.19669678e-01] [-3.02857253e-02 -4.17923700e-04 9.99541195e-01 -4.73266001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.882640000000002 meters 0.028782553717141765 Centerline is valid? [True, True] Translation: X:13.92, Y:-0.12, Z:-0.48 [[ 9.98317876e-01 4.96993637e-02 2.98561994e-02 1.39217428e+01] [-4.96894239e-02 9.98764139e-01 -1.07522500e-03 -1.23227876e-01] [-2.98727393e-02 -4.10121010e-04 9.99553626e-01 -4.75165617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.91264 meters 0.019651086026075203 Centerline is valid? [True, True] Translation: X:13.95, Y:-0.12, Z:-0.47 [[ 9.98247012e-01 5.09080408e-02 3.01873142e-02 1.39538539e+01] [-5.08982396e-02 9.98703246e-01 -1.09350713e-03 -1.23491518e-01] [-3.02038370e-02 -4.44890924e-04 9.99543661e-01 -4.74587898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.94264 meters 0.020500566944396916 Centerline is valid? [True, True] Translation: X:13.99, Y:-0.12, Z:-0.48 [[ 9.98205790e-01 5.20440201e-02 2.96077908e-02 1.39854939e+01] [-5.20349136e-02 9.98644684e-01 -1.07849768e-03 -1.23557781e-01] [-2.96237922e-02 -4.64076207e-04 9.99561011e-01 -4.76109328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.972640000000002 meters 0.023493121271472305 Centerline is valid? [True, True] Translation: X:14.02, Y:-0.12, Z:-0.48 [[ 9.98044869e-01 5.49820661e-02 2.97222443e-02 1.40165117e+01] [-5.49741325e-02 9.98487190e-01 -1.08463608e-03 -1.20150517e-01] [-2.97369157e-02 -5.51439123e-04 9.99557608e-01 -4.77629810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.00264 meters 0.02440285591504994 Centerline is valid? [True, True] Translation: X:14.05, Y:-0.12, Z:-0.48 [[ 9.97952640e-01 5.69764049e-02 2.90554116e-02 1.40484865e+01] [-5.69695426e-02 9.98375349e-01 -1.06460920e-03 -1.20143817e-01] [-2.90688643e-02 -5.92843948e-04 9.99577235e-01 -4.78882244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.03264 meters 0.028685604049656945 Centerline is valid? [True, True] Translation: X:14.08, Y:-0.12, Z:-0.48 [[ 9.97727445e-01 6.09086099e-02 2.88112395e-02 1.40788613e+01] [-6.09032961e-02 9.98143106e-01 -1.06274569e-03 -1.15576516e-01] [-2.88224704e-02 -6.94368913e-04 9.99584305e-01 -4.81663326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.062640000000002 meters 0.03601029141947042 Centerline is valid? [True, True] Translation: X:14.11, Y:-0.12, Z:-0.48 [[ 9.97638664e-01 6.23809926e-02 2.87351177e-02 1.41108784e+01] [-6.23763692e-02 9.98052137e-01 -1.05812314e-03 -1.15200926e-01] [-2.87451524e-02 -7.36767759e-04 9.99586501e-01 -4.83959119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.09264 meters 0.03601029141947042 Centerline is valid? [True, True] Translation: X:14.14, Y:-0.12, Z:-0.49 [[ 9.97626338e-01 6.25778889e-02 2.87349459e-02 1.41433561e+01] [-6.25732136e-02 9.98039811e-01 -1.06276370e-03 -1.16584022e-01] [-2.87451255e-02 -7.37796855e-04 9.99586501e-01 -4.85333103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.12264 meters 0.030175769216312317 Centerline is valid? [True, True] Translation: X:14.18, Y:-0.11, Z:-0.48 [[ 9.97519737e-01 6.41710990e-02 2.89213524e-02 1.41752771e+01] [-6.41668510e-02 9.97938604e-01 -1.07590674e-03 -1.14760233e-01] [-2.89307761e-02 -7.82553897e-04 9.99581111e-01 -4.84806991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.15264 meters 0.03198148436437783 Centerline is valid? [True, True] Translation: X:14.21, Y:-0.11, Z:-0.49 [[ 9.97439813e-01 6.54165779e-02 2.88875450e-02 1.42068923e+01] [-6.54127267e-02 9.97857710e-01 -1.07931593e-03 -1.11951705e-01] [-2.88962647e-02 -8.13060407e-04 9.99582085e-01 -4.86582610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.18264 meters 0.03662926245847378 Centerline is valid? [True, True] Translation: X:14.24, Y:-0.11, Z:-0.49 [[ 9.97300448e-01 6.76065300e-02 2.86561256e-02 1.42383890e+01] [-6.76035117e-02 9.97711686e-01 -1.07525179e-03 -1.05152889e-01] [-2.86632454e-02 -8.64905630e-04 9.99588751e-01 -4.89430681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.21264 meters 0.04222631286295465 Centerline is valid? [True, True] Translation: X:14.27, Y:-0.11, Z:-0.49 [[ 9.97249966e-01 6.85056479e-02 2.82750993e-02 1.42706989e+01] [-6.85029515e-02 9.97650345e-01 -1.06514922e-03 -1.09027919e-01] [-2.82816313e-02 -8.74707727e-04 9.99599612e-01 -4.91633013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.24264 meters 0.04123364656347572 Centerline is valid? [True, True] Translation: X:14.30, Y:-0.10, Z:-0.49 [[ 9.97142296e-01 6.99954558e-02 2.84231784e-02 1.43020382e+01] [-6.99931901e-02 9.97546889e-01 -1.07584351e-03 -1.01443388e-01] [-2.84287573e-02 -9.16659862e-04 9.99595401e-01 -4.93887602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.272640000000003 meters 0.03927089795060455 Centerline is valid? [True, True] Translation: X:14.33, Y:-0.10, Z:-0.49 [[ 9.96994186e-01 7.18031710e-02 2.91014909e-02 1.43341218e+01] [-7.18014306e-02 9.97418333e-01 -1.10613738e-03 -1.04741475e-01] [-2.91057847e-02 -9.86716142e-04 9.99575850e-01 -4.92081953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.30264 meters 0.03729957920293553 Centerline is valid? [True, True] Translation: X:14.37, Y:-0.10, Z:-0.49 [[ 9.96899064e-01 7.27231585e-02 3.00599135e-02 1.43660404e+01] [-7.27215580e-02 9.97351622e-01 -1.14793748e-03 -1.04327430e-01] [-3.00637851e-02 -1.04162594e-03 9.99547440e-01 -4.90900085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.33264 meters 0.03695436980731362 Centerline is valid? [True, True] Translation: X:14.40, Y:-0.10, Z:-0.49 [[ 9.96967186e-01 7.15348317e-02 3.06463475e-02 1.43978389e+01] [-7.15324399e-02 9.97437581e-01 -1.17580603e-03 -1.03529335e-01] [-3.06519298e-02 -1.01996798e-03 9.99529599e-01 -4.92725359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.362640000000003 meters 0.03764110792278951 Centerline is valid? [True, True] Translation: X:14.43, Y:-0.10, Z:-0.50 [[ 9.97060694e-01 7.01823374e-02 3.07312786e-02 1.44291689e+01] [-7.01791229e-02 9.97533702e-01 -1.18452296e-03 -1.03364802e-01] [-3.07386187e-02 -9.75652894e-04 9.99526981e-01 -4.95072629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.39264 meters 0.03220374962902011 Centerline is valid? [True, True] Translation: X:14.46, Y:-0.11, Z:-0.50 [[ 9.97231211e-01 6.79594069e-02 3.01899165e-02 1.44606549e+01] [-6.79551032e-02 9.97687694e-01 -1.16973353e-03 -1.11120836e-01] [-3.01996026e-02 -8.85064103e-04 9.99543496e-01 -4.95225772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.42264 meters 0.028399867455422535 Centerline is valid? [True, True] Translation: X:14.49, Y:-0.12, Z:-0.50 [[ 9.97576622e-01 6.30837781e-02 2.93482676e-02 1.44899274e+01] [-6.30775524e-02 9.98007979e-01 -1.13881510e-03 -1.16637066e-01] [-2.93616460e-02 -7.15161569e-04 9.99568598e-01 -4.98153626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.452640000000002 meters 0.027344101425110418 Centerline is valid? [True, True] Translation: X:14.52, Y:-0.12, Z:-0.50 [[ 9.97716840e-01 6.09541916e-02 2.90808010e-02 1.45209210e+01] [-6.09472509e-02 9.98140353e-01 -1.12581865e-03 -1.19842674e-01] [-2.90953443e-02 -6.49146652e-04 9.99576430e-01 -5.00540589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.48264 meters 0.02438474226003254 Centerline is valid? [True, True] Translation: X:14.55, Y:-0.13, Z:-0.50 [[ 9.97832525e-01 5.91264470e-02 2.88845052e-02 1.45527420e+01] [-5.91187072e-02 9.98250328e-01 -1.12261688e-03 -1.25225719e-01] [-2.89003432e-02 -5.87430977e-04 9.99582125e-01 -5.01101272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.51264 meters 0.022248662079425708 Centerline is valid? [True, True] Translation: X:14.58, Y:-0.13, Z:-0.50 [[ 9.97982076e-01 5.66420799e-02 2.86958267e-02 1.45837878e+01] [-5.66332437e-02 9.98394420e-01 -1.12122518e-03 -1.28087622e-01] [-2.87132618e-02 -5.06175110e-04 9.99587561e-01 -5.03054110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.542640000000002 meters 0.022380925346464416 Centerline is valid? [True, True] Translation: X:14.62, Y:-0.13, Z:-0.51 [[ 9.97999211e-01 5.64279703e-02 2.85211981e-02 1.46160880e+01] [-5.64191068e-02 9.98406550e-01 -1.11604804e-03 -1.27828892e-01] [-2.85387273e-02 -4.95325454e-04 9.99592565e-01 -5.05322692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.57264 meters 0.022442517573529934 Centerline is valid? [True, True] Translation: X:14.65, Y:-0.13, Z:-0.51 [[ 9.97986173e-01 5.68387186e-02 2.81595270e-02 1.46479845e+01] [-5.68300937e-02 9.98383250e-01 -1.10715457e-03 -1.27290400e-01] [-2.81769294e-02 -4.95383607e-04 9.99602829e-01 -5.06941477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.60264 meters 0.024822144020912634 Centerline is valid? [True, True] Translation: X:14.68, Y:-0.13, Z:-0.51 [[ 9.97986915e-01 5.73275265e-02 2.71232750e-02 1.46802561e+01] [-5.73195862e-02 9.98355307e-01 -1.07078898e-03 -1.26711469e-01] [-2.71400512e-02 -4.86061509e-04 9.99631523e-01 -5.10494982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.632640000000002 meters 0.029455212076371615 Centerline is valid? [True, True] Translation: X:14.71, Y:-0.12, Z:-0.51 [[ 9.97945621e-01 5.82860578e-02 2.65945910e-02 1.47117720e+01] [-5.82786115e-02 9.98299799e-01 -1.05565225e-03 -1.23934642e-01] [-2.66109047e-02 -4.96412292e-04 9.99645744e-01 -5.14075914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.66264 meters 0.025319749220699295 Centerline is valid? [True, True] Translation: X:14.74, Y:-0.12, Z:-0.52 [[ 9.97938747e-01 5.82867805e-02 2.68497565e-02 1.47430698e+01] [-5.82791235e-02 9.98299756e-01 -1.06828747e-03 -1.22930806e-01] [-2.68663724e-02 -4.98694818e-04 9.99638909e-01 -5.15664473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.69264 meters 0.025238163580881566 Centerline is valid? [True, True] Translation: X:14.77, Y:-0.12, Z:-0.52 [[ 9.97951983e-01 5.80140839e-02 2.69482058e-02 1.47743245e+01] [-5.80062248e-02 9.98315644e-01 -1.07393094e-03 -1.24192583e-01] [-2.69651186e-02 -4.91432178e-04 9.99636254e-01 -5.17349504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.722640000000002 meters 0.02174657175990466 Centerline is valid? [True, True] Translation: X:14.81, Y:-0.13, Z:-0.51 [[ 9.98025290e-01 5.61074082e-02 2.82396784e-02 1.48068085e+01] [-5.60978480e-02 9.98424635e-01 -1.13129839e-03 -1.29783554e-01] [-2.82586649e-02 -4.55120786e-04 9.99600541e-01 -5.14881617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.75264 meters 0.020404415671280464 Centerline is valid? [True, True] Translation: X:14.84, Y:-0.13, Z:-0.51 [[ 9.98065070e-01 5.49201503e-02 2.91529338e-02 1.48394341e+01] [-5.49094133e-02 9.98490655e-01 -1.16933181e-03 -1.32377241e-01] [-2.91731518e-02 -4.33701255e-04 9.99574279e-01 -5.14502064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.78264 meters 0.01712000713618693 Centerline is valid? [True, True] Translation: X:14.87, Y:-0.14, Z:-0.51 [[ 9.98206159e-01 5.15786009e-02 3.03992262e-02 1.48712143e+01] [-5.15652665e-02 9.98668878e-01 -1.22295422e-03 -1.38199269e-01] [-3.04218394e-02 -3.46783767e-04 9.99537089e-01 -5.13451535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.812640000000002 meters 0.015257713648075258 Centerline is valid? [True, True] Translation: X:14.90, Y:-0.14, Z:-0.51 [[ 9.98296498e-01 4.94989508e-02 3.08861926e-02 1.49034499e+01] [-4.94842021e-02 9.98774134e-01 -1.24217556e-03 -1.43269237e-01] [-3.09098166e-02 -2.88319085e-04 9.99522136e-01 -5.13539884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.84264 meters 0.023937403703982098 Centerline is valid? [True, True] Translation: X:14.93, Y:-0.15, Z:-0.52 [[ 9.98388430e-01 4.72603314e-02 3.14166036e-02 1.49340747e+01] [-4.72437849e-02 9.98882583e-01 -1.26918845e-03 -1.48682150e-01] [-3.14414804e-02 -2.17096196e-04 9.99505571e-01 -5.16307484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.87264 meters 0.012299739678500123 Centerline is valid? [True, True] Translation: X:14.97, Y:-0.16, Z:-0.52 [[ 9.98483368e-01 4.50996773e-02 3.15750473e-02 1.49663082e+01] [-4.50817269e-02 9.98982481e-01 -1.28053935e-03 -1.55174932e-01] [-3.16006710e-02 -1.44860415e-04 9.99500564e-01 -5.15992962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.90264 meters 0.01149105372482236 Centerline is valid? [True, True] Translation: X:15.00, Y:-0.17, Z:-0.52 [[ 9.98672160e-01 4.15056781e-02 3.05154813e-02 1.49985395e+01] [-4.14870931e-02 9.99138268e-01 -1.24220281e-03 -1.66134483e-01] [-3.05407436e-02 -2.54452498e-05 9.99533522e-01 -5.18482021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.93264 meters 0.020957680062157775 Centerline is valid? [True, True] Translation: X:15.03, Y:-0.17, Z:-0.52 [[ 9.98748216e-01 4.04226724e-02 2.94619777e-02 1.50302551e+01] [-4.04047057e-02 9.99182670e-01 -1.20514632e-03 -1.71531488e-01] [-2.94866128e-02 1.32351945e-05 9.99565175e-01 -5.22527032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.96264 meters 0.012289042351787327 Centerline is valid? [True, True] Translation: X:15.06, Y:-0.18, Z:-0.53 [[ 9.98751400e-01 4.07697700e-02 2.88698168e-02 1.50615609e+01] [-4.07525279e-02 9.99168567e-01 -1.18561003e-03 -1.76460306e-01] [-2.88941506e-02 7.61165848e-06 9.99582477e-01 -5.25143701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.99264 meters 0.012231477452411361 Centerline is valid? [True, True] Translation: X:15.09, Y:-0.18, Z:-0.53 [[ 9.98721845e-01 4.19847065e-02 2.81417858e-02 1.50937873e+01] [-4.19686587e-02 9.99118253e-01 -1.16091994e-03 -1.77294339e-01] [-2.81657127e-02 -2.16368948e-05 9.99603267e-01 -5.25896843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.022640000000003 meters 0.012465494733126052 Centerline is valid? [True, True] Translation: X:15.13, Y:-0.18, Z:-0.53 [[ 9.98617169e-01 4.43979062e-02 2.81527380e-02 1.51264920e+01] [-4.43826790e-02 9.99013923e-01 -1.16582643e-03 -1.76229182e-01] [-2.81767375e-02 -8.52796402e-05 9.99602953e-01 -5.26597081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.05264 meters 0.013739874415691813 Centerline is valid? [True, True] Translation: X:15.16, Y:-0.17, Z:-0.53 [[ 9.98456257e-01 4.78684306e-02 2.81729847e-02 1.51591963e+01] [-4.78543956e-02 9.98853634e-01 -1.17258088e-03 -1.73354291e-01] [-2.81968177e-02 -1.77430435e-04 9.99602375e-01 -5.27646563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.08264 meters 0.01955628699793984 Centerline is valid? [True, True] Translation: X:15.19, Y:-0.16, Z:-0.53 [[ 9.98019809e-01 5.56846293e-02 2.92520557e-02 1.51905073e+01] [-5.56726404e-02 9.98448325e-01 -1.22476534e-03 -1.62659311e-01] [-2.92748667e-02 -4.06199112e-04 9.99571317e-01 -5.27561987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.112640000000003 meters 0.029003779508386902 Centerline is valid? [True, True] Translation: X:15.22, Y:-0.16, Z:-0.53 [[ 9.97761750e-01 5.99811241e-02 2.95593513e-02 1.52224653e+01] [-5.99707936e-02 9.98199366e-01 -1.23669909e-03 -1.57905164e-01] [-2.95803044e-02 -5.38766711e-04 9.99562262e-01 -5.29992369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.14264 meters 0.03022693445905307 Centerline is valid? [True, True] Translation: X:15.25, Y:-0.15, Z:-0.53 [[ 9.97321033e-01 6.69701133e-02 2.94238341e-02 1.52543406e+01] [-6.69627297e-02 9.97754710e-01 -1.23734207e-03 -1.48626708e-01] [-2.94406340e-02 -7.36272982e-04 9.99566259e-01 -5.30709853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.17264 meters 0.03127585328899889 Centerline is valid? [True, True] Translation: X:15.29, Y:-0.15, Z:-0.53 [[ 9.97141498e-01 6.95526748e-02 2.95170783e-02 1.52864052e+01] [-6.95463630e-02 9.97577948e-01 -1.24165169e-03 -1.46791431e-01] [-2.95319465e-02 -8.14703012e-04 9.99563505e-01 -5.31292369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.202640000000002 meters 0.0333110199691154 Centerline is valid? [True, True] Translation: X:15.32, Y:-0.14, Z:-0.53 [[ 9.96987216e-01 7.15504900e-02 2.99502519e-02 1.53181790e+01] [-7.15448871e-02 9.97436585e-01 -1.26004468e-03 -1.43463931e-01] [-2.99636338e-02 -8.86538956e-04 9.99550596e-01 -5.32729564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.23264 meters 0.03469550212073229 Centerline is valid? [True, True] Translation: X:15.35, Y:-0.14, Z:-0.53 [[ 9.96875955e-01 7.30196130e-02 3.01075934e-02 1.53507733e+01] [-7.30144791e-02 9.97330070e-01 -1.27134857e-03 -1.39504931e-01] [-3.01200416e-02 -9.30913433e-04 9.99545855e-01 -5.34003354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.26264 meters 0.03743083037719052 Centerline is valid? [True, True] Translation: X:15.38, Y:-0.14, Z:-0.54 [[ 9.96891553e-01 7.28361929e-02 3.00353098e-02 1.53824505e+01] [-7.28308418e-02 9.97343495e-01 -1.27357591e-03 -1.36187781e-01] [-3.00482833e-02 -9.17879829e-04 9.99548027e-01 -5.36974306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.292640000000002 meters 0.032537179938763844 Centerline is valid? [True, True] Translation: X:15.41, Y:-0.14, Z:-0.54 [[ 9.96946046e-01 7.20827937e-02 3.00441840e-02 1.54148762e+01] [-7.20769603e-02 9.97398254e-01 -1.27851715e-03 -1.42510701e-01] [-3.00581758e-02 -8.90880844e-04 9.99547754e-01 -5.36061807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.32264 meters 0.032526039777565345 Centerline is valid? [True, True] Translation: X:15.45, Y:-0.14, Z:-0.54 [[ 9.97011331e-01 7.12171541e-02 2.99419908e-02 1.54459279e+01] [-7.12108104e-02 9.97460467e-01 -1.27950641e-03 -1.42727892e-01] [-2.99570750e-02 -8.56511042e-04 9.99550819e-01 -5.38218014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.35264 meters 0.03151656621245561 Centerline is valid? [True, True] Translation: X:15.48, Y:-0.14, Z:-0.54 [[ 9.97182558e-01 6.91164962e-02 2.91523044e-02 1.54775293e+01] [-6.91094579e-02 9.97608300e-01 -1.25013523e-03 -1.43206882e-01] [-2.91689858e-02 -7.68086907e-04 9.99574200e-01 -5.41853650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.382640000000002 meters 0.02937354645107579 Centerline is valid? [True, True] Translation: X:15.51, Y:-0.15, Z:-0.54 [[ 9.97266553e-01 6.80284464e-02 2.88366562e-02 1.55101071e+01] [-6.80209234e-02 9.97683121e-01 -1.24289618e-03 -1.45676518e-01] [-2.88543974e-02 -7.21997189e-04 9.99583364e-01 -5.43064197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.41264 meters 0.027690805374907562 Centerline is valid? [True, True] Translation: X:15.54, Y:-0.15, Z:-0.55 [[ 9.97431564e-01 6.61429929e-02 2.74841661e-02 1.55427167e+01] [-6.61354005e-02 9.97809953e-01 -1.18616082e-03 -1.45006023e-01] [-2.75024307e-02 -6.34562098e-04 9.99621535e-01 -5.47167146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.44264 meters 0.028256747935197737 Centerline is valid? [True, True] Translation: X:15.57, Y:-0.14, Z:-0.55 [[ 9.97522103e-01 6.50287695e-02 2.68498180e-02 1.55735328e+01] [-6.50211175e-02 9.97883215e-01 -1.15887862e-03 -1.44651427e-01] [-2.68683431e-02 -5.89798133e-04 9.99638807e-01 -5.51200643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.472640000000002 meters 0.02420664009292929 Centerline is valid? [True, True] Translation: X:15.60, Y:-0.15, Z:-0.55 [[ 9.97716162e-01 6.18055026e-02 2.72495864e-02 1.56046851e+01] [-6.17962432e-02 9.98088085e-01 -1.18259264e-03 -1.50138197e-01] [-2.72705782e-02 -5.04030278e-04 9.99627962e-01 -5.51160976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.50264 meters 0.023908120277256747 Centerline is valid? [True, True] Translation: X:15.64, Y:-0.15, Z:-0.55 [[ 9.97768487e-01 6.05329317e-02 2.81746546e-02 1.56358593e+01] [-6.05225580e-02 9.98166082e-01 -1.22160075e-03 -1.50555136e-01] [-2.81969317e-02 -4.86327434e-04 9.99602269e-01 -5.51834091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.53264 meters 0.020811152423340515 Centerline is valid? [True, True] Translation: X:15.67, Y:-0.15, Z:-0.55 [[ 9.97837182e-01 5.92658911e-02 2.84343501e-02 1.56682011e+01] [-5.92546884e-02 9.98242131e-01 -1.23716859e-03 -1.54218382e-01] [-2.84576881e-02 -4.50375734e-04 9.99594897e-01 -5.50263254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.562640000000002 meters 0.021094976135510656 Centerline is valid? [True, True] Translation: X:15.70, Y:-0.15, Z:-0.55 [[ 9.97856998e-01 5.86120391e-02 2.90867586e-02 1.56998455e+01] [-5.85998863e-02 9.98280741e-01 -1.27078843e-03 -1.53955622e-01] [-2.91112344e-02 -4.36415619e-04 9.99576083e-01 -5.51915767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.59264 meters 0.01841490443419981 Centerline is valid? [True, True] Translation: X:15.73, Y:-0.16, Z:-0.55 [[ 9.97899683e-01 5.71423216e-02 3.05119213e-02 1.57322538e+01] [-5.71280897e-02 9.98365960e-01 -1.33869338e-03 -1.56923123e-01] [-3.05385596e-02 -4.07206073e-04 9.99533506e-01 -5.49523842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.62264 meters 0.019528456086613973 Centerline is valid? [True, True] Translation: X:15.76, Y:-0.15, Z:-0.55 [[ 9.97873706e-01 5.72784480e-02 3.11005784e-02 1.57638496e+01] [-5.72635522e-02 9.98358156e-01 -1.37015853e-03 -1.54979683e-01] [-3.11279967e-02 -4.13684420e-04 9.99515321e-01 -5.51651630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.65264 meters 0.019342206923940553 Centerline is valid? [True, True] Translation: X:15.80, Y:-0.15, Z:-0.55 [[ 9.97819986e-01 5.85436518e-02 3.04617291e-02 1.57956989e+01] [-5.85298078e-02 9.98284753e-01 -1.34670679e-03 -1.52799897e-01] [-3.04883208e-02 -4.39148197e-04 9.99535027e-01 -5.52625228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.682640000000003 meters 0.025358304014517514 Centerline is valid? [True, True] Translation: X:15.83, Y:-0.15, Z:-0.56 [[ 9.97743635e-01 6.00685063e-02 2.99902185e-02 1.58275118e+01] [-6.00556394e-02 9.98194145e-01 -1.33040988e-03 -1.50483827e-01] [-3.00159762e-02 -4.73673757e-04 9.99549307e-01 -5.56842012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.71264 meters 0.024577145532623863 Centerline is valid? [True, True] Translation: X:15.86, Y:-0.15, Z:-0.56 [[ 9.97650252e-01 6.17104953e-02 2.97622247e-02 1.58600046e+01] [-6.16984025e-02 9.98093959e-01 -1.32536332e-03 -1.47627479e-01] [-2.97872855e-02 -5.14032671e-04 9.99556128e-01 -5.58635640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.74264 meters 0.025862779916395462 Centerline is valid? [True, True] Translation: X:15.89, Y:-0.14, Z:-0.56 [[ 9.97504668e-01 6.42496557e-02 2.92646365e-02 1.58915660e+01] [-6.42389076e-02 9.97933691e-01 -1.30826104e-03 -1.40611747e-01] [-2.92882221e-02 -5.74931786e-04 9.99570843e-01 -5.60605827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.772640000000003 meters 0.026844223435511256 Centerline is valid? [True, True] Translation: X:15.92, Y:-0.14, Z:-0.56 [[ 9.97470568e-01 6.49373208e-02 2.89069322e-02 1.59227649e+01] [-6.49269906e-02 9.97889174e-01 -1.29682437e-03 -1.39437752e-01] [-2.89301270e-02 -5.83295971e-04 9.99581266e-01 -5.62889287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.80264 meters 0.03558349409997355 Centerline is valid? [True, True] Translation: X:15.95, Y:-0.14, Z:-0.57 [[ 9.97482625e-01 6.49123866e-02 2.85445989e-02 1.59545568e+01] [-6.49021896e-02 9.97890803e-01 -1.28455452e-03 -1.40152142e-01] [-2.85677762e-02 -5.71286159e-04 9.99591695e-01 -5.67477151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.83264 meters 0.025604204580893894 Centerline is valid? [True, True] Translation: X:15.99, Y:-0.14, Z:-0.57 [[ 9.97494328e-01 6.45537120e-02 2.89462336e-02 1.59866794e+01] [-6.45429205e-02 9.97914075e-01 -1.30796367e-03 -1.43208739e-01] [-2.89702879e-02 -5.63588121e-04 9.99580114e-01 -5.65451478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.862640000000003 meters 0.025040512216470398 Centerline is valid? [True, True] Translation: X:16.02, Y:-0.14, Z:-0.56 [[ 9.97522298e-01 6.34011882e-02 3.04885871e-02 1.60180615e+01] [-6.33885057e-02 9.97987968e-01 -1.38330671e-03 -1.43554606e-01] [-3.05149463e-02 -5.52746686e-04 9.99534158e-01 -5.64036714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.89264 meters 0.03224071812455233 Centerline is valid? [True, True] Translation: X:16.05, Y:-0.15, Z:-0.57 [[ 9.97522928e-01 6.30993672e-02 3.10882371e-02 1.60501285e+01] [-6.30858827e-02 9.98007098e-01 -1.41538763e-03 -1.45022872e-01] [-3.11155913e-02 -5.49347266e-04 9.99515642e-01 -5.65610845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.92264 meters 0.02292729176055488 Centerline is valid? [True, True] Translation: X:16.08, Y:-0.15, Z:-0.56 [[ 9.97525177e-01 6.31338609e-02 3.09456932e-02 1.60828854e+01] [-6.31203687e-02 9.98004920e-01 -1.41366681e-03 -1.46620013e-01] [-3.09732044e-02 -5.43135335e-04 9.99520068e-01 -5.64488900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.952640000000002 meters 0.021260085832905336 Centerline is valid? [True, True] Translation: X:16.11, Y:-0.15, Z:-0.57 [[ 9.97520494e-01 6.36242295e-02 3.00802515e-02 1.61145627e+01] [-6.36115313e-02 9.97973782e-01 -1.37986927e-03 -1.49187114e-01] [-3.01070954e-02 -5.37002985e-04 9.99546534e-01 -5.65243888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.98264 meters 0.021260085832905336 Centerline is valid? [True, True] Translation: X:16.15, Y:-0.15, Z:-0.57 [[ 9.97507502e-01 6.38277092e-02 3.00800180e-02 1.61470326e+01] [-6.38149506e-02 9.97960788e-01 -1.38493715e-03 -1.50864697e-01] [-3.01070758e-02 -5.38069665e-04 9.99546534e-01 -5.66617690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.01264 meters 0.022613166767186745 Centerline is valid? [True, True] Translation: X:16.18, Y:-0.15, Z:-0.57 [[ 9.97468139e-01 6.45877548e-02 2.97612822e-02 1.61781730e+01] [-6.45754102e-02 9.97911880e-01 -1.37674274e-03 -1.49693586e-01] [-2.97880578e-02 -5.48589983e-04 9.99556087e-01 -5.69525507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.042640000000002 meters 0.024907657864404877 Centerline is valid? [True, True] Translation: X:16.21, Y:-0.15, Z:-0.57 [[ 9.97328661e-01 6.69647161e-02 2.91764971e-02 1.62103915e+01] [-6.69537351e-02 9.97755162e-01 -1.35424683e-03 -1.45390729e-01] [-2.92016873e-02 -6.02846272e-04 9.99573358e-01 -5.72186411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.07264 meters 0.02682924460082601 Centerline is valid? [True, True] Translation: X:16.24, Y:-0.14, Z:-0.57 [[ 9.97231648e-01 6.83180010e-02 2.93545585e-02 1.62412738e+01] [-6.83073056e-02 9.97663390e-01 -1.36815226e-03 -1.42581498e-01] [-2.93794377e-02 -6.40766063e-04 9.99568126e-01 -5.73873778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.10264 meters 0.02719854926190346 Centerline is valid? [True, True] Translation: X:16.27, Y:-0.14, Z:-0.57 [[ 9.97166664e-01 6.92291951e-02 2.94272337e-02 1.62734084e+01] [-6.92187375e-02 9.97600559e-01 -1.37512511e-03 -1.42219036e-01] [-2.94518236e-02 -6.65687046e-04 9.99565979e-01 -5.74747778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.132640000000002 meters 0.03120756127888072 Centerline is valid? [True, True] Translation: X:16.31, Y:-0.14, Z:-0.58 [[ 9.97128125e-01 6.97746026e-02 2.94450022e-02 1.63051157e+01] [-6.97641908e-02 9.97562553e-01 -1.38203419e-03 -1.37765532e-01] [-2.94696625e-02 -6.76141589e-04 9.99565446e-01 -5.78971435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.16264 meters 0.027144325373483363 Centerline is valid? [True, True] Translation: X:16.34, Y:-0.14, Z:-0.58 [[ 9.97182940e-01 6.91665058e-02 2.90203264e-02 1.63375838e+01] [-6.91560443e-02 9.97604921e-01 -1.36521584e-03 -1.44258165e-01] [-2.90452476e-02 -6.45561028e-04 9.99577889e-01 -5.78690572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.19264 meters 0.02638357661713535 Centerline is valid? [True, True] Translation: X:16.37, Y:-0.15, Z:-0.58 [[ 9.97250604e-01 6.83456228e-02 2.86375320e-02 1.63699929e+01] [-6.83350902e-02 9.97661516e-01 -1.34744839e-03 -1.47258667e-01] [-2.86626558e-02 -6.13204617e-04 9.99588954e-01 -5.81224909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.222640000000002 meters 0.027163041741341237 Centerline is valid? [True, True] Translation: X:16.40, Y:-0.15, Z:-0.59 [[ 9.97479962e-01 6.53701078e-02 2.75766994e-02 1.64013204e+01] [-6.53590801e-02 9.97860960e-01 -1.30203108e-03 -1.50160660e-01] [-2.76028257e-02 -5.03637800e-04 9.99618843e-01 -5.88377250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.25264 meters 0.02299884246114011 Centerline is valid? [True, True] Translation: X:16.43, Y:-0.16, Z:-0.59 [[ 9.97586164e-01 6.38215893e-02 2.73614840e-02 1.64332848e+01] [-6.38100230e-02 9.97961222e-01 -1.29653657e-03 -1.58831673e-01] [-2.73884471e-02 -4.52529983e-04 9.99624764e-01 -5.87698238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.28264 meters 0.02125492402082581 Centerline is valid? [True, True] Translation: X:16.47, Y:-0.16, Z:-0.59 [[ 9.97679055e-01 6.24654878e-02 2.71028751e-02 1.64652182e+01] [-6.24535182e-02 9.98047042e-01 -1.28872914e-03 -1.63705079e-01] [-2.71304454e-02 -4.06931832e-04 9.99631819e-01 -5.88832358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.312640000000002 meters 0.020081485348092273 Centerline is valid? [True, True] Translation: X:16.50, Y:-0.17, Z:-0.59 [[ 9.97746736e-01 6.14349173e-02 2.69666894e-02 1.64969488e+01] [-6.14225685e-02 9.98111022e-01 -1.28680307e-03 -1.67067973e-01] [-2.69948045e-02 -3.72459765e-04 9.99635504e-01 -5.90303528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.34264 meters 0.019015545268935667 Centerline is valid? [True, True] Translation: X:16.53, Y:-0.17, Z:-0.59 [[ 9.97852045e-01 5.96460090e-02 2.70859812e-02 1.65277639e+01] [-5.96327609e-02 9.98219540e-01 -1.29732420e-03 -1.71746675e-01] [-2.71151359e-02 -3.20674237e-04 9.99632266e-01 -5.92677954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.37264 meters 0.018193879635542202 Centerline is valid? [True, True] Translation: X:16.56, Y:-0.18, Z:-0.59 [[ 9.97901407e-01 5.88246515e-02 2.70636760e-02 1.65601500e+01] [-5.88110127e-02 9.98268288e-01 -1.30033352e-03 -1.76430396e-01] [-2.70933012e-02 -2.94037545e-04 9.99632866e-01 -5.94166413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.40264 meters 0.017163906983769635 Centerline is valid? [True, True] Translation: X:16.59, Y:-0.18, Z:-0.59 [[ 9.97936020e-01 5.81706576e-02 2.72006475e-02 1.65919179e+01] [-5.81565148e-02 9.98306616e-01 -1.31141962e-03 -1.83008369e-01] [-2.72308725e-02 -2.73181988e-04 9.99629134e-01 -5.94976352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.432640000000003 meters 0.016376755030442506 Centerline is valid? [True, True] Translation: X:16.63, Y:-0.19, Z:-0.59 [[ 9.97914840e-01 5.85684219e-02 2.71240068e-02 1.66251181e+01] [-5.85543955e-02 9.98283358e-01 -1.31177859e-03 -1.85753988e-01] [-2.71542734e-02 -2.79186500e-04 9.99631216e-01 -5.94530882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.46264 meters 0.018387593866525484 Centerline is valid? [True, True] Translation: X:16.66, Y:-0.18, Z:-0.60 [[ 9.97864881e-01 5.94331261e-02 2.70810546e-02 1.66558214e+01] [-5.94192702e-02 9.98232246e-01 -1.31678471e-03 -1.83205303e-01] [-2.71114426e-02 -2.95163280e-04 9.99632374e-01 -5.98046016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.49264 meters 0.01834774031121485 Centerline is valid? [True, True] Translation: X:16.69, Y:-0.18, Z:-0.60 [[ 9.97747391e-01 6.14014974e-02 2.70185024e-02 1.66879445e+01] [-6.13883997e-02 9.98113088e-01 -1.31475037e-03 -1.82423123e-01] [-2.70482485e-02 -3.46833871e-04 9.99634069e-01 -5.97545436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.522640000000003 meters 0.019065917266928033 Centerline is valid? [True, True] Translation: X:16.72, Y:-0.18, Z:-0.60 [[ 9.97717200e-01 6.19080735e-02 2.69774005e-02 1.67185257e+01] [-6.18950380e-02 9.98081793e-01 -1.31876906e-03 -1.83836211e-01] [-2.70072947e-02 -3.54008651e-04 9.99635174e-01 -6.00042683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.55264 meters 0.021309718745134036 Centerline is valid? [True, True] Translation: X:16.75, Y:-0.18, Z:-0.60 [[ 9.97692602e-01 6.23057141e-02 2.69716636e-02 1.67500874e+01] [-6.22928056e-02 9.98057045e-01 -1.31937182e-03 -1.83940168e-01] [-2.70014633e-02 -3.63813097e-04 9.99635328e-01 -6.04471342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.58264 meters 0.018916640317298974 Centerline is valid? [True, True] Translation: X:16.78, Y:-0.19, Z:-0.60 [[ 9.97711570e-01 6.22822610e-02 2.63162281e-02 1.67833874e+01] [-6.22698490e-02 9.98058514e-01 -1.29167845e-03 -1.88875623e-01] [-2.63455842e-02 -3.49985014e-04 9.99652834e-01 -6.02591369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.612640000000003 meters 0.019220142849168387 Centerline is valid? [True, True] Translation: X:16.81, Y:-0.19, Z:-0.60 [[ 9.97721859e-01 6.20572343e-02 2.64573639e-02 1.68144675e+01] [-6.20444263e-02 9.98072535e-01 -1.30552723e-03 -1.89759004e-01] [-2.64873856e-02 -3.38978911e-04 9.99649090e-01 -6.04995510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.64264 meters 0.018222644637271725 Centerline is valid? [True, True] Translation: X:16.85, Y:-0.19, Z:-0.60 [[ 9.97712268e-01 6.20393402e-02 2.68579677e-02 1.68468731e+01] [-6.20260943e-02 9.98073646e-01 -1.32680297e-03 -1.92642512e-01] [-2.68885438e-02 -3.42127239e-04 9.99638379e-01 -6.04485831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.67264 meters 0.018437792375391077 Centerline is valid? [True, True] Translation: X:16.88, Y:-0.19, Z:-0.61 [[ 9.97710839e-01 6.19123026e-02 2.72019922e-02 1.68785435e+01] [-6.18985348e-02 9.98081536e-01 -1.34868829e-03 -1.93391564e-01] [-2.72333066e-02 -3.38162539e-04 9.99629048e-01 -6.06194168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.702640000000002 meters 0.01854255893669016 Centerline is valid? [True, True] Translation: X:16.91, Y:-0.19, Z:-0.61 [[ 9.97705978e-01 6.21164878e-02 2.69132526e-02 1.69110222e+01] [-6.21029645e-02 9.98068850e-01 -1.33884321e-03 -1.94291443e-01] [-2.69444433e-02 -3.35620899e-04 9.99636876e-01 -6.07979976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.73264 meters 0.018173648736405857 Centerline is valid? [True, True] Translation: X:16.94, Y:-0.20, Z:-0.61 [[ 9.97721806e-01 6.13634376e-02 2.80308156e-02 1.69421896e+01] [-6.13483066e-02 9.98115436e-01 -1.40028227e-03 -1.95257107e-01] [-2.80639159e-02 -3.22550915e-04 9.99606079e-01 -6.08323142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.76264 meters 0.017258876727769507 Centerline is valid? [True, True] Translation: X:16.97, Y:-0.20, Z:-0.61 [[ 9.97751251e-01 6.04152815e-02 2.90247321e-02 1.69736385e+01] [-6.03985146e-02 9.98173283e-01 -1.45484022e-03 -1.99060902e-01] [-2.90596067e-02 -3.01482058e-04 9.99577635e-01 -6.08780422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.792640000000002 meters 0.015138268189564309 Centerline is valid? [True, True] Translation: X:17.01, Y:-0.21, Z:-0.61 [[ 9.97834393e-01 5.88488397e-02 2.93826236e-02 1.70061344e+01] [-5.88308078e-02 9.98266873e-01 -1.47855395e-03 -2.05159807e-01] [-2.94187110e-02 -2.53251496e-04 9.99567144e-01 -6.07848872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.82264 meters 0.013555510138814945 Centerline is valid? [True, True] Translation: X:17.04, Y:-0.21, Z:-0.61 [[ 9.97935874e-01 5.70601198e-02 2.94641285e-02 1.70377446e+01] [-5.70411975e-02 9.98370724e-01 -1.48302062e-03 -2.10866584e-01] [-2.95007447e-02 -2.00709697e-04 9.99564738e-01 -6.07915575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.85264 meters 0.02078882607511479 Centerline is valid? [True, True] Translation: X:17.07, Y:-0.22, Z:-0.61 [[ 9.98124975e-01 5.35511303e-02 2.96447477e-02 1.70685987e+01] [-5.35302667e-02 9.98565105e-01 -1.49753010e-03 -2.15987460e-01] [-2.96824050e-02 -9.21690610e-05 9.99559376e-01 -6.12892755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.882640000000002 meters 0.012222901882961813 Centerline is valid? [True, True] Translation: X:17.10, Y:-0.22, Z:-0.61 [[ 9.98176126e-01 5.25168982e-02 2.97724148e-02 1.71015788e+01] [-5.24952591e-02 9.98620034e-01 -1.50852067e-03 -2.19621677e-01] [-2.98105527e-02 -5.71413068e-05 9.99555565e-01 -6.12120791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.91264 meters 0.011845695792391127 Centerline is valid? [True, True] Translation: X:17.13, Y:-0.22, Z:-0.61 [[ 9.98245775e-01 5.13846006e-02 2.94108177e-02 1.71344236e+01] [-5.13628388e-02 9.98678939e-01 -1.49542111e-03 -2.24403724e-01] [-2.94488059e-02 -1.78252860e-05 9.99566290e-01 -6.12148691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.94264 meters 0.024940614360067812 Centerline is valid? [True, True] Translation: X:17.17, Y:-0.23, Z:-0.62 [[ 9.98236254e-01 5.17807365e-02 2.90368035e-02 1.71673954e+01] [-5.17595309e-02 9.98658478e-01 -1.48195205e-03 -2.26117405e-01] [-2.90745865e-02 -2.35930685e-05 9.99577245e-01 -6.15984112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.972640000000002 meters 0.02492976100725514 Centerline is valid? [True, True] Translation: X:17.20, Y:-0.23, Z:-0.62 [[ 9.98213654e-01 5.24287988e-02 2.86482464e-02 1.71984138e+01] [-5.24082297e-02 9.98624664e-01 -1.46888734e-03 -2.27584455e-01] [-2.86858575e-02 -3.51404868e-05 9.99588475e-01 -6.18443709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.00264 meters 0.012807689379170565 Centerline is valid? [True, True] Translation: X:17.23, Y:-0.23, Z:-0.62 [[ 9.98074335e-01 5.51860842e-02 2.83216854e-02 1.72311365e+01] [-5.51670490e-02 9.98476081e-01 -1.45363274e-03 -2.26756569e-01] [-2.83587458e-02 -1.11590282e-04 9.99597804e-01 -6.16406776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.03264 meters 0.014248325965490326 Centerline is valid? [True, True] Translation: X:17.26, Y:-0.22, Z:-0.62 [[ 9.97934855e-01 5.74084076e-02 2.88149351e-02 1.72634951e+01] [-5.73894879e-02 9.98350762e-01 -1.48385336e-03 -2.24079014e-01] [-2.88525981e-02 -1.72885383e-04 9.99583662e-01 -6.19016938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.062640000000002 meters 0.016824495851823495 Centerline is valid? [True, True] Translation: X:17.30, Y:-0.22, Z:-0.62 [[ 9.97648266e-01 6.22813897e-02 2.86175667e-02 1.72960418e+01] [-6.22645774e-02 9.98058583e-01 -1.47908482e-03 -2.17761438e-01] [-2.86541275e-02 -3.06254286e-04 9.99589339e-01 -6.18860244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.092640000000003 meters 0.018947527907544736 Centerline is valid? [True, True] Translation: X:17.33, Y:-0.22, Z:-0.62 [[ 9.97469826e-01 6.48850296e-02 2.90496115e-02 1.73285957e+01] [-6.48686218e-02 9.97892674e-01 -1.50786114e-03 -2.15232535e-01] [-2.90862321e-02 -3.80362269e-04 9.99576834e-01 -6.19834574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.12264 meters 0.020663791154562627 Centerline is valid? [True, True] Translation: X:17.36, Y:-0.21, Z:-0.62 [[ 9.97280981e-01 6.76081859e-02 2.93219889e-02 1.73612372e+01] [-6.75926348e-02 9.97711841e-01 -1.52235611e-03 -2.13138514e-01] [-2.93578193e-02 -4.63733694e-04 9.99568859e-01 -6.19813398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.15264 meters 0.023552831038919888 Centerline is valid? [True, True] Translation: X:17.39, Y:-0.21, Z:-0.62 [[ 9.97086598e-01 7.02813932e-02 2.96452580e-02 1.73922011e+01] [-7.02664903e-02 9.97527058e-01 -1.54546312e-03 -2.09271105e-01] [-2.96805643e-02 -5.42107669e-04 9.99559288e-01 -6.20718226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.182640000000003 meters 0.029204978681107715 Centerline is valid? [True, True] Translation: X:17.42, Y:-0.20, Z:-0.62 [[ 9.96805105e-01 7.43985090e-02 2.90593224e-02 1.74222139e+01] [-7.43858333e-02 9.97228380e-01 -1.51848709e-03 -2.00379077e-01] [-2.90917542e-02 -6.47966228e-04 9.99576535e-01 -6.24563295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.21264 meters 0.028611894081614825 Centerline is valid? [True, True] Translation: X:17.45, Y:-0.20, Z:-0.63 [[ 9.96714020e-01 7.57929447e-02 2.85760556e-02 1.74547820e+01] [-7.57813266e-02 9.97123346e-01 -1.49089430e-03 -2.01076590e-01] [-2.86068515e-02 -6.79536154e-04 9.99590509e-01 -6.25162194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.24264 meters 0.03051844925765793 Centerline is valid? [True, True] Translation: X:17.49, Y:-0.20, Z:-0.63 [[ 9.96613332e-01 7.71780487e-02 2.83798522e-02 1.74865701e+01] [-7.71670083e-02 9.97017074e-01 -1.48566888e-03 -1.96134146e-01] [-2.84098583e-02 -7.09350886e-04 9.99596107e-01 -6.27147293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.272640000000003 meters 0.02998516918081708 Centerline is valid? [True, True] Translation: X:17.52, Y:-0.20, Z:-0.63 [[ 9.96602861e-01 7.73444485e-02 2.82943960e-02 1.75191875e+01] [-7.73334289e-02 9.97004180e-01 -1.48516804e-03 -1.96995105e-01] [-2.83245006e-02 -7.07979944e-04 9.99598530e-01 -6.28172545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.30264 meters 0.03157981534831399 Centerline is valid? [True, True] Translation: X:17.55, Y:-0.20, Z:-0.63 [[ 9.96602237e-01 7.72112294e-02 2.86776425e-02 1.75501631e+01] [-7.71996748e-02 9.97014506e-01 -1.51152998e-03 -1.95809986e-01] [-2.87087327e-02 -7.07510521e-04 9.99587569e-01 -6.30544455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.33264 meters 0.030459297044988135 Centerline is valid? [True, True] Translation: X:17.58, Y:-0.20, Z:-0.63 [[ 9.96637001e-01 7.65781318e-02 2.91629518e-02 1.75818510e+01] [-7.65657767e-02 9.97063340e-01 -1.54174344e-03 -1.98292039e-01] [-2.91953740e-02 -6.96325496e-04 9.99573482e-01 -6.31243909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.362640000000003 meters 0.028522954895361642 Centerline is valid? [True, True] Translation: X:17.61, Y:-0.20, Z:-0.63 [[ 9.96759621e-01 7.45461626e-02 3.02179903e-02 1.76127151e+01] [-7.45317531e-02 9.97217350e-01 -1.60449928e-03 -2.00273974e-01] [-3.02535135e-02 -6.52899704e-04 9.99542044e-01 -6.30741991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.39264 meters 0.02612849839536455 Centerline is valid? [True, True] Translation: X:17.64, Y:-0.20, Z:-0.63 [[ 9.96830217e-01 7.34034891e-02 3.06829902e-02 1.76445926e+01] [-7.33881199e-02 9.97302127e-01 -1.62827276e-03 -2.03695988e-01] [-3.07197323e-02 -6.28655473e-04 9.99527840e-01 -6.30781391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.42264 meters 0.033585843675955 Centerline is valid? [True, True] Translation: X:17.68, Y:-0.21, Z:-0.63 [[ 9.96916754e-01 7.22379250e-02 3.06376877e-02 1.76767905e+01] [-7.22218962e-02 9.97387256e-01 -1.63091684e-03 -2.08557474e-01] [-3.06754533e-02 -5.86823582e-04 9.99529225e-01 -6.33186907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.452640000000002 meters 0.0218955485366098 Centerline is valid? [True, True] Translation: X:17.71, Y:-0.21, Z:-0.63 [[ 9.97093325e-01 7.03108694e-02 2.93476332e-02 1.77081612e+01] [-7.02951796e-02 9.97525003e-01 -1.56727624e-03 -2.10063796e-01] [-2.93851945e-02 -5.00276470e-04 9.99568037e-01 -6.34359967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.48264 meters 0.021697825735944344 Centerline is valid? [True, True] Translation: X:17.74, Y:-0.21, Z:-0.64 [[ 9.97164027e-01 6.95051745e-02 2.88605981e-02 1.77387569e+01] [-6.94895311e-02 9.97581483e-01 -1.54586077e-03 -2.11719868e-01] [-2.88982436e-02 -4.64032673e-04 9.99582251e-01 -6.37478639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.51264 meters 0.019913614257514926 Centerline is valid? [True, True] Translation: X:17.77, Y:-0.22, Z:-0.64 [[ 9.97305959e-01 6.80150186e-02 2.74732969e-02 1.77718724e+01] [-6.80001803e-02 9.97684218e-01 -1.47509488e-03 -2.15244461e-01] [-2.75100034e-02 -3.97068230e-04 9.99621449e-01 -6.40357948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.542640000000002 meters 0.021466941344151672 Centerline is valid? [True, True] Translation: X:17.80, Y:-0.21, Z:-0.64 [[ 9.97317169e-01 6.81070067e-02 2.68309488e-02 1.78030729e+01] [-6.80927345e-02 9.97677948e-01 -1.44629581e-03 -2.14629069e-01] [-2.68671488e-02 -3.84577030e-04 9.99638939e-01 -6.44755512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.57264 meters 0.021188791880745475 Centerline is valid? [True, True] Translation: X:17.83, Y:-0.22, Z:-0.65 [[ 9.97293517e-01 6.86158482e-02 2.64103329e-02 1.78348699e+01] [-6.86020940e-02 9.97643080e-01 -1.42756680e-03 -2.15567835e-01] [-2.64460395e-02 -3.88101023e-04 9.99650167e-01 -6.45269848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.60264 meters 0.023823192672775946 Centerline is valid? [True, True] Translation: X:17.87, Y:-0.21, Z:-0.65 [[ 9.97159139e-01 7.03347746e-02 2.69568248e-02 1.78663549e+01] [-7.03209420e-02 9.97523347e-01 -1.46196034e-03 -2.10078371e-01] [-2.69928888e-02 -4.37822199e-04 9.99635530e-01 -6.47012570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.632640000000002 meters 0.022324490903644644 Centerline is valid? [True, True] Translation: X:17.90, Y:-0.21, Z:-0.65 [[ 9.97081077e-01 7.14851180e-02 2.68179757e-02 1.78981362e+01] [-7.14717398e-02 9.97441559e-01 -1.45828271e-03 -2.12388510e-01] [-2.68536090e-02 -4.62701289e-04 9.99639270e-01 -6.46024829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.66264 meters 0.022533993349488787 Centerline is valid? [True, True] Translation: X:17.93, Y:-0.21, Z:-0.65 [[ 9.97009496e-01 7.25285992e-02 2.66770846e-02 1.79302373e+01] [-7.25156136e-02 9.97366216e-01 -1.45514769e-03 -2.13178633e-01] [-2.67123628e-02 -4.83709097e-04 9.99643044e-01 -6.47082860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.69264 meters 0.02588511508841609 Centerline is valid? [True, True] Translation: X:17.96, Y:-0.21, Z:-0.65 [[ 9.96915803e-01 7.37692100e-02 2.67765684e-02 1.79618710e+01] [-7.37564421e-02 9.97275208e-01 -1.46551722e-03 -2.08381446e-01] [-2.68117179e-02 -5.13947144e-04 9.99640369e-01 -6.51084237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.722640000000002 meters 0.02460757803377794 Centerline is valid? [True, True] Translation: X:18.00, Y:-0.21, Z:-0.65 [[ 9.96923994e-01 7.38514841e-02 2.62394603e-02 1.79950869e+01] [-7.38391569e-02 9.97269124e-01 -1.43972960e-03 -2.10284950e-01] [-2.62741297e-02 -5.02198644e-04 9.99654649e-01 -6.51302983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.75264 meters 0.02517622190007761 Centerline is valid? [True, True] Translation: X:18.03, Y:-0.21, Z:-0.65 [[ 9.96916628e-01 7.37038568e-02 2.69254241e-02 1.80263714e+01] [-7.36906592e-02 9.97280044e-01 -1.48343633e-03 -2.09086000e-01] [-2.69615231e-02 -5.05289904e-04 9.99636344e-01 -6.53023095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.78264 meters 0.02279155646017913 Centerline is valid? [True, True] Translation: X:18.06, Y:-0.21, Z:-0.65 [[ 9.97018325e-01 7.22921065e-02 2.69872257e-02 1.80588680e+01] [-7.22782191e-02 9.97383395e-01 -1.49098637e-03 -2.10654425e-01] [-2.70243973e-02 -4.64047878e-04 9.99634667e-01 -6.53922695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.812640000000002 meters 0.02142834646044415 Centerline is valid? [True, True] Translation: X:18.09, Y:-0.21, Z:-0.66 [[ 9.97120225e-01 7.07916546e-02 2.71992347e-02 1.80897969e+01] [-7.07768566e-02 9.97491034e-01 -1.50760061e-03 -2.13041957e-01] [-2.72377183e-02 -4.21817278e-04 9.99628896e-01 -6.55009985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.842640000000003 meters 0.017707274735557593 Centerline is valid? [True, True] Translation: X:18.12, Y:-0.22, Z:-0.65 [[ 9.97366516e-01 6.65608139e-02 2.88043558e-02 1.81200757e+01] [-6.65422551e-02 9.97782320e-01 -1.60344053e-03 -2.17753602e-01] [-2.88472032e-02 -3.17488899e-04 9.99583782e-01 -6.53926588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.87264 meters 0.017707274735557593 Centerline is valid? [True, True] Translation: X:18.15, Y:-0.22, Z:-0.66 [[ 9.97353928e-01 6.67491197e-02 2.88044682e-02 1.81525315e+01] [-6.67306977e-02 9.97769738e-01 -1.60142604e-03 -2.19755961e-01] [-2.88471204e-02 -3.24953711e-04 9.99583782e-01 -6.55301102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.90264 meters 0.015841700930168408 Centerline is valid? [True, True] Translation: X:18.18, Y:-0.22, Z:-0.66 [[ 9.97486502e-01 6.43564018e-02 2.96467702e-02 1.81838025e+01] [-6.43356423e-02 9.97926945e-01 -1.65456748e-03 -2.24944725e-01] [-2.96917928e-02 -2.56935276e-04 9.99559069e-01 -6.56238303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.932640000000003 meters 0.02313359656997533 Centerline is valid? [True, True] Translation: X:18.22, Y:-0.23, Z:-0.66 [[ 9.97636742e-01 6.18961085e-02 2.98295678e-02 1.82157797e+01] [-6.18738593e-02 9.98082581e-01 -1.66922671e-03 -2.31699005e-01] [-2.98756907e-02 -1.80388585e-04 9.99553606e-01 -6.59736601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.96264 meters 0.012035690278061001 Centerline is valid? [True, True] Translation: X:18.25, Y:-0.24, Z:-0.66 [[ 9.97849073e-01 5.85940035e-02 2.93933611e-02 1.82477141e+01] [-5.85708308e-02 9.98281893e-01 -1.64947023e-03 -2.39090501e-01] [-2.94395092e-02 -7.56712375e-05 9.99566561e-01 -6.57267873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.99264 meters 0.013198847703145678 Centerline is valid? [True, True] Translation: X:18.28, Y:-0.25, Z:-0.66 [[ 9.98221235e-01 5.18414828e-02 2.94419084e-02 1.82794126e+01] [-5.18151489e-02 9.98655318e-01 -1.65718013e-03 -2.49208400e-01] [-2.94882291e-02 1.28695524e-04 9.99565119e-01 -6.60058402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.022640000000003 meters 0.014728652669339468 Centerline is valid? [True, True] Translation: X:18.31, Y:-0.26, Z:-0.66 [[ 9.98397054e-01 4.83148634e-02 2.94787613e-02 1.83110792e+01] [-4.82867594e-02 9.98832127e-01 -1.66490685e-03 -2.55759599e-01] [-2.95247736e-02 2.38804242e-04 9.99564020e-01 -6.60221825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.05264 meters 0.017481008661863504 Centerline is valid? [True, True] Translation: X:18.34, Y:-0.26, Z:-0.66 [[ 9.98540636e-01 4.52280166e-02 2.95131180e-02 1.83414719e+01] [-4.51983466e-02 9.98976633e-01 -1.67200190e-03 -2.63964029e-01] [-2.95585366e-02 3.35617700e-04 9.99562995e-01 -6.62565820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.08264 meters 0.021209066665261067 Centerline is valid? [True, True] Translation: X:18.37, Y:-0.27, Z:-0.66 [[ 9.98807960e-01 3.99276624e-02 2.80792008e-02 1.83722712e+01] [-3.98985466e-02 9.99202460e-01 -1.59664883e-03 -2.74737248e-01] [-2.81205570e-02 4.74426255e-04 9.99604426e-01 -6.64238540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.112640000000003 meters 0.02975932084771745 Centerline is valid? [True, True] Translation: X:18.40, Y:-0.28, Z:-0.67 [[ 9.98876307e-01 3.86753597e-02 2.73923325e-02 1.84043257e+01] [-3.86472234e-02 9.99251705e-01 -1.55603184e-03 -2.79240731e-01] [-2.74320151e-02 4.95645738e-04 9.99623549e-01 -6.67785062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.14264 meters 0.024475959636365 Centerline is valid? [True, True] Translation: X:18.44, Y:-0.29, Z:-0.67 [[ 9.98926163e-01 3.77131675e-02 2.69116554e-02 1.84351401e+01] [-3.76855048e-02 9.99288471e-01 -1.53453098e-03 -2.85998325e-01] [-2.69503790e-02 5.18703825e-04 9.99636638e-01 -6.68996511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.17264 meters 0.023981297003840763 Centerline is valid? [True, True] Translation: X:18.47, Y:-0.29, Z:-0.67 [[ 9.98895504e-01 3.86795620e-02 2.66770074e-02 1.84661714e+01] [-3.86526609e-02 9.99251545e-01 -1.52351663e-03 -2.90047032e-01] [-2.67159698e-02 4.90696587e-04 9.99642944e-01 -6.70831622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.202640000000002 meters 0.022531599785081936 Centerline is valid? [True, True] Translation: X:18.50, Y:-0.29, Z:-0.67 [[ 9.98832466e-01 4.05255728e-02 2.62941608e-02 1.84988625e+01] [-4.04999986e-02 9.99178406e-01 -1.50466096e-03 -2.90251455e-01] [-2.63335349e-02 4.37990745e-04 9.99653116e-01 -6.73117970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.23264 meters 0.017475787474197924 Centerline is valid? [True, True] Translation: X:18.53, Y:-0.29, Z:-0.67 [[ 9.98592949e-01 4.59233440e-02 2.65173309e-02 1.85312257e+01] [-4.58991837e-02 9.98944922e-01 -1.51938604e-03 -2.85638320e-01] [-2.65591283e-02 3.00124343e-04 9.99647199e-01 -6.72481338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.26264 meters 0.016117547624515546 Centerline is valid? [True, True] Translation: X:18.56, Y:-0.29, Z:-0.67 [[ 9.98423861e-01 4.88733340e-02 2.75896801e-02 1.85624104e+01] [-4.88483244e-02 9.98804958e-01 -1.58014372e-03 -2.85278070e-01] [-2.76339361e-02 2.29943555e-04 9.99618083e-01 -6.73938336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.292640000000002 meters 0.01408159045781499 Centerline is valid? [True, True] Translation: X:18.60, Y:-0.28, Z:-0.67 [[ 9.98252433e-01 5.17660710e-02 2.85018100e-02 1.85952721e+01] [-5.17403989e-02 9.98659225e-01 -1.63797684e-03 -2.83860161e-01] [-2.85483871e-02 1.60419348e-04 9.99592399e-01 -6.73562982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.32264 meters 0.0124952238594085 Centerline is valid? [True, True] Translation: X:18.63, Y:-0.28, Z:-0.67 [[ 9.98027596e-01 5.58688107e-02 2.86285531e-02 1.86281449e+01] [-5.58445137e-02 9.98438117e-01 -1.64815898e-03 -2.80976781e-01] [-2.86759193e-02 4.61605218e-05 9.99588760e-01 -6.74029142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.35264 meters 0.012289453905099449 Centerline is valid? [True, True] Translation: X:18.66, Y:-0.28, Z:-0.67 [[ 9.97970769e-01 5.69325022e-02 2.85137702e-02 1.86611074e+01] [-5.69088242e-02 9.98378030e-01 -1.64188429e-03 -2.82655993e-01] [-2.85609983e-02 1.58673968e-05 9.99592051e-01 -6.74553534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.382640000000002 meters 0.01208035208063919 Centerline is valid? [True, True] Translation: X:18.69, Y:-0.29, Z:-0.68 [[ 9.97945256e-01 5.73074340e-02 2.86552643e-02 1.86941206e+01] [-5.72835142e-02 9.98356579e-01 -1.65563116e-03 -2.86028740e-01] [-2.87030516e-02 1.07550249e-05 9.99587982e-01 -6.75663402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.41264 meters 0.012675987645410999 Centerline is valid? [True, True] Translation: X:18.73, Y:-0.29, Z:-0.68 [[ 9.97945969e-01 5.72704555e-02 2.87043056e-02 1.87253332e+01] [-5.72462464e-02 9.98358700e-01 -1.66513837e-03 -2.90239565e-01] [-2.87525565e-02 1.85043714e-05 9.99586560e-01 -6.79649606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.44264 meters 0.013476154142016018 Centerline is valid? [True, True] Translation: X:18.76, Y:-0.30, Z:-0.68 [[ 9.98064197e-01 5.60320490e-02 2.69864397e-02 1.87567214e+01] [-5.60101335e-02 9.98428969e-01 -1.56789747e-03 -2.97879397e-01] [-2.70318957e-02 5.33482422e-05 9.99634570e-01 -6.84938712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.472640000000002 meters 0.013340421769618447 Centerline is valid? [True, True] Translation: X:18.79, Y:-0.30, Z:-0.69 [[ 9.98121736e-01 5.53775459e-02 2.61978565e-02 1.87883456e+01] [-5.53565649e-02 9.98465484e-01 -1.52598347e-03 -3.02027699e-01] [-2.62421607e-02 7.28939257e-05 9.99655613e-01 -6.85401168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.50264 meters 0.014095376679473096 Centerline is valid? [True, True] Translation: X:18.82, Y:-0.31, Z:-0.69 [[ 9.98163940e-01 5.48209635e-02 2.57567629e-02 1.88190850e+01] [-5.48003537e-02 9.98496196e-01 -1.50587552e-03 -3.08466021e-01] [-2.58005833e-02 9.16309270e-05 9.99667105e-01 -6.89249319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.53264 meters 0.013857480655227714 Centerline is valid? [True, True] Translation: X:18.85, Y:-0.31, Z:-0.69 [[ 9.98151206e-01 5.50909138e-02 2.56741489e-02 1.88521909e+01] [-5.50705060e-02 9.98481339e-01 -1.50179906e-03 -3.12332913e-01] [-2.57178940e-02 8.51341722e-05 9.99669237e-01 -6.90066669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.562640000000002 meters 0.014183906948663935 Centerline is valid? [True, True] Translation: X:18.88, Y:-0.32, Z:-0.69 [[ 9.98145279e-01 5.54708457e-02 2.50796115e-02 1.88830236e+01] [-5.54513322e-02 9.98460304e-01 -1.47338696e-03 -3.16150436e-01] [-2.51227266e-02 7.99563695e-05 9.99684371e-01 -6.92483382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.592640000000003 meters 0.013733265598392328 Centerline is valid? [True, True] Translation: X:18.91, Y:-0.32, Z:-0.69 [[ 9.98057915e-01 5.75271163e-02 2.38962181e-02 1.89147077e+01] [-5.75099774e-02 9.98343944e-01 -1.40440529e-03 -3.18925049e-01] [-2.39374360e-02 2.74068545e-05 9.99713458e-01 -6.93836941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.62264 meters 0.014552707536460348 Centerline is valid? [True, True] Translation: X:18.95, Y:-0.32, Z:-0.70 [[ 9.97990041e-01 5.89925774e-02 2.31463604e-02 1.89459859e+01] [-5.89767987e-02 9.98258421e-01 -1.36433922e-03 -3.20205319e-01] [-2.31865350e-02 -3.50128386e-06 9.99731156e-01 -6.98718062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.65264 meters 0.01425045147177109 Centerline is valid? [True, True] Translation: X:18.98, Y:-0.32, Z:-0.70 [[ 9.97909595e-01 6.05233432e-02 2.26575528e-02 1.89781321e+01] [-6.05085453e-02 9.98166782e-01 -1.33874997e-03 -3.21106521e-01] [-2.26970422e-02 -3.50241162e-05 9.99742388e-01 -6.98936705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.682640000000003 meters 0.015111027978475196 Centerline is valid? [True, True] Translation: X:19.01, Y:-0.32, Z:-0.70 [[ 9.97812475e-01 6.18953916e-02 2.32212397e-02 1.90094426e+01] [-6.18801166e-02 9.98082640e-01 -1.37648157e-03 -3.21893321e-01] [-2.32619141e-02 -6.34625397e-05 9.99729403e-01 -7.02361918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.71264 meters 0.01470765241076884 Centerline is valid? [True, True] Translation: X:19.04, Y:-0.32, Z:-0.70 [[ 9.97647907e-01 6.37258408e-02 2.52521433e-02 1.90418657e+01] [-6.37082495e-02 9.97967437e-01 -1.50134626e-03 -3.23425961e-01] [-2.52964912e-02 -1.10954893e-04 9.99679986e-01 -6.99658544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.74264 meters 0.015067041918940103 Centerline is valid? [True, True] Translation: X:19.07, Y:-0.33, Z:-0.70 [[ 9.97609610e-01 6.41919627e-02 2.55823623e-02 1.90733872e+01] [-6.41739557e-02 9.97937562e-01 -1.52510793e-03 -3.26383638e-01] [-2.56274999e-02 -1.20259059e-04 9.99671554e-01 -7.01748451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.772640000000003 meters 0.01479266568116803 Centerline is valid? [True, True] Translation: X:19.11, Y:-0.33, Z:-0.70 [[ 9.97585017e-01 6.43993730e-02 2.60164389e-02 1.91056332e+01] [-6.43806916e-02 9.97924198e-01 -1.55591531e-03 -3.31353501e-01] [-2.60626339e-02 -1.22798529e-04 9.99660304e-01 -7.01563877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.80264 meters 0.014157633797848053 Centerline is valid? [True, True] Translation: X:19.14, Y:-0.33, Z:-0.70 [[ 9.97574200e-01 6.46905149e-02 2.57070568e-02 1.91384019e+01] [-6.46722801e-02 9.97905367e-01 -1.54097352e-03 -3.34803337e-01] [-2.57528964e-02 -1.25298552e-04 9.99668331e-01 -7.00803271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.83264 meters 0.014259901847848172 Centerline is valid? [True, True] Translation: X:19.17, Y:-0.34, Z:-0.70 [[ 9.97564184e-01 6.49916410e-02 2.53334818e-02 1.91713451e+01] [-6.49739061e-02 9.97885800e-01 -1.52343996e-03 -3.37035200e-01] [-2.53789326e-02 -1.26286124e-04 9.99677895e-01 -7.02204461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.862640000000003 meters 0.014364706774106789 Centerline is valid? [True, True] Translation: X:19.20, Y:-0.34, Z:-0.70 [[ 9.97519535e-01 6.55623787e-02 2.56193830e-02 1.92041241e+01] [-6.55442964e-02 9.97848463e-01 -1.54581268e-03 -3.39590143e-01] [-2.56656091e-02 -1.37226093e-04 9.99670575e-01 -7.03843751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.89264 meters 0.014525102037733908 Centerline is valid? [True, True] Translation: X:19.24, Y:-0.34, Z:-0.71 [[ 9.97494218e-01 6.57808577e-02 2.60415699e-02 1.92354859e+01] [-6.57620955e-02 9.97834084e-01 -1.57716506e-03 -3.42736930e-01] [-2.60889133e-02 -1.39335173e-04 9.99659617e-01 -7.05539714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.92264 meters 0.014551623556817005 Centerline is valid? [True, True] Translation: X:19.27, Y:-0.35, Z:-0.71 [[ 9.97521123e-01 6.53094279e-02 2.61970905e-02 1.92667326e+01] [-6.52901764e-02 9.97865053e-01 -1.59046581e-03 -3.48177585e-01] [-2.62450335e-02 -1.23889419e-04 9.99655532e-01 -7.07537571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.952640000000002 meters 0.01425079024778385 Centerline is valid? [True, True] Translation: X:19.30, Y:-0.35, Z:-0.71 [[ 9.97552550e-01 6.46966762e-02 2.65188707e-02 1.92973771e+01] [-6.46765907e-02 9.97904970e-01 -1.61533139e-03 -3.52951851e-01] [-2.65678194e-02 -1.03772192e-04 9.99647008e-01 -7.09263389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.98264 meters 0.013366785032913409 Centerline is valid? [True, True] Translation: X:19.33, Y:-0.36, Z:-0.71 [[ 9.97582956e-01 6.41484109e-02 2.67063294e-02 1.93304951e+01] [-6.41277509e-02 9.97940366e-01 -1.63022996e-03 -3.58979894e-01] [-2.67559008e-02 -8.63272202e-05 9.99641993e-01 -7.08505937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.01264 meters 0.013515296698987928 Centerline is valid? [True, True] Translation: X:19.36, Y:-0.36, Z:-0.71 [[ 9.97613127e-01 6.39032509e-02 2.61614903e-02 1.93631039e+01] [-6.38832108e-02 9.97956096e-01 -1.60194041e-03 -3.63386915e-01] [-2.62103879e-02 -7.31632132e-05 9.99656446e-01 -7.10640816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.042640000000002 meters 0.014157980625268362 Centerline is valid? [True, True] Translation: X:19.39, Y:-0.37, Z:-0.71 [[ 9.97608416e-01 6.41370040e-02 2.57661397e-02 1.93948464e+01] [-6.41175108e-02 9.97941100e-01 -1.58285187e-03 -3.65770072e-01] [-2.58146091e-02 -7.29943913e-05 9.99666745e-01 -7.14488070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.07264 meters 0.02841335365433635 Centerline is valid? [True, True] Translation: X:19.43, Y:-0.37, Z:-0.72 [[ 9.97574401e-01 6.49626325e-02 2.50034171e-02 1.94270344e+01] [-6.49444229e-02 9.97887693e-01 -1.54049786e-03 -3.68138452e-01] [-2.50506770e-02 -8.70712594e-05 9.99686179e-01 -7.15776141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.10264 meters 0.014526019687742354 Centerline is valid? [True, True] Translation: X:19.46, Y:-0.37, Z:-0.72 [[ 9.97532852e-01 6.56093531e-02 2.49724066e-02 1.94585189e+01] [-6.55912886e-02 9.97845380e-01 -1.54269236e-03 -3.70891043e-01] [-2.50198157e-02 -9.90860247e-05 9.99686951e-01 -7.17709123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.132640000000002 meters 0.01559184227600153 Centerline is valid? [True, True] Translation: X:19.49, Y:-0.37, Z:-0.72 [[ 9.97436582e-01 6.71183335e-02 2.48071256e-02 1.94896593e+01] [-6.71008492e-02 9.97745014e-01 -1.53749586e-03 -3.73144600e-01] [-2.48543800e-02 -1.31024573e-04 9.99691074e-01 -7.20287350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.16264 meters 0.015445055403011956 Centerline is valid? [True, True] Translation: X:19.52, Y:-0.38, Z:-0.72 [[ 9.97388346e-01 6.80962213e-02 2.40705752e-02 1.95214814e+01] [-6.80799661e-02 9.97678747e-01 -1.49510224e-03 -3.75866673e-01] [-2.41165121e-02 -1.47526397e-04 9.99709144e-01 -7.20200760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.19264 meters 0.015912854920302463 Centerline is valid? [True, True] Translation: X:19.55, Y:-0.38, Z:-0.72 [[ 9.97346752e-01 6.88522086e-02 2.36395638e-02 1.95533078e+01] [-6.88366504e-02 9.97626858e-01 -1.47222836e-03 -3.78220617e-01] [-2.36848299e-02 -1.58946216e-04 9.99719462e-01 -7.22043379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.222640000000002 meters 0.016833686030779935 Centerline is valid? [True, True] Translation: X:19.59, Y:-0.38, Z:-0.72 [[ 9.97196140e-01 7.08237073e-02 2.41632043e-02 1.95861003e+01] [-7.08079373e-02 9.97488827e-01 -1.50869758e-03 -3.77710965e-01] [-2.42093779e-02 -2.06479255e-04 9.99706889e-01 -7.22763130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.252640000000003 meters 0.018128707275267532 Centerline is valid? [True, True] Translation: X:19.62, Y:-0.38, Z:-0.73 [[ 9.97105884e-01 7.20581227e-02 2.42380490e-02 1.96178390e+01] [-7.20424976e-02 9.97400408e-01 -1.51838253e-03 -3.77484021e-01] [-2.42844518e-02 -2.32181438e-04 9.99705062e-01 -7.25250782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.28264 meters 0.018323624894087134 Centerline is valid? [True, True] Translation: X:19.65, Y:-0.38, Z:-0.73 [[ 9.97022069e-01 7.32778973e-02 2.40279917e-02 1.96500397e+01] [-7.32627866e-02 9.97311528e-01 -1.50976478e-03 -3.79524390e-01] [-2.40740255e-02 -2.55088827e-04 9.99710146e-01 -7.25851752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.312640000000002 meters 0.02010223801612952 Centerline is valid? [True, True] Translation: X:19.68, Y:-0.38, Z:-0.73 [[ 9.96852348e-01 7.51670673e-02 2.52053143e-02 1.96817723e+01] [-7.51509305e-02 9.97170906e-01 -1.58820124e-03 -3.78413497e-01] [-2.52533865e-02 -3.11000686e-04 9.99681034e-01 -7.26602571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.342640000000003 meters 0.02038296195722723 Centerline is valid? [True, True] Translation: X:19.71, Y:-0.38, Z:-0.73 [[ 9.96800280e-01 7.57268241e-02 2.55861217e-02 1.97143192e+01] [-7.57102598e-02 9.97128548e-01 -1.61689470e-03 -3.79397111e-01] [-2.56350947e-02 -3.25410834e-04 9.99671314e-01 -7.27358270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.37264 meters 0.029593302049745477 Centerline is valid? [True, True] Translation: X:19.75, Y:-0.38, Z:-0.73 [[ 9.96770483e-01 7.59881202e-02 2.59694157e-02 1.97468557e+01] [-7.59710145e-02 9.97108668e-01 -1.64611170e-03 -3.81174645e-01] [-2.60194145e-02 -3.32127301e-04 9.99661383e-01 -7.29784794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.40264 meters 0.017961337810723347 Centerline is valid? [True, True] Translation: X:19.78, Y:-0.39, Z:-0.73 [[ 9.96866131e-01 7.46530956e-02 2.61693040e-02 1.97792101e+01] [-7.46351251e-02 9.97209521e-01 -1.66413625e-03 -3.86456867e-01] [-2.62205120e-02 -2.94228216e-04 9.99656140e-01 -7.27360528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.432640000000003 meters 0.01836329380710322 Centerline is valid? [True, True] Translation: X:19.81, Y:-0.39, Z:-0.73 [[ 9.96914946e-01 7.38981268e-02 2.64510178e-02 1.98103545e+01] [-7.38793724e-02 9.97265758e-01 -1.68692567e-03 -3.88674504e-01] [-2.65033550e-02 -2.72463181e-04 9.99648687e-01 -7.30271542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.46264 meters 0.017668362428831057 Centerline is valid? [True, True] Translation: X:19.84, Y:-0.39, Z:-0.73 [[ 9.96982605e-01 7.29108558e-02 2.66400361e-02 1.98411364e+01] [-7.28913369e-02 9.97338432e-01 -1.70433716e-03 -3.92089524e-01] [-2.66933965e-02 -2.42633342e-04 9.99643638e-01 -7.31920248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.49264 meters 0.016164830047943654 Centerline is valid? [True, True] Translation: X:19.87, Y:-0.40, Z:-0.73 [[ 9.97044134e-01 7.17643246e-02 2.74385936e-02 1.98735645e+01] [-7.17431394e-02 9.97421593e-01 -1.75703862e-03 -3.96166381e-01] [-2.74939384e-02 -2.16685799e-04 9.99621947e-01 -7.31257286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.522640000000003 meters 0.01556541616098886 Centerline is valid? [True, True] Translation: X:19.91, Y:-0.40, Z:-0.73 [[ 9.97053950e-01 7.17885605e-02 2.70152478e-02 1.99060386e+01] [-7.17679275e-02 9.97419851e-01 -1.73382613e-03 -3.99176577e-01] [-2.70700133e-02 -2.10110152e-04 9.99633518e-01 -7.31250346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.55264 meters 0.015921596332597963 Centerline is valid? [True, True] Translation: X:19.94, Y:-0.40, Z:-0.73 [[ 9.97043430e-01 7.18789368e-02 2.71627773e-02 1.99378794e+01] [-7.18579597e-02 9.97413342e-01 -1.74886073e-03 -4.01021630e-01] [-2.72182228e-02 -2.08171657e-04 9.99629494e-01 -7.33683478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.58264 meters 0.015233648083707255 Centerline is valid? [True, True] Translation: X:19.97, Y:-0.40, Z:-0.73 [[ 9.97055217e-01 7.16339417e-02 2.73764960e-02 1.99696847e+01] [-7.16123977e-02 9.97430970e-01 -1.76783904e-03 -4.04136281e-01] [-2.74328022e-02 -1.97863386e-04 9.99623630e-01 -7.33613699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.612640000000003 meters 0.015085891385121135 Centerline is valid? [True, True] Translation: X:20.00, Y:-0.41, Z:-0.74 [[ 9.97102452e-01 7.09573257e-02 2.74182072e-02 2.00001860e+01] [-7.09353253e-02 9.97479337e-01 -1.77544263e-03 -4.07150636e-01] [-2.74750758e-02 -1.74621244e-04 9.99622474e-01 -7.36216452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.64264 meters 0.014187158357182128 Centerline is valid? [True, True] Translation: X:20.03, Y:-0.41, Z:-0.74 [[ 9.97168487e-01 6.99644709e-02 2.75677420e-02 2.00316919e+01] [-6.99417338e-02 9.97549474e-01 -1.78934723e-03 -4.12147342e-01] [-2.76253772e-02 -1.43854995e-04 9.99618336e-01 -7.36470664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.67264 meters 0.013459975792331092 Centerline is valid? [True, True] Translation: X:20.06, Y:-0.42, Z:-0.74 [[ 9.97375540e-01 6.69601219e-02 2.75385954e-02 2.00623794e+01] [-6.69361269e-02 9.97755651e-01 -1.79327587e-03 -4.21023695e-01] [-2.75968672e-02 -5.47574284e-05 9.99619132e-01 -7.39209810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.702640000000002 meters 0.01305865242323127 Centerline is valid? [True, True] Translation: X:20.09, Y:-0.43, Z:-0.74 [[ 9.97477744e-01 6.56306386e-02 2.70327350e-02 2.00946747e+01] [-6.56070013e-02 9.97843985e-01 -1.76135801e-03 -4.26487078e-01] [-2.70900511e-02 -1.66212722e-05 9.99632997e-01 -7.39452016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.73264 meters 0.013059034540505412 Centerline is valid? [True, True] Translation: X:20.13, Y:-0.43, Z:-0.74 [[ 9.97550786e-01 6.46176707e-02 2.67765947e-02 2.01272903e+01] [-6.45939748e-02 9.97910094e-01 -1.74986784e-03 -4.30451661e-01] [-2.68337065e-02 1.59753618e-05 9.99639911e-01 -7.40981409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.76264 meters 0.013059034540505412 Centerline is valid? [True, True] Translation: X:20.16, Y:-0.43, Z:-0.74 [[ 9.97538025e-01 6.48145143e-02 2.67762485e-02 2.01597094e+01] [-6.47907477e-02 9.97897329e-01 -1.75514468e-03 -4.32761580e-01] [-2.68337057e-02 1.59704044e-05 9.99639911e-01 -7.42354970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.792640000000002 meters 0.013296982118730092 Centerline is valid? [True, True] Translation: X:20.19, Y:-0.44, Z:-0.74 [[ 9.97620386e-01 6.33298925e-02 2.72560287e-02 2.01910283e+01] [-6.33045552e-02 9.97992646e-01 -1.79234142e-03 -4.38637796e-01] [-2.73148250e-02 6.26455605e-05 9.99626879e-01 -7.43484361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.82264 meters 0.013838375023080048 Centerline is valid? [True, True] Translation: X:20.22, Y:-0.44, Z:-0.75 [[ 9.97612966e-01 6.34342783e-02 2.72848348e-02 2.02229906e+01] [-6.34087874e-02 9.97986016e-01 -1.79932140e-03 -4.42766301e-01] [-2.73440222e-02 6.49280668e-05 9.99626080e-01 -7.46430331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.85264 meters 0.013674506736797256 Centerline is valid? [True, True] Translation: X:20.26, Y:-0.45, Z:-0.75 [[ 9.97557568e-01 6.44926496e-02 2.68252999e-02 2.02562200e+01] [-6.44682681e-02 9.97918181e-01 -1.77365439e-03 -4.46565654e-01] [-2.68838422e-02 3.99417346e-05 9.99638563e-01 -7.48668708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.882640000000002 meters 0.013375138381057465 Centerline is valid? [True, True] Translation: X:20.29, Y:-0.45, Z:-0.75 [[ 9.97479663e-01 6.56853598e-02 2.68282509e-02 2.02896177e+01] [-6.56612688e-02 9.97840385e-01 -1.77888512e-03 -4.49194094e-01] [-2.68871589e-02 1.28247314e-05 9.99638475e-01 -7.49281664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.91264 meters 0.01349734121239669 Centerline is valid? [True, True] Translation: X:20.32, Y:-0.45, Z:-0.75 [[ 9.97383883e-01 6.70264820e-02 2.70710357e-02 2.03218677e+01] [-6.70022956e-02 9.97751197e-01 -1.80055457e-03 -4.52336752e-01] [-2.71308431e-02 -1.79774277e-05 9.99631891e-01 -7.51558992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.94264 meters 0.014075931287624082 Centerline is valid? [True, True] Translation: X:20.35, Y:-0.45, Z:-0.75 [[ 9.97194128e-01 6.96897869e-02 2.73350515e-02 2.03542669e+01] [-6.96659863e-02 9.97568707e-01 -1.82323633e-03 -4.53686181e-01] [-2.73956529e-02 -8.62027634e-05 9.99624665e-01 -7.52635596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.972640000000002 meters 0.014665683176041937 Centerline is valid? [True, True] Translation: X:20.39, Y:-0.45, Z:-0.75 [[ 9.97078405e-01 7.13044710e-02 2.73920956e-02 2.03872675e+01] [-7.12810503e-02 9.97454589e-01 -1.83176568e-03 -4.53946458e-01] [-2.74529846e-02 -1.26123339e-04 9.99623088e-01 -7.54169215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.002640000000003 meters 0.015372906791124978 Centerline is valid? [True, True] Translation: X:20.42, Y:-0.45, Z:-0.76 [[ 9.96957748e-01 7.32399446e-02 2.66675658e-02 2.04189451e+01] [-7.32183032e-02 9.97314334e-01 -1.78838522e-03 -4.54595681e-01] [-2.67269269e-02 -1.69609420e-04 9.99642757e-01 -7.55671344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.03264 meters 0.018647649717709467 Centerline is valid? [True, True] Translation: X:20.45, Y:-0.45, Z:-0.76 [[ 9.96642554e-01 7.76460017e-02 2.59753209e-02 2.04499200e+01] [-7.76268498e-02 9.96980954e-01 -1.74638630e-03 -4.52754909e-01] [-2.60325002e-02 -2.75859430e-04 9.99661059e-01 -7.58867813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.062640000000002 meters 0.02054942768202428 Centerline is valid? [True, True] Translation: X:20.48, Y:-0.45, Z:-0.76 [[ 9.96401316e-01 8.06182714e-02 2.61746301e-02 2.04818834e+01] [-8.05997441e-02 9.96744988e-01 -1.76379676e-03 -4.51453231e-01] [-2.62316256e-02 -3.52219072e-04 9.99655830e-01 -7.59313100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.092640000000003 meters 0.0241583432677876 Centerline is valid? [True, True] Translation: X:20.51, Y:-0.45, Z:-0.76 [[ 9.96157280e-01 8.34986325e-02 2.64320246e-02 2.05128443e+01] [-8.34805971e-02 9.96507801e-01 -1.78700333e-03 -4.47530100e-01] [-2.64889310e-02 -4.26424818e-04 9.99649016e-01 -7.61425662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.12264 meters 0.028123096456591428 Centerline is valid? [True, True] Translation: X:20.54, Y:-0.44, Z:-0.76 [[ 9.95708171e-01 8.85834600e-02 2.67994130e-02 2.05439338e+01] [-8.85666682e-02 9.96068597e-01 -1.81524522e-03 -4.44722408e-01] [-2.68548544e-02 -5.66080215e-04 9.99639183e-01 -7.60620734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.15264 meters 0.028738630275814428 Centerline is valid? [True, True] Translation: X:20.58, Y:-0.45, Z:-0.76 [[ 9.95492464e-01 9.08213049e-02 2.73174973e-02 2.05760466e+01] [-9.08047550e-02 9.95866999e-01 -1.84830720e-03 -4.46552952e-01] [-2.73724597e-02 -6.40582757e-04 9.99625099e-01 -7.59910597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.182640000000003 meters 0.031202357417129404 Centerline is valid? [True, True] Translation: X:20.61, Y:-0.44, Z:-0.76 [[ 9.95235521e-01 9.35864179e-02 2.73466647e-02 2.06086272e+01] [-9.35706968e-02 9.95610906e-01 -1.85679480e-03 -4.42011303e-01] [-2.74004084e-02 -7.10898330e-04 9.99624286e-01 -7.61058739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.21264 meters 0.03213359190550559 Centerline is valid? [True, True] Translation: X:20.64, Y:-0.44, Z:-0.76 [[ 9.95175048e-01 9.40289384e-02 2.80211251e-02 2.06405131e+01] [-9.40126206e-02 9.95569188e-01 -1.90212601e-03 -4.41435715e-01] [-2.80758237e-02 -7.41391066e-04 9.99605521e-01 -7.62584551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.24264 meters 0.034491301922409616 Centerline is valid? [True, True] Translation: X:20.67, Y:-0.44, Z:-0.77 [[ 9.95186922e-01 9.37537859e-02 2.85169862e-02 2.06721438e+01] [-9.37365846e-02 9.95595139e-01 -1.94236525e-03 -4.39966486e-01] [-2.85734769e-02 -7.40068389e-04 9.99591421e-01 -7.65086542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.272640000000003 meters 0.03456900763488215 Centerline is valid? [True, True] Translation: X:20.70, Y:-0.44, Z:-0.77 [[ 9.95272626e-01 9.28038674e-02 2.86328767e-02 2.07034058e+01] [-9.27860520e-02 9.95684154e-01 -1.95308638e-03 -4.42104833e-01] [-2.86905556e-02 -7.12878180e-04 9.99588087e-01 -7.67280181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.30264 meters 0.026998486705477182 Centerline is valid? [True, True] Translation: X:20.73, Y:-0.45, Z:-0.77 [[ 9.95598996e-01 8.95440863e-02 2.76495253e-02 2.07344671e+01] [-8.95261287e-02 9.95982682e-01 -1.88919872e-03 -4.54841734e-01] [-2.77076150e-02 -5.94470616e-04 9.99615894e-01 -7.67067996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.33264 meters 0.026783297635046457 Centerline is valid? [True, True] Translation: X:20.77, Y:-0.46, Z:-0.77 [[ 9.95734137e-01 8.79236128e-02 2.79815342e-02 2.07660286e+01] [-8.79046057e-02 9.96127064e-01 -1.91103329e-03 -4.57043489e-01] [-2.80411885e-02 -5.56824648e-04 9.99606613e-01 -7.69243616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.362640000000003 meters 0.026747564848295192 Centerline is valid? [True, True] Translation: X:20.80, Y:-0.46, Z:-0.77 [[ 9.95863788e-01 8.63661031e-02 2.82172329e-02 2.07975693e+01] [-8.63460086e-02 9.96263336e-01 -1.93210859e-03 -4.58153767e-01] [-2.82786632e-02 -5.12328456e-04 9.99599947e-01 -7.71585127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.39264 meters 0.023519555343657496 Centerline is valid? [True, True] Translation: X:20.83, Y:-0.46, Z:-0.77 [[ 9.95982076e-01 8.48054619e-02 2.87704511e-02 2.08300457e+01] [-8.47837517e-02 9.96397416e-01 -1.97585349e-03 -4.63028661e-01] [-2.88343663e-02 -4.71352116e-04 9.99584092e-01 -7.70494170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.42264 meters 0.02054423842896105 Centerline is valid? [True, True] Translation: X:20.86, Y:-0.47, Z:-0.77 [[ 9.96206743e-01 8.22310543e-02 2.84636454e-02 2.08625379e+01] [-8.22086804e-02 9.96613216e-01 -1.95736203e-03 -4.66619052e-01] [-2.85282011e-02 -3.90021472e-04 9.99592912e-01 -7.71984985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.452640000000002 meters 0.02012796666731008 Centerline is valid? [True, True] Translation: X:20.89, Y:-0.47, Z:-0.77 [[ 9.96305323e-01 8.11286005e-02 2.81754173e-02 2.08933287e+01] [-8.11061637e-02 9.96703580e-01 -1.94013159e-03 -4.68711763e-01] [-2.82399395e-02 -3.52236574e-04 9.99601111e-01 -7.74663586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.48264 meters 0.017256682483356343 Centerline is valid? [True, True] Translation: X:20.92, Y:-0.47, Z:-0.78 [[ 9.96518734e-01 7.86574656e-02 2.76299854e-02 2.09248237e+01] [-7.86348993e-02 9.96901664e-01 -1.90402058e-03 -4.74543254e-01] [-2.76941439e-02 -2.75288942e-04 9.99616406e-01 -7.75749334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.51264 meters 0.017889073092733125 Centerline is valid? [True, True] Translation: X:20.96, Y:-0.48, Z:-0.78 [[ 9.96645791e-01 7.70500882e-02 2.75762875e-02 2.09555551e+01] [-7.70268583e-02 9.97027198e-01 -1.90523884e-03 -4.76747243e-01] [-2.76411075e-02 -2.25266525e-04 9.99617886e-01 -7.81699092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.542640000000002 meters 0.016552040795990104 Centerline is valid? [True, True] Translation: X:20.99, Y:-0.48, Z:-0.78 [[ 9.96786087e-01 7.52081108e-02 2.75905101e-02 2.09862970e+01] [-7.51840240e-02 9.97167845e-01 -1.91082454e-03 -4.81482902e-01] [-2.76560790e-02 -1.69682259e-04 9.99617483e-01 -7.82993613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.57264 meters 0.013226031524662485 Centerline is valid? [True, True] Translation: X:21.02, Y:-0.49, Z:-0.78 [[ 9.97068009e-01 7.09928497e-02 2.85552151e-02 2.10185855e+01] [-7.09652074e-02 9.97476823e-01 -1.98156837e-03 -4.90023719e-01] [-2.86238425e-02 -5.06683339e-05 9.99590253e-01 -7.78286560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.60264 meters 0.013143803811626801 Centerline is valid? [True, True] Translation: X:21.05, Y:-0.50, Z:-0.78 [[ 9.97186134e-01 6.89996862e-02 2.93062746e-02 2.10489798e+01] [-6.89695514e-02 9.97616681e-01 -2.03907168e-03 -4.95405476e-01] [-2.93771237e-02 1.20933898e-05 9.99568399e-01 -7.80288298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.632640000000002 meters 0.013755729058723081 Centerline is valid? [True, True] Translation: X:21.08, Y:-0.50, Z:-0.78 [[ 9.97309849e-01 6.70518076e-02 2.96161987e-02 2.10805353e+01] [-6.70200399e-02 9.97749492e-01 -2.06512300e-03 -5.01645356e-01] [-2.96880175e-02 7.46886865e-05 9.99559211e-01 -7.82173047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.662640000000003 meters 0.01428929843485033 Centerline is valid? [True, True] Translation: X:21.11, Y:-0.51, Z:-0.78 [[ 9.97506587e-01 6.41712068e-02 2.93711545e-02 2.11124242e+01] [-6.41385636e-02 9.97938891e-01 -2.05314526e-03 -5.06675178e-01] [-2.94423701e-02 1.64202265e-04 9.99566466e-01 -7.81340805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.69264 meters 0.014813306124573133 Centerline is valid? [True, True] Translation: X:21.15, Y:-0.51, Z:-0.78 [[ 9.97564684e-01 6.32673638e-02 2.93588459e-02 2.11450240e+01] [-6.32342190e-02 9.97996594e-01 -2.05695998e-03 -5.10073241e-01] [-2.94301666e-02 1.95466939e-04 9.99566820e-01 -7.82564479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.722640000000002 meters 0.01507295921568213 Centerline is valid? [True, True] Translation: X:21.18, Y:-0.51, Z:-0.78 [[ 9.97598225e-01 6.28036374e-02 2.92144425e-02 2.11780638e+01] [-6.27704537e-02 9.98025880e-01 -2.05248537e-03 -5.13181502e-01] [-2.92856732e-02 2.13751946e-04 9.99571060e-01 -7.83077864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.752640000000003 meters 0.015414155305375325 Centerline is valid? [True, True] Translation: X:21.21, Y:-0.52, Z:-0.78 [[ 9.97599702e-01 6.26433491e-02 2.95066889e-02 2.12097216e+01] [-6.26092482e-02 9.98035951e-01 -2.07909123e-03 -5.16112054e-01] [-2.95789775e-02 2.26709181e-04 9.99562421e-01 -7.84958893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.78264 meters 0.0150409616134396 Centerline is valid? [True, True] Translation: X:21.24, Y:-0.52, Z:-0.79 [[ 9.97574589e-01 6.31629088e-02 2.92469927e-02 2.12430866e+01] [-6.31294790e-02 9.98003207e-01 -2.06590499e-03 -5.17175602e-01] [-2.93190811e-02 2.14546914e-04 9.99570080e-01 -7.86165450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.812640000000002 meters 0.014920259679399884 Centerline is valid? [True, True] Translation: X:21.27, Y:-0.52, Z:-0.79 [[ 9.97528204e-01 6.40127719e-02 2.89801207e-02 2.12747037e+01] [-6.39801389e-02 9.97949061e-01 -2.05287447e-03 -5.18770297e-01] [-2.90520944e-02 1.93648040e-04 9.99577880e-01 -7.88881817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.842640000000003 meters 0.014550884662213227 Centerline is valid? [True, True] Translation: X:21.31, Y:-0.52, Z:-0.79 [[ 9.97479299e-01 6.50077009e-02 2.84437423e-02 2.13079484e+01] [-6.49765291e-02 9.97884748e-01 -2.01979526e-03 -5.19591812e-01] [-2.85148789e-02 1.66528313e-04 9.99593354e-01 -7.91048898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.87264 meters 0.013969198288580018 Centerline is valid? [True, True] Translation: X:21.34, Y:-0.52, Z:-0.79 [[ 9.97325104e-01 6.74603765e-02 2.81377746e-02 2.13394842e+01] [-6.74306790e-02 9.97721949e-01 -2.00404343e-03 -5.17319944e-01] [-2.82088688e-02 1.01333582e-04 9.99602046e-01 -7.93642749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.90264 meters 0.013744021403754077 Centerline is valid? [True, True] Translation: X:21.37, Y:-0.52, Z:-0.80 [[ 9.97221517e-01 6.88402524e-02 2.84651556e-02 2.13708938e+01] [-6.88102898e-02 9.97627694e-01 -2.03198141e-03 -5.17933543e-01] [-2.85375097e-02 6.76399796e-05 9.99592720e-01 -7.96130480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.932640000000003 meters 0.013923375136048154 Centerline is valid? [True, True] Translation: X:21.40, Y:-0.52, Z:-0.80 [[ 9.97163546e-01 6.98709177e-02 2.79806779e-02 2.14028753e+01] [-6.98422595e-02 9.97556040e-01 -2.00140880e-03 -5.19399554e-01] [-2.80521346e-02 4.14981187e-05 9.99606461e-01 -7.98689245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.96264 meters 0.013711114325517715 Centerline is valid? [True, True] Translation: X:21.44, Y:-0.52, Z:-0.80 [[ 9.97083633e-01 7.12023897e-02 2.74672218e-02 2.14357090e+01] [-7.11751546e-02 9.97461889e-01 -1.96919848e-03 -5.18637790e-01] [-2.75377186e-02 8.47181628e-06 9.99620765e-01 -8.00538941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.99264 meters 0.013933885520703 Centerline is valid? [True, True] Translation: X:21.47, Y:-0.52, Z:-0.80 [[ 9.97080191e-01 7.10752033e-02 2.79178857e-02 2.14668554e+01] [-7.10468469e-02 9.97470960e-01 -2.00758751e-03 -5.20341106e-01] [-2.79899699e-02 1.82479912e-05 9.99608204e-01 -8.02670801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.022640000000003 meters 0.013667063461981203 Centerline is valid? [True, True] Translation: X:21.50, Y:-0.52, Z:-0.80 [[ 9.97128172e-01 6.97709727e-02 2.94520085e-02 2.14990235e+01] [-6.97386989e-02 9.97563034e-01 -2.12283988e-03 -5.24819698e-01] [-2.95283475e-02 6.27986944e-05 9.99563941e-01 -8.02332561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.05264 meters 0.014093288923103542 Centerline is valid? [True, True] Translation: X:21.53, Y:-0.53, Z:-0.80 [[ 9.97215846e-01 6.86897042e-02 2.90220938e-02 2.15309158e+01] [-6.86577749e-02 9.97638068e-01 -2.09642770e-03 -5.29130258e-01] [-2.90975486e-02 9.79985434e-05 9.99576572e-01 -8.04030754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.08264 meters 0.014848379096865006 Centerline is valid? [True, True] Translation: X:21.56, Y:-0.53, Z:-0.81 [[ 9.97314771e-01 6.74392798e-02 2.85515554e-02 2.15613229e+01] [-6.74077062e-02 9.97723371e-01 -2.06799851e-03 -5.34231008e-01] [-2.86260185e-02 1.37850606e-04 9.99590182e-01 -8.06546523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.112640000000003 meters 0.015348845027442097 Centerline is valid? [True, True] Translation: X:21.59, Y:-0.54, Z:-0.81 [[ 9.97403867e-01 6.61785439e-02 2.83888388e-02 2.15934671e+01] [-6.61467768e-02 9.97807782e-01 -2.05768002e-03 -5.39772322e-01] [-2.84627786e-02 1.74507829e-04 9.99594838e-01 -8.07884336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.14264 meters 0.016825407524541203 Centerline is valid? [True, True] Translation: X:21.63, Y:-0.55, Z:-0.81 [[ 9.97597640e-01 6.31776659e-02 2.84171071e-02 2.16252022e+01] [-6.31444855e-02 9.98002261e-01 -2.06438020e-03 -5.48286107e-01] [-2.84907598e-02 2.65037213e-04 9.99594021e-01 -8.08711632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.17264 meters 0.018713802905929548 Centerline is valid? [True, True] Translation: X:21.66, Y:-0.55, Z:-0.81 [[ 9.97686765e-01 6.19370835e-02 2.80163660e-02 2.16560715e+01] [-6.19042073e-02 9.98080010e-01 -2.04011394e-03 -5.54175322e-01] [-2.80889336e-02 3.01063745e-04 9.99605383e-01 -8.12399110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.202640000000002 meters 0.0213834182797138 Centerline is valid? [True, True] Translation: X:21.69, Y:-0.56, Z:-0.82 [[ 9.97890811e-01 5.89361412e-02 2.72114222e-02 2.16873353e+01] [-5.89038555e-02 9.98261682e-01 -1.98722942e-03 -5.63869336e-01] [-2.72812398e-02 3.80180300e-04 9.99627725e-01 -8.15638029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.23264 meters 0.022325010959779866 Centerline is valid? [True, True] Translation: X:21.72, Y:-0.57, Z:-0.82 [[ 9.97934350e-01 5.81809028e-02 2.72399619e-02 2.17193913e+01] [-5.81482804e-02 9.98305976e-01 -1.98886281e-03 -5.69526998e-01] [-2.73095306e-02 4.00797569e-04 9.99626945e-01 -8.17223671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.26264 meters 0.022606717066611458 Centerline is valid? [True, True] Translation: X:21.75, Y:-0.57, Z:-0.82 [[ 9.97951129e-01 5.79017224e-02 2.72201119e-02 2.17525339e+01] [-5.78689321e-02 9.98322203e-01 -1.99150022e-03 -5.74034339e-01] [-2.72897533e-02 4.12221091e-04 9.99627480e-01 -8.18346717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.292640000000002 meters 0.020066717717272017 Centerline is valid? [True, True] Translation: X:21.79, Y:-0.58, Z:-0.82 [[ 9.97852421e-01 5.92892785e-02 2.78446986e-02 2.17850716e+01] [-5.92553489e-02 9.98240768e-01 -2.04281503e-03 -5.75047794e-01] [-2.79168303e-02 3.88480592e-04 9.99610174e-01 -8.15755907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.32264 meters 0.019426575529516616 Centerline is valid? [True, True] Translation: X:21.82, Y:-0.58, Z:-0.82 [[ 9.97699479e-01 6.14068824e-02 2.87218412e-02 2.18160475e+01] [-6.13714808e-02 9.98112757e-01 -2.11331034e-03 -5.76006481e-01] [-2.87974079e-02 3.45746703e-04 9.99585209e-01 -8.16884677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.35264 meters 0.016733100656804393 Centerline is valid? [True, True] Translation: X:21.85, Y:-0.57, Z:-0.82 [[ 9.97508656e-01 6.41016307e-02 2.94527179e-02 2.18483365e+01] [-6.40655169e-02 9.97943337e-01 -2.16915893e-03 -5.73000026e-01] [-2.95311902e-02 2.76851216e-04 9.99563821e-01 -8.15851581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.382640000000002 meters 0.013800135751689485 Centerline is valid? [True, True] Translation: X:21.88, Y:-0.57, Z:-0.82 [[ 9.97086563e-01 7.04624624e-02 2.92134831e-02 2.18807027e+01] [-7.04295174e-02 9.97514427e-01 -2.15644911e-03 -5.66399481e-01] [-2.92928196e-02 9.26749162e-05 9.99570869e-01 -8.17870233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.412640000000003 meters 0.013641198601773492 Centerline is valid? [True, True] Translation: X:21.91, Y:-0.56, Z:-0.82 [[ 9.96852459e-01 7.38593945e-02 2.88090955e-02 2.19131513e+01] [-7.38286392e-02 9.97268665e-01 -2.13124076e-03 -5.64709010e-01] [-2.88878204e-02 -2.40372344e-06 9.99582660e-01 -8.21028228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.44264 meters 0.013819484037191378 Centerline is valid? [True, True] Translation: X:21.95, Y:-0.56, Z:-0.82 [[ 9.96623910e-01 7.69288535e-02 2.86833414e-02 2.19461767e+01] [-7.68994924e-02 9.97036581e-01 -2.12696020e-03 -5.63118745e-01] [-2.87619653e-02 -8.59550086e-05 9.99586285e-01 -8.21671902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.472640000000002 meters 0.015210939056158201 Centerline is valid? [True, True] Translation: X:21.98, Y:-0.56, Z:-0.82 [[ 9.96260254e-01 8.11518448e-02 2.96628300e-02 2.19794155e+01] [-8.11221328e-02 9.96701728e-01 -2.20569778e-03 -5.59273354e-01] [-2.97439903e-02 -2.08863004e-04 9.99557528e-01 -8.22763999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.502640000000003 meters 0.016371941117688877 Centerline is valid? [True, True] Translation: X:22.01, Y:-0.56, Z:-0.83 [[ 9.96171869e-01 8.21828301e-02 2.97924349e-02 2.20117876e+01] [-8.21531376e-02 9.96617242e-01 -2.22139817e-03 -5.59777241e-01] [-2.98742151e-02 -2.34647632e-04 9.99553638e-01 -8.25724393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.53264 meters 0.01572862521802013 Centerline is valid? [True, True] Translation: X:22.04, Y:-0.56, Z:-0.83 [[ 9.96152425e-01 8.23683238e-02 2.99299947e-02 2.20445334e+01] [-8.23382775e-02 9.96601928e-01 -2.23707202e-03 -5.63654017e-01] [-3.00125543e-02 -2.35919482e-04 9.99549494e-01 -8.25844946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.562640000000002 meters 0.014167906256398853 Centerline is valid? [True, True] Translation: X:22.08, Y:-0.57, Z:-0.83 [[ 9.96321967e-01 7.98906957e-02 3.09840921e-02 2.20761036e+01] [-7.98570904e-02 9.96803617e-01 -2.32251722e-03 -5.70086061e-01] [-3.10706026e-02 -1.60324523e-04 9.99517179e-01 -8.26074376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.592640000000003 meters 0.013329327213831768 Centerline is valid? [True, True] Translation: X:22.11, Y:-0.58, Z:-0.83 [[ 9.96451460e-01 7.79954290e-02 3.16417477e-02 2.21084059e+01] [-7.79592142e-02 9.96953712e-01 -2.37849055e-03 -5.75651808e-01] [-3.17308692e-02 -9.67154085e-05 9.99496445e-01 -8.26732831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.62264 meters 0.012959980592742636 Centerline is valid? [True, True] Translation: X:22.14, Y:-0.58, Z:-0.83 [[ 9.96597104e-01 7.60995414e-02 3.16713014e-02 2.21397385e+01] [-7.60622804e-02 9.97100225e-01 -2.38137895e-03 -5.81830972e-01] [-3.17606836e-02 -3.57160441e-05 9.99495502e-01 -8.28700721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.65264 meters 0.01335491750317529 Centerline is valid? [True, True] Translation: X:22.17, Y:-0.59, Z:-0.83 [[ 9.96841082e-01 7.33662625e-02 3.04178958e-02 2.21707490e+01] [-7.33304577e-02 9.97305063e-01 -2.29247345e-03 -5.91754689e-01] [-3.05041117e-02 5.46735003e-05 9.99534640e-01 -8.32539928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.682640000000003 meters 0.013745159965073035 Centerline is valid? [True, True] Translation: X:22.20, Y:-0.60, Z:-0.84 [[ 9.96891074e-01 7.29759628e-02 2.97102028e-02 2.22022852e+01] [-7.29414882e-02 9.97333697e-01 -2.24395412e-03 -5.96482617e-01] [-2.97947412e-02 6.98714202e-05 9.99556036e-01 -8.35035083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.71264 meters 0.013745159965073035 Centerline is valid? [True, True] Translation: X:22.23, Y:-0.60, Z:-0.84 [[ 9.96877119e-01 7.31664867e-02 2.97098499e-02 2.22346755e+01] [-7.31319578e-02 9.97319738e-01 -2.24861486e-03 -5.99126569e-01] [-2.97947430e-02 6.88532134e-05 9.99556036e-01 -8.36408626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.74264 meters 0.013922401189969935 Centerline is valid? [True, True] Translation: X:22.27, Y:-0.60, Z:-0.84 [[ 9.96833586e-01 7.41145621e-02 2.88068449e-02 2.22652323e+01] [-7.40823293e-02 9.97249733e-01 -2.18605234e-03 -6.02062095e-01] [-2.88896367e-02 4.50522279e-05 9.99582606e-01 -8.40012072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.772640000000003 meters 0.014308476360080164 Centerline is valid? [True, True] Translation: X:22.30, Y:-0.60, Z:-0.84 [[ 9.96744309e-01 7.54169524e-02 2.85143007e-02 2.22974086e+01] [-7.53857873e-02 9.97152086e-01 -2.16792741e-03 -6.03276408e-01] [-2.85965930e-02 1.12963012e-05 9.99591034e-01 -8.43634298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.80264 meters 0.01843522992142179 Centerline is valid? [True, True] Translation: X:22.33, Y:-0.60, Z:-0.85 [[ 9.96627541e-01 7.71741026e-02 2.78873250e-02 2.23292885e+01] [-7.71448431e-02 9.97017631e-01 -2.12518243e-03 -6.04275084e-01] [-2.79681637e-02 -3.33479669e-05 9.99608814e-01 -8.45351142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.83264 meters 0.014490400885158903 Centerline is valid? [True, True] Translation: X:22.36, Y:-0.60, Z:-0.85 [[ 9.96475005e-01 7.90959071e-02 2.79535642e-02 2.23625814e+01] [-7.90671455e-02 9.96867007e-01 -2.13446914e-03 -6.04035900e-01] [-2.80348137e-02 -8.32633808e-05 9.99606944e-01 -8.45744175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.862640000000003 meters 0.015439189026378542 Centerline is valid? [True, True] Translation: X:22.40, Y:-0.60, Z:-0.84 [[ 9.96052191e-01 8.39359300e-02 2.88927803e-02 2.23951543e+01] [-8.39070675e-02 9.96471129e-01 -2.21205707e-03 -6.00274221e-01] [-2.89764924e-02 -2.20984178e-04 9.99580069e-01 -8.42641997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.89264 meters 0.01760486937374918 Centerline is valid? [True, True] Translation: X:22.43, Y:-0.60, Z:-0.84 [[ 9.95785669e-01 8.66702169e-02 2.99862368e-02 2.24270501e+01] [-8.66402032e-02 9.96237010e-01 -2.30122382e-03 -5.98247742e-01] [-3.00728465e-02 -3.06487951e-04 9.99547663e-01 -8.43645214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.92264 meters 0.02043870384982624 Centerline is valid? [True, True] Translation: X:22.46, Y:-0.60, Z:-0.84 [[ 9.95536438e-01 8.92487704e-02 3.06897098e-02 2.24589832e+01] [-8.92183605e-02 9.96009291e-01 -2.36156260e-03 -5.95425286e-01] [-3.07780026e-02 -3.87063976e-04 9.99526170e-01 -8.44843294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.952640000000002 meters 0.024772613994365523 Centerline is valid? [True, True] Translation: X:22.49, Y:-0.59, Z:-0.84 [[ 9.95140825e-01 9.32398589e-02 3.16396349e-02 2.24907980e+01] [-9.32093653e-02 9.95643540e-01 -2.44055979e-03 -5.89177521e-01] [-3.17293556e-02 -5.20409609e-04 9.99496362e-01 -8.44575255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.98264 meters 0.023265583049781467 Centerline is valid? [True, True] Translation: X:22.52, Y:-0.59, Z:-0.84 [[ 9.94971858e-01 9.49949986e-02 3.17324978e-02 2.25231371e+01] [-9.49651622e-02 9.95477583e-01 -2.44946573e-03 -5.92575007e-01] [-3.18216772e-02 -5.76332327e-04 9.99493396e-01 -8.43069319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.01264 meters 0.025769367996911364 Centerline is valid? [True, True] Translation: X:22.55, Y:-0.59, Z:-0.85 [[ 9.94851183e-01 9.62210050e-02 3.18220338e-02 2.25544849e+01] [-9.61914443e-02 9.95359806e-01 -2.46208956e-03 -5.90691118e-01] [-3.19112781e-02 -6.11594678e-04 9.99490518e-01 -8.45446203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.042640000000002 meters 0.02624155833430365 Centerline is valid? [True, True] Translation: X:22.59, Y:-0.59, Z:-0.84 [[ 9.94717485e-01 9.71885337e-02 3.30380681e-02 2.25876493e+01] [-9.71570284e-02 9.95265769e-01 -2.56146410e-03 -5.91129262e-01] [-3.31306032e-02 -6.61947388e-04 9.99450812e-01 -8.44721778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.07264 meters 0.026397882929983407 Centerline is valid? [True, True] Translation: X:22.62, Y:-0.59, Z:-0.84 [[ 9.94706751e-01 9.69820489e-02 3.39552826e-02 2.26192802e+01] [-9.69484094e-02 9.95285908e-01 -2.63962790e-03 -5.91706158e-01] [-3.40512108e-02 -6.66254940e-04 9.99419867e-01 -8.44719528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.10264 meters 0.023450539537740674 Centerline is valid? [True, True] Translation: X:22.65, Y:-0.60, Z:-0.84 [[ 9.94787225e-01 9.59963767e-02 3.43958360e-02 2.26514924e+01] [-9.59610880e-02 9.95381481e-01 -2.67913822e-03 -5.96743524e-01] [-3.44941657e-02 -6.35489369e-04 9.99404697e-01 -8.44346760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.132640000000002 meters 0.023029366493138307 Centerline is valid? [True, True] Translation: X:22.68, Y:-0.60, Z:-0.85 [[ 9.95129183e-01 9.24878246e-02 3.41161375e-02 2.26822328e+01] [-9.24508420e-02 9.95713688e-01 -2.66331587e-03 -5.98477183e-01] [-3.42162294e-02 -5.03722291e-04 9.99414326e-01 -8.48926897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.162640000000003 meters 0.018974430309167012 Centerline is valid? [True, True] Translation: X:22.71, Y:-0.61, Z:-0.85 [[ 9.95269997e-01 9.10935070e-02 3.37580629e-02 2.27141877e+01] [-9.10563178e-02 9.95842244e-01 -2.64059160e-03 -6.06714851e-01] [-3.38582459e-02 -4.45783316e-04 9.99426546e-01 -8.48824674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.19264 meters 0.018669136089381165 Centerline is valid? [True, True] Translation: X:22.75, Y:-0.61, Z:-0.85 [[ 9.95395527e-01 8.99764353e-02 3.30452149e-02 2.27454062e+01] [-8.99399974e-02 9.95943817e-01 -2.59049081e-03 -6.09457841e-01] [-3.31442606e-02 -3.93523573e-04 9.99450501e-01 -8.51722761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.222640000000002 meters 0.01736092249072692 Centerline is valid? [True, True] Translation: X:22.78, Y:-0.61, Z:-0.85 [[ 9.95518188e-01 8.90104858e-02 3.19479401e-02 2.27786046e+01] [-8.89757873e-02 9.96030629e-01 -2.50894648e-03 -6.12768745e-01] [-3.20444495e-02 -3.44891272e-04 9.99486385e-01 -8.54655263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.252640000000003 meters 0.017608485541973373 Centerline is valid? [True, True] Translation: X:22.81, Y:-0.61, Z:-0.86 [[ 9.95499429e-01 8.93206264e-02 3.16656278e-02 2.28106067e+01] [-8.92864944e-02 9.96002865e-01 -2.49309954e-03 -6.13662084e-01] [-3.17617412e-02 -3.45433731e-04 9.99495409e-01 -8.55942980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.28264 meters 0.017830110443455116 Centerline is valid? [True, True] Translation: X:22.84, Y:-0.61, Z:-0.86 [[ 9.95447035e-01 8.98377657e-02 3.18492607e-02 2.28435956e+01] [-8.98033161e-02 9.95956348e-01 -2.51334759e-03 -6.14501007e-01] [-3.19462669e-02 -3.58264816e-04 9.99489524e-01 -8.57436044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.312640000000002 meters 0.019132378470687703 Centerline is valid? [True, True] Translation: X:22.88, Y:-0.61, Z:-0.86 [[ 9.95365922e-01 9.07858665e-02 3.16955630e-02 2.28750370e+01] [-9.07520219e-02 9.95870364e-01 -2.50773291e-03 -6.11074034e-01] [-3.17923386e-02 -3.80324547e-04 9.99494423e-01 -8.59841049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.342640000000003 meters 0.019407534535338656 Centerline is valid? [True, True] Translation: X:22.91, Y:-0.61, Z:-0.86 [[ 9.95308194e-01 9.14106048e-02 3.17127800e-02 2.29076378e+01] [-9.13768920e-02 9.95813208e-01 -2.51375913e-03 -6.11427840e-01] [-3.18097894e-02 -3.95850214e-04 9.99493862e-01 -8.61057026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.37264 meters 0.019032073571591753 Centerline is valid? [True, True] Translation: X:22.94, Y:-0.61, Z:-0.86 [[ 9.95333092e-01 9.10662562e-02 3.19213634e-02 2.29389534e+01] [-9.10317134e-02 9.95844763e-01 -2.53678297e-03 -6.11353222e-01] [-3.20197379e-02 -3.80912366e-04 9.99487164e-01 -8.63262534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.40264 meters 0.01810586946045091 Centerline is valid? [True, True] Translation: X:22.97, Y:-0.61, Z:-0.86 [[ 9.95404345e-01 9.03837288e-02 3.16381297e-02 2.29710833e+01] [-9.03493040e-02 9.95906953e-01 -2.51892678e-03 -6.13042731e-01] [-3.17363033e-02 -3.51132334e-04 9.99496215e-01 -8.64002934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.432640000000003 meters 0.01733726534957305 Centerline is valid? [True, True] Translation: X:23.00, Y:-0.61, Z:-0.87 [[ 9.95510386e-01 8.92140597e-02 3.16215527e-02 2.30021120e+01] [-8.91789087e-02 9.96012428e-01 -2.52303648e-03 -6.14364687e-01] [-3.17205498e-02 -3.08266535e-04 9.99496729e-01 -8.65813824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.46264 meters 0.015052808851731929 Centerline is valid? [True, True] Translation: X:23.03, Y:-0.62, Z:-0.87 [[ 9.95746969e-01 8.63505254e-02 3.21179085e-02 2.30335364e+01] [-8.63126117e-02 9.96264794e-01 -2.56763034e-03 -6.19970651e-01] [-3.22196577e-02 -2.15470434e-04 9.99480789e-01 -8.66583969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.49264 meters 0.01406118652440753 Centerline is valid? [True, True] Translation: X:23.06, Y:-0.63, Z:-0.87 [[ 9.95872518e-01 8.47493786e-02 3.24880058e-02 2.30642772e+01] [-8.47095523e-02 9.96402287e-01 -2.60279095e-03 -6.25071867e-01] [-3.25917082e-02 -1.59996448e-04 9.99468736e-01 -8.67517653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.522640000000003 meters 0.017430414554937202 Centerline is valid? [True, True] Translation: X:23.10, Y:-0.63, Z:-0.87 [[ 9.96002154e-01 8.32386052e-02 3.24197947e-02 2.30972063e+01] [-8.31979989e-02 9.96529640e-01 -2.60184065e-03 -6.30742867e-01] [-3.25238599e-02 -1.05823151e-04 9.99470954e-01 -8.68472944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.55264 meters 0.01275445976060049 Centerline is valid? [True, True] Translation: X:23.13, Y:-0.63, Z:-0.87 [[ 9.96099042e-01 8.19817364e-02 3.26449533e-02 2.31293969e+01] [-8.19396740e-02 9.96633830e-01 -2.62647690e-03 -6.33530395e-01] [-3.27503879e-02 -5.86857078e-05 9.99463560e-01 -8.68201265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.58264 meters 0.012650805101783628 Centerline is valid? [True, True] Translation: X:23.16, Y:-0.64, Z:-0.87 [[ 9.96248920e-01 8.00788596e-02 3.27942844e-02 2.31624247e+01] [-8.00351842e-02 9.96788531e-01 -2.64445472e-03 -6.37335557e-01] [-3.29007315e-02 9.83856248e-06 9.99458624e-01 -8.69745517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.612640000000003 meters 0.012618819644956128 Centerline is valid? [True, True] Translation: X:23.19, Y:-0.64, Z:-0.87 [[ 9.96299542e-01 7.93012591e-02 3.31441360e-02 2.31946992e+01] [-7.92560043e-02 9.96850695e-01 -2.67904169e-03 -6.42062180e-01] [-3.32522064e-02 4.22562216e-05 9.99446992e-01 -8.71282450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.64264 meters 0.013034629959957512 Centerline is valid? [True, True] Translation: X:23.23, Y:-0.65, Z:-0.87 [[ 9.96374014e-01 7.82599538e-02 3.33797038e-02 2.32258178e+01] [-7.82132501e-02 9.96932983e-01 -2.70461630e-03 -6.47665913e-01] [-3.34889908e-02 8.40742839e-05 9.99439083e-01 -8.73503974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.67264 meters 0.014836691154091726 Centerline is valid? [True, True] Translation: X:23.26, Y:-0.66, Z:-0.88 [[ 9.96662926e-01 7.50098011e-02 3.21953825e-02 2.32572495e+01] [-7.49644752e-02 9.97182778e-01 -2.61430717e-03 -6.57134360e-01] [-3.23007796e-02 1.92073082e-04 9.99478175e-01 -8.77307726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.702640000000002 meters 0.01642948807870589 Centerline is valid? [True, True] Translation: X:23.29, Y:-0.66, Z:-0.88 [[ 9.96817215e-01 7.33741767e-02 3.11716193e-02 2.32874852e+01] [-7.33307349e-02 9.97304453e-01 -2.53609630e-03 -6.64171470e-01] [-3.12736787e-02 2.42186702e-04 9.99510830e-01 -8.81357745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.73264 meters 0.017835673962545255 Centerline is valid? [True, True] Translation: X:23.32, Y:-0.67, Z:-0.88 [[ 9.97094107e-01 7.03151203e-02 2.93108584e-02 2.33184814e+01] [-7.02752358e-02 9.97524776e-01 -2.38994055e-03 -6.74788931e-01] [-2.94063565e-02 3.23168153e-04 9.99567487e-01 -8.84192115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.76264 meters 0.018643873536187773 Centerline is valid? [True, True] Translation: X:23.35, Y:-0.68, Z:-0.89 [[ 9.97180161e-01 6.93164579e-02 2.87568167e-02 2.33497872e+01] [-6.92776602e-02 9.97594662e-01 -2.34448842e-03 -6.81295127e-01] [-2.88501585e-02 3.45672368e-04 9.99583688e-01 -8.85942070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.792640000000002 meters 0.01910637242043612 Centerline is valid? [True, True] Translation: X:23.38, Y:-0.69, Z:-0.89 [[ 9.97219057e-01 6.87700287e-02 2.87199390e-02 2.33811859e+01] [-6.87309630e-02 9.97632472e-01 -2.34636851e-03 -6.87088575e-01] [-2.88133036e-02 3.65894324e-04 9.99584744e-01 -8.87005012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.822640000000003 meters 0.018838917623219428 Centerline is valid? [True, True] Translation: X:23.41, Y:-0.69, Z:-0.89 [[ 9.97183373e-01 6.91641636e-02 2.90110069e-02 2.34127484e+01] [-6.91243227e-02 9.97605226e-01 -2.37515966e-03 -6.91329818e-01] [-2.91058080e-02 3.63103520e-04 9.99576270e-01 -8.87886892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.85264 meters 0.016825371502856037 Centerline is valid? [True, True] Translation: X:23.44, Y:-0.69, Z:-0.89 [[ 9.96914292e-01 7.27691719e-02 2.94370785e-02 2.34442126e+01] [-7.27295703e-02 9.97348774e-01 -2.41519372e-03 -6.94089182e-01] [-2.95347858e-02 2.66795070e-04 9.99563717e-01 -8.88791953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.882640000000002 meters 0.01483335225907115 Centerline is valid? [True, True] Translation: X:23.48, Y:-0.69, Z:-0.89 [[ 9.96676290e-01 7.56899317e-02 3.01231953e-02 2.34762280e+01] [-7.56495958e-02 9.97131384e-01 -2.47808689e-03 -6.93968633e-01] [-3.02243496e-02 1.91042905e-04 9.99543122e-01 -8.88497046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.912640000000003 meters 0.013201102766220534 Centerline is valid? [True, True] Translation: X:23.51, Y:-0.69, Z:-0.89 [[ 9.96044039e-01 8.31862532e-02 3.12461152e-02 2.35075924e+01] [-8.31465090e-02 9.96534016e-01 -2.57140368e-03 -6.90106754e-01] [-3.13517221e-02 -3.67740981e-05 9.99508413e-01 -8.88509486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.94264 meters 0.014400578208399293 Centerline is valid? [True, True] Translation: X:23.54, Y:-0.69, Z:-0.89 [[ 9.95669832e-01 8.74453860e-02 3.15418818e-02 2.35403184e+01] [-8.74068650e-02 9.96169301e-01 -2.60068346e-03 -6.88250685e-01] [-3.16484721e-02 -1.67554944e-04 9.99499048e-01 -8.88800388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.972640000000002 meters 0.01721526099892791 Centerline is valid? [True, True] Translation: X:23.57, Y:-0.68, Z:-0.89 [[ 9.95249637e-01 9.19451059e-02 3.20040212e-02 2.35718661e+01] [-9.19075942e-02 9.95764029e-01 -2.64433466e-03 -6.84422369e-01] [-3.21115867e-02 -3.09639482e-04 9.99484242e-01 -8.89351307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.002640000000003 meters 0.024903404281459204 Centerline is valid? [True, True] Translation: X:23.60, Y:-0.67, Z:-0.89 [[ 9.94322030e-01 1.01127167e-01 3.31209536e-02 2.36037907e+01] [-1.01091858e-01 9.94873314e-01 -2.74322807e-03 -6.73142090e-01] [-3.32285677e-02 -6.20606631e-04 9.99447586e-01 -8.88877181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.03264 meters 0.030497829120790514 Centerline is valid? [True, True] Translation: X:23.63, Y:-0.67, Z:-0.89 [[ 9.93848714e-01 1.05593146e-01 3.33889244e-02 2.36347954e+01] [-1.05559767e-01 9.94409114e-01 -2.76583113e-03 -6.67634997e-01] [-3.34943035e-02 -7.75709365e-04 9.99438607e-01 -8.90252805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.062640000000002 meters 0.03836803807171487 Centerline is valid? [True, True] Translation: X:23.67, Y:-0.66, Z:-0.89 [[ 9.92994026e-01 1.13276873e-01 3.36335440e-02 2.36658460e+01] [-1.13247386e-01 9.93562914e-01 -2.78659144e-03 -6.58475962e-01] [-3.37326984e-02 -1.04184228e-03 9.99430348e-01 -8.91394310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.092640000000003 meters 0.04223124556423499 Centerline is valid? [True, True] Translation: X:23.70, Y:-0.65, Z:-0.89 [[ 9.92633558e-01 1.16358626e-01 3.37533784e-02 2.36964416e+01] [-1.16330707e-01 9.93206598e-01 -2.79650463e-03 -6.54376618e-01] [-3.38494755e-02 -1.15065004e-03 9.99426280e-01 -8.93077520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.12264 meters 0.04544581961586962 Centerline is valid? [True, True] Translation: X:23.73, Y:-0.65, Z:-0.89 [[ 9.92286862e-01 1.19146626e-01 3.42179032e-02 2.37269649e+01] [-1.19119570e-01 9.92875867e-01 -2.83551157e-03 -6.51169869e-01] [-3.43119720e-02 -1.26238105e-03 9.99410374e-01 -8.93775964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.15264 meters 0.047526778054801294 Centerline is valid? [True, True] Translation: X:23.76, Y:-0.65, Z:-0.89 [[ 9.92031194e-01 1.21149611e-01 3.45959954e-02 2.37576583e+01] [-1.21123173e-01 9.92633346e-01 -2.86673020e-03 -6.49483676e-01] [-3.46884419e-02 -1.34649095e-03 9.99397268e-01 -8.94707087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.182640000000003 meters 0.04475425717157344 Centerline is valid? [True, True] Translation: X:23.79, Y:-0.65, Z:-0.90 [[ 9.91915907e-01 1.22301370e-01 3.38409239e-02 2.37883750e+01] [-1.22276742e-01 9.92492083e-01 -2.80416267e-03 -6.52357379e-01] [-3.39298020e-02 -1.35646437e-03 9.99423298e-01 -8.96090414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.21264 meters 0.04923236485685999 Centerline is valid? [True, True] Translation: X:23.82, Y:-0.65, Z:-0.90 [[ 9.91946115e-01 1.22011543e-01 3.40013053e-02 2.38172065e+01] [-1.21986502e-01 9.92527760e-01 -2.81774769e-03 -6.47105727e-01] [-3.40910371e-02 -1.35264643e-03 9.99417816e-01 -8.98884008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.24264 meters 0.04704313929568839 Centerline is valid? [True, True] Translation: X:23.85, Y:-0.65, Z:-0.90 [[ 9.92053600e-01 1.21099275e-01 3.41265278e-02 2.38464419e+01] [-1.21073556e-01 9.92639513e-01 -2.82676888e-03 -6.50625849e-01] [-3.42176596e-02 -1.32751384e-03 9.99413523e-01 -8.99640322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.272640000000003 meters 0.04271641915731928 Centerline is valid? [True, True] Translation: X:23.88, Y:-0.66, Z:-0.90 [[ 9.92517315e-01 1.17313397e-01 3.38665978e-02 2.38764040e+01] [-1.17285900e-01 9.93094232e-01 -2.80426096e-03 -6.55755829e-01] [-3.39617003e-02 -1.18879686e-03 9.99422428e-01 -9.01474000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.30264 meters 0.041616210305151044 Centerline is valid? [True, True] Translation: X:23.91, Y:-0.66, Z:-0.90 [[ 9.92785615e-01 1.15013515e-01 3.38911996e-02 2.39055784e+01] [-1.14984637e-01 9.93363306e-01 -2.80639433e-03 -6.58325643e-01] [-3.39890473e-02 -1.11081935e-03 9.99421588e-01 -9.03405755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.33264 meters 0.03650790934902511 Centerline is valid? [True, True] Translation: X:23.94, Y:-0.67, Z:-0.90 [[ 9.93079333e-01 1.12274693e-01 3.44649218e-02 2.39356203e+01] [-1.12243199e-01 9.93676669e-01 -2.85339941e-03 -6.65855071e-01] [-3.45673533e-02 -1.03480109e-03 9.99401835e-01 -9.03436634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.362640000000003 meters 0.032605297876440696 Centerline is valid? [True, True] Translation: X:23.96, Y:-0.67, Z:-0.91 [[ 9.93680368e-01 1.06929850e-01 3.41369689e-02 2.39646718e+01] [-1.06895797e-01 9.94266212e-01 -2.82634241e-03 -6.70672151e-01] [-3.42434551e-02 -8.40617508e-04 9.99413167e-01 -9.05965772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.39264 meters 0.029188777916726413 Centerline is valid? [True, True] Translation: X:24.00, Y:-0.68, Z:-0.91 [[ 9.93962460e-01 1.04333610e-01 3.39577107e-02 2.39960743e+01] [-1.04298430e-01 9.94542075e-01 -2.81058456e-03 -6.76528468e-01] [-3.40656105e-02 -7.48120378e-04 9.99419319e-01 -9.07608569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.42264 meters 0.02244083405945679 Centerline is valid? [True, True] Translation: X:24.03, Y:-0.69, Z:-0.91 [[ 9.94559245e-01 9.85053072e-02 3.38911866e-02 2.40257516e+01] [-9.84668076e-02 9.95136376e-01 -2.80723663e-03 -6.86060529e-01] [-3.40028804e-02 -5.45193812e-04 9.99421586e-01 -9.08909686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.452640000000002 meters 0.02025649526979609 Centerline is valid? [True, True] Translation: X:24.06, Y:-0.69, Z:-0.91 [[ 9.94812128e-01 9.60376643e-02 3.35499161e-02 2.40571436e+01] [-9.59985815e-02 9.95377596e-01 -2.77754064e-03 -6.90965937e-01] [-3.36615834e-02 -4.57613242e-04 9.99433184e-01 -9.11122528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.48264 meters 0.017566318312497987 Centerline is valid? [True, True] Translation: X:24.09, Y:-0.70, Z:-0.91 [[ 9.95043738e-01 9.37781068e-02 3.30700336e-02 2.40887134e+01] [-9.37387076e-02 9.95593054e-01 -2.74320336e-03 -6.97130473e-01] [-3.31815481e-02 -3.70334879e-04 9.99449272e-01 -9.12471410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.51264 meters 0.015821341110052137 Centerline is valid? [True, True] Translation: X:24.12, Y:-0.70, Z:-0.91 [[ 9.95241406e-01 9.17566989e-02 3.27910429e-02 2.41201309e+01] [-9.17166820e-02 9.95781412e-01 -2.72561133e-03 -7.01891921e-01] [-3.29028041e-02 -2.94844398e-04 9.99458513e-01 -9.14237356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.542640000000002 meters 0.013690421781528718 Centerline is valid? [True, True] Translation: X:24.15, Y:-0.71, Z:-0.92 [[ 9.95594778e-01 8.77369635e-02 3.30645458e-02 2.41507479e+01] [-8.76938629e-02 9.96143665e-01 -2.75426286e-03 -7.09195495e-01] [-3.31786885e-02 -1.57428023e-04 9.99449423e-01 -9.16203432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.572640000000003 meters 0.01310943628005084 Centerline is valid? [True, True] Translation: X:24.18, Y:-0.71, Z:-0.92 [[ 9.95751878e-01 8.58186025e-02 3.33671094e-02 2.41814389e+01] [-8.57734513e-02 9.96310775e-01 -2.78487084e-03 -7.14363672e-01] [-3.34830044e-02 -8.89717684e-05 9.99439283e-01 -9.18077895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.60264 meters 0.01310943628005084 Centerline is valid? [True, True] Translation: X:24.21, Y:-0.72, Z:-0.92 [[ 9.95735972e-01 8.60031247e-02 3.33666967e-02 2.42138142e+01] [-8.59579117e-02 9.96294863e-01 -2.78980583e-03 -7.17268937e-01] [-3.34830006e-02 -9.02215555e-05 9.99439283e-01 -9.19451440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.632640000000002 meters 0.012611738917629841 Centerline is valid? [True, True] Translation: X:24.25, Y:-0.72, Z:-0.92 [[ 9.95881170e-01 8.42455171e-02 3.35169836e-02 2.42459980e+01] [-8.41986892e-02 9.96445027e-01 -2.80865093e-03 -7.22900357e-01] [-3.36344479e-02 -2.50035097e-05 9.99434202e-01 -9.20183421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.662640000000003 meters 0.012960812240164677 Centerline is valid? [True, True] Translation: X:24.28, Y:-0.73, Z:-0.92 [[ 9.96103896e-01 8.15196805e-02 3.36388181e-02 2.42771378e+01] [-8.14707393e-02 9.96671729e-01 -2.82531122e-03 -7.29897438e-01] [-3.37571775e-02 7.37241324e-05 9.99430061e-01 -9.21441287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.69264 meters 0.01334209967085068 Centerline is valid? [True, True] Translation: X:24.31, Y:-0.74, Z:-0.92 [[ 9.96186442e-01 8.05555526e-02 3.35167986e-02 2.43089214e+01] [-8.05062076e-02 9.96750114e-01 -2.82138521e-03 -7.35078040e-01] [-3.36351511e-02 1.12315350e-04 9.99434172e-01 -9.23705124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.722640000000002 meters 0.013296310167483118 Centerline is valid? [True, True] Translation: X:24.34, Y:-0.74, Z:-0.92 [[ 9.96239630e-01 7.99851632e-02 3.33012446e-02 2.43418254e+01] [-7.99360284e-02 9.96796045e-01 -2.80635112e-03 -7.39540053e-01] [-3.34190154e-02 1.33828966e-04 9.99441420e-01 -9.24266684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.752640000000003 meters 0.013678953945585152 Centerline is valid? [True, True] Translation: X:24.37, Y:-0.74, Z:-0.93 [[ 9.96260689e-01 7.95203853e-02 3.37808658e-02 2.43734184e+01] [-7.94693258e-02 9.96833227e-01 -2.85359989e-03 -7.44553118e-01] [-3.39008088e-02 1.58386766e-04 9.99425190e-01 -9.25893564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.78264 meters 0.01370990834932556 Centerline is valid? [True, True] Translation: X:24.41, Y:-0.75, Z:-0.93 [[ 9.96281256e-01 7.94936507e-02 3.32327940e-02 2.44064124e+01] [-7.94440250e-02 9.96835359e-01 -2.81314826e-03 -7.47190765e-01] [-3.33512516e-02 1.62539960e-04 9.99443679e-01 -9.27154845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.812640000000002 meters 0.01465233578609646 Centerline is valid? [True, True] Translation: X:24.44, Y:-0.75, Z:-0.93 [[ 9.96317440e-01 7.93371946e-02 3.25141189e-02 2.44367728e+01] [-7.92893786e-02 9.96847822e-01 -2.75938605e-03 -7.52048081e-01] [-3.26305505e-02 1.71200166e-04 9.99467467e-01 -9.32360872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.842640000000003 meters 0.014199094235890903 Centerline is valid? [True, True] Translation: X:24.47, Y:-0.76, Z:-0.93 [[ 9.96371932e-01 7.93222178e-02 3.08376175e-02 2.44682574e+01] [-7.92791444e-02 9.96849015e-01 -2.61889220e-03 -7.57830406e-01] [-3.09481850e-02 1.64610746e-04 9.99520977e-01 -9.34115606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.87264 meters 0.014828509823597062 Centerline is valid? [True, True] Translation: X:24.50, Y:-0.76, Z:-0.94 [[ 9.96372102e-01 7.92976893e-02 3.08951506e-02 2.44998744e+01] [-7.92542822e-02 9.96850965e-01 -2.62896841e-03 -7.62737092e-01] [-3.10063318e-02 1.70857796e-04 9.99519174e-01 -9.37048063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.90264 meters 0.014774317596589833 Centerline is valid? [True, True] Translation: X:24.53, Y:-0.77, Z:-0.94 [[ 9.96389048e-01 7.90538218e-02 3.09735047e-02 2.45329415e+01] [-7.90099023e-02 9.96870332e-01 -2.64123460e-03 -7.66425026e-01] [-3.10853676e-02 1.84483651e-04 9.99516716e-01 -9.37705531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.932640000000003 meters 0.02045392164559513 Centerline is valid? [True, True] Translation: X:24.56, Y:-0.77, Z:-0.94 [[ 9.96388586e-01 7.87125774e-02 3.18451915e-02 2.45649002e+01] [-7.86657701e-02 9.96897330e-01 -2.72200722e-03 -7.71862973e-01] [-3.19606426e-02 2.07050413e-04 9.99489107e-01 -9.38744184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.96264 meters 0.014235304739314574 Centerline is valid? [True, True] Translation: X:24.60, Y:-0.78, Z:-0.94 [[ 9.96336190e-01 7.89985539e-02 3.27631591e-02 2.45971259e+01] [-7.89489726e-02 9.96874709e-01 -2.80625783e-03 -7.76271012e-01] [-3.28824550e-02 2.09358482e-04 9.99459204e-01 -9.35731653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.99264 meters 0.014371014215076378 Centerline is valid? [True, True] Translation: X:24.63, Y:-0.78, Z:-0.94 [[ 9.96314156e-01 7.90874605e-02 3.32155872e-02 2.46288705e+01] [-7.90363576e-02 9.96867658e-01 -2.85075613e-03 -7.81844434e-01] [-3.33370037e-02 2.15009656e-04 9.99444144e-01 -9.36973843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.022640000000003 meters 0.014797297042628913 Centerline is valid? [True, True] Translation: X:24.66, Y:-0.79, Z:-0.94 [[ 9.96307878e-01 7.91689899e-02 3.32096829e-02 2.46606507e+01] [-7.91177273e-02 9.96861185e-01 -2.85694207e-03 -7.89287179e-01] [-3.33316251e-02 2.18919261e-04 9.99444323e-01 -9.39658847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.05264 meters 0.01398873200099028 Centerline is valid? [True, True] Translation: X:24.69, Y:-0.79, Z:-0.94 [[ 9.96249810e-01 7.98694328e-02 3.32744700e-02 2.46934709e+01] [-7.98182475e-02 9.96805314e-01 -2.86589645e-03 -7.93212083e-01] [-3.33970660e-02 1.99238914e-04 9.99442143e-01 -9.39734740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.08264 meters 0.013742107318423246 Centerline is valid? [True, True] Translation: X:24.72, Y:-0.80, Z:-0.94 [[ 9.96145303e-01 8.08973494e-02 3.39139166e-02 2.47242085e+01] [-8.08445304e-02 9.96722423e-01 -2.92808543e-03 -7.97766069e-01] [-3.40396355e-02 1.75043890e-04 9.99420468e-01 -9.41526554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.112640000000003 meters 0.012867661706994878 Centerline is valid? [True, True] Translation: X:24.76, Y:-0.80, Z:-0.94 [[ 9.95995842e-01 8.27273883e-02 3.38889629e-02 2.47563877e+01] [-8.26755273e-02 9.96572208e-01 -2.93117821e-03 -8.00468396e-01] [-3.40152873e-02 1.17653426e-04 9.99421306e-01 -9.41551367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.14264 meters 0.012596020386628383 Centerline is valid? [True, True] Translation: X:24.79, Y:-0.80, Z:-0.94 [[ 9.95894906e-01 8.37122345e-02 3.44325019e-02 2.47870312e+01] [-8.36590729e-02 9.96489967e-01 -2.98430649e-03 -8.03595960e-01] [-3.45614656e-02 9.14644449e-05 9.99402570e-01 -9.42855395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.17264 meters 0.012280422415746652 Centerline is valid? [True, True] Translation: X:24.82, Y:-0.81, Z:-0.94 [[ 9.95770362e-01 8.48428348e-02 3.52573279e-02 2.48189751e+01] [-8.47876013e-02 9.96394345e-01 -3.06149957e-03 -8.10511783e-01] [-3.53899484e-02 5.91662752e-05 9.99373578e-01 -9.43058824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.202640000000002 meters 0.0121904049934818 Centerline is valid? [True, True] Translation: X:24.85, Y:-0.82, Z:-0.94 [[ 9.95747583e-01 8.52526496e-02 3.49103989e-02 2.48515994e+01] [-8.51985546e-02 9.96359365e-01 -3.03694441e-03 -8.15961099e-01] [-3.50422104e-02 4.97145327e-05 9.99385832e-01 -9.44241297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.232640000000004 meters 0.012177879634326542 Centerline is valid? [True, True] Translation: X:24.88, Y:-0.82, Z:-0.95 [[ 9.95687756e-01 8.60797486e-02 3.45856811e-02 2.48845171e+01] [-8.60269239e-02 9.96288250e-01 -3.01532938e-03 -8.20078782e-01] [-3.47168665e-02 2.70267813e-05 9.99397188e-01 -9.46239234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.26264 meters 0.012189122052560548 Centerline is valid? [True, True] Translation: X:24.92, Y:-0.82, Z:-0.95 [[ 9.95615306e-01 8.70187926e-02 3.43204230e-02 2.49171885e+01] [-8.69671042e-02 9.96206670e-01 -2.99884181e-03 -8.23811737e-01] [-3.44511900e-02 9.44995500e-07 9.99406382e-01 -9.48015190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.292640000000002 meters 0.012574038515035333 Centerline is valid? [True, True] Translation: X:24.95, Y:-0.83, Z:-0.95 [[ 9.95390486e-01 8.96462726e-02 3.40782327e-02 2.49490489e+01] [-8.95966195e-02 9.95973664e-01 -2.98442447e-03 -8.26886500e-01] [-3.42085648e-02 -8.26267271e-05 9.99414712e-01 -9.50960411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.322640000000003 meters 0.013224160805495787 Centerline is valid? [True, True] Translation: X:24.98, Y:-0.83, Z:-0.95 [[ 9.95223602e-01 9.16680517e-02 3.35700682e-02 2.49810924e+01] [-9.16208098e-02 9.95789610e-01 -2.94610853e-03 -8.28763575e-01] [-3.36987892e-02 -1.43680088e-04 9.99432024e-01 -9.52591570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.35264 meters 0.014081022412887686 Centerline is valid? [True, True] Translation: X:25.01, Y:-0.83, Z:-0.95 [[ 9.95016155e-01 9.38853885e-02 3.35914303e-02 2.50128363e+01] [-9.38391373e-02 9.95582989e-01 -2.95426907e-03 -8.29621310e-01] [-3.37204193e-02 -2.12645382e-04 9.99431282e-01 -9.53557705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.382640000000002 meters 0.01683763508272756 Centerline is valid? [True, True] Translation: X:25.04, Y:-0.83, Z:-0.96 [[ 9.94621601e-01 9.80282862e-02 3.34413883e-02 2.50447494e+01] [-9.79847013e-02 9.95183568e-01 -2.94363209e-03 -8.28058353e-01] [-3.35688794e-02 -3.48944386e-04 9.99436345e-01 -9.55233619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.412640000000003 meters 0.018634360690978843 Centerline is valid? [True, True] Translation: X:25.08, Y:-0.83, Z:-0.96 [[ 9.94413819e-01 1.00100628e-01 3.34816542e-02 2.50764027e+01] [-1.00057933e-01 9.94977232e-01 -2.95248757e-03 -8.28102245e-01] [-3.36090295e-02 -4.14110672e-04 9.99434971e-01 -9.56699072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.44264 meters 0.022113181232866038 Centerline is valid? [True, True] Translation: X:25.11, Y:-0.82, Z:-0.96 [[ 9.94070741e-01 1.03649233e-01 3.28663657e-02 2.51082728e+01] [-1.03609864e-01 9.94613778e-01 -2.90331298e-03 -8.23768816e-01] [-3.29902663e-02 -5.19181187e-04 9.99455538e-01 -9.59724120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.472640000000002 meters 0.02210685736208576 Centerline is valid? [True, True] Translation: X:25.14, Y:-0.83, Z:-0.96 [[ 9.93946810e-01 1.04983602e-01 3.23756366e-02 2.51403393e+01] [-1.04945951e-01 9.94473801e-01 -2.86474748e-03 -8.25522006e-01] [-3.24974739e-02 -5.50285368e-04 9.99471666e-01 -9.60781267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.502640000000003 meters 0.023631916271845237 Centerline is valid? [True, True] Translation: X:25.17, Y:-0.83, Z:-0.96 [[ 9.93843767e-01 1.05975309e-01 3.23078965e-02 2.51710258e+01] [-1.05938146e-01 9.94368595e-01 -2.86470213e-03 -8.25720033e-01] [-3.24295453e-02 -5.75572297e-04 9.99473858e-01 -9.63615275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.53264 meters 0.023035439305682113 Centerline is valid? [True, True] Translation: X:25.20, Y:-0.83, Z:-0.97 [[ 9.93796516e-01 1.06612003e-01 3.16601455e-02 2.52030137e+01] [-1.06576519e-01 9.94300530e-01 -2.81105343e-03 -8.29689632e-01] [-3.17793915e-02 -5.80612983e-04 9.99494739e-01 -9.65280516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.562640000000002 meters 0.024719049383718876 Centerline is valid? [True, True] Translation: X:25.23, Y:-0.83, Z:-0.97 [[ 9.93793662e-01 1.06783786e-01 3.11669778e-02 2.52346940e+01] [-1.06749320e-01 9.94282101e-01 -2.77247510e-03 -8.30060833e-01] [-3.12848235e-02 -5.71785495e-04 9.99510347e-01 -9.69124682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.592640000000003 meters 0.024735609165950145 Centerline is valid? [True, True] Translation: X:25.27, Y:-0.83, Z:-0.97 [[ 9.93838276e-01 1.06249269e-01 3.15685635e-02 2.52656924e+01] [-1.06213437e-01 9.94339371e-01 -2.81456606e-03 -8.31461920e-01] [-3.16889111e-02 -5.55782150e-04 9.99497626e-01 -9.70042129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.62264 meters 0.021752656537287383 Centerline is valid? [True, True] Translation: X:25.30, Y:-0.84, Z:-0.97 [[ 9.94164501e-01 1.03240551e-01 3.12783130e-02 2.52969401e+01] [-1.03203739e-01 9.94656315e-01 -2.79337368e-03 -8.37202701e-01] [-3.13995610e-02 -4.50965903e-04 9.99506810e-01 -9.72755921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.65264 meters 0.020013105536034127 Centerline is valid? [True, True] Translation: X:25.33, Y:-0.84, Z:-0.98 [[ 9.94428323e-01 1.00859559e-01 3.06538552e-02 2.53273239e+01] [-1.00822917e-01 9.94900607e-01 -2.74261330e-03 -8.43426102e-01] [-3.07741580e-02 -3.63278765e-04 9.99526297e-01 -9.76053553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.682640000000003 meters 0.016094166834845915 Centerline is valid? [True, True] Translation: X:25.36, Y:-0.85, Z:-0.98 [[ 9.94702852e-01 9.80770526e-02 3.07754373e-02 2.53590697e+01] [-9.80386516e-02 9.95178786e-01 -2.75790638e-03 -8.53410723e-01] [-3.08975496e-02 -2.73885028e-04 9.99522519e-01 -9.75130567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.71264 meters 0.012604148469296894 Centerline is valid? [True, True] Translation: X:25.39, Y:-0.87, Z:-0.98 [[ 9.95407143e-01 9.02749791e-02 3.18597999e-02 2.53891549e+01] [-9.02296391e-02 9.95916878e-01 -2.86090994e-03 -8.69673950e-01] [-3.19879811e-02 -2.69280628e-05 9.99488253e-01 -9.75629053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.74264 meters 0.013146938965296822 Centerline is valid? [True, True] Translation: X:25.42, Y:-0.88, Z:-0.98 [[ 9.95770589e-01 8.60575154e-02 3.21719969e-02 2.54210348e+01] [-8.60089250e-02 9.96290164e-01 -2.89376542e-03 -8.80747127e-01] [-3.23016744e-02 1.14447626e-04 9.99478158e-01 -9.76123048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.772640000000003 meters 0.015564238395388445 Centerline is valid? [True, True] Translation: X:25.45, Y:-0.89, Z:-0.98 [[ 9.96134196e-01 8.17135800e-02 3.22421137e-02 2.54521377e+01] [-8.16622933e-02 9.96655819e-01 -2.90651276e-03 -8.91643330e-01] [-3.23717918e-02 2.62311804e-04 9.99475862e-01 -9.76882289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.80264 meters 0.022096866489819372 Centerline is valid? [True, True] Translation: X:25.48, Y:-0.91, Z:-0.98 [[ 9.96762059e-01 7.39783748e-02 3.15055143e-02 2.54808100e+01] [-7.39253265e-02 9.97259716e-01 -2.84687757e-03 -9.09613977e-01] [-3.16297876e-02 5.08604117e-04 9.99499524e-01 -9.79582366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.83264 meters 0.024277470765095756 Centerline is valid? [True, True] Translation: X:25.51, Y:-0.92, Z:-0.98 [[ 9.96990250e-01 7.12238967e-02 3.06202366e-02 2.55115686e+01] [-7.11725302e-02 9.97460186e-01 -2.76557549e-03 -9.19165667e-01] [-3.07394419e-02 5.77932088e-04 9.99527265e-01 -9.81482589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.862640000000003 meters 0.02555703127992581 Centerline is valid? [True, True] Translation: X:25.54, Y:-0.93, Z:-0.98 [[ 9.97116851e-01 6.94628590e-02 3.05433548e-02 2.55425950e+01] [-6.94107789e-02 9.97584336e-01 -2.76337838e-03 -9.26970220e-01] [-3.06615244e-02 6.35373111e-04 9.99529623e-01 -9.82335856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.89264 meters 0.029613952767244583 Centerline is valid? [True, True] Translation: X:25.57, Y:-0.93, Z:-0.99 [[ 9.97152755e-01 6.86906612e-02 3.11123222e-02 2.55732441e+01] [-6.86360872e-02 9.97637778e-01 -2.81994640e-03 -9.34714958e-01] [-3.12325320e-02 6.76489262e-04 9.99511917e-01 -9.85087569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.92264 meters 0.025181869735177227 Centerline is valid? [True, True] Translation: X:25.60, Y:-0.94, Z:-0.98 [[ 9.96961782e-01 7.09355248e-02 3.21769694e-02 2.56043286e+01] [-7.08781452e-02 9.97480702e-01 -2.92181617e-03 -9.41537557e-01] [-3.23031666e-02 6.32295152e-04 9.99477917e-01 -9.82429475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.952640000000002 meters 0.0246224931751512 Centerline is valid? [True, True] Translation: X:25.63, Y:-0.95, Z:-0.98 [[ 9.96808261e-01 7.31494984e-02 3.19756427e-02 2.56349379e+01] [-7.30938186e-02 9.97320829e-01 -2.90834595e-03 -9.46917630e-01] [-3.21027186e-02 5.61841444e-04 9.99484417e-01 -9.83946406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.982640000000004 meters 0.019061181130460268 Centerline is valid? [True, True] Translation: X:25.67, Y:-0.95, Z:-0.99 [[ 9.96349326e-01 7.91425031e-02 3.20075884e-02 2.56656297e+01] [-7.90895809e-02 9.96863242e-01 -2.91810747e-03 -9.45269881e-01] [-3.21381347e-02 3.75987661e-04 9.99483366e-01 -9.85159837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.01264 meters 0.016177419310081504 Centerline is valid? [True, True] Translation: X:25.70, Y:-0.94, Z:-0.99 [[ 9.96060836e-01 8.28151189e-02 3.16933158e-02 2.56971627e+01] [-8.27651041e-02 9.96564896e-01 -2.88898690e-03 -9.43945420e-01] [-3.18236977e-02 2.54506129e-04 9.99493465e-01 -9.86868521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.042640000000002 meters 0.013415072563318904 Centerline is valid? [True, True] Translation: X:25.73, Y:-0.94, Z:-0.99 [[ 9.95709306e-01 8.69795032e-02 3.15839198e-02 2.57297193e+01] [-8.69318598e-02 9.96210094e-01 -2.88112615e-03 -9.41841159e-01] [-3.17148186e-02 1.23115238e-04 9.99496951e-01 -9.87536488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.072640000000003 meters 0.013872782596259473 Centerline is valid? [True, True] Translation: X:25.76, Y:-0.94, Z:-0.99 [[ 9.94936190e-01 9.54385794e-02 3.15191199e-02 2.57626621e+01] [-9.53952102e-02 9.95435311e-01 -2.88031405e-03 -9.35182067e-01] [-3.16501380e-02 -1.41044380e-04 9.99498999e-01 -9.89725860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.10264 meters 0.01588414000249152 Centerline is valid? [True, True] Translation: X:25.80, Y:-0.93, Z:-0.99 [[ 9.94525209e-01 9.95994633e-02 3.16157529e-02 2.57950656e+01] [-9.95577454e-02 9.95027575e-01 -2.89491220e-03 -9.33307451e-01] [-3.17468776e-02 -2.68529917e-04 9.99495905e-01 -9.89356647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.132640000000002 meters 0.01903367789881603 Centerline is valid? [True, True] Translation: X:25.83, Y:-0.93, Z:-0.99 [[ 9.94091812e-01 1.03766274e-01 3.18438328e-02 2.58278466e+01] [-1.03725915e-01 9.94601629e-01 -2.92118571e-03 -9.30493143e-01] [-3.19750486e-02 -3.99103911e-04 9.99488588e-01 -9.90261044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.162640000000003 meters 0.025795245932548085 Centerline is valid? [True, True] Translation: X:25.86, Y:-0.92, Z:-0.99 [[ 9.93321978e-01 1.10744539e-01 3.23588602e-02 2.58596347e+01] [-1.10706334e-01 9.93848708e-01 -2.97545841e-03 -9.21890531e-01] [-3.24893272e-02 -6.26742559e-04 9.99471886e-01 -9.91039430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.19264 meters 0.03044385257929837 Centerline is valid? [True, True] Translation: X:25.89, Y:-0.92, Z:-0.99 [[ 9.92672239e-01 1.15254762e-01 3.63065581e-02 2.58900853e+01] [-1.15060183e-01 9.93330878e-01 -7.41090401e-03 -9.15735403e-01] [-3.69185673e-02 3.17915945e-03 9.99313220e-01 -9.92568061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.222640000000002 meters 0.032009615982859924 Centerline is valid? [True, True] Translation: X:25.92, Y:-0.92, Z:-0.99 [[ 9.92685771e-01 1.16087630e-01 3.31454655e-02 2.59219721e+01] [-1.16187852e-01 9.93226639e-01 1.10724957e-03 -9.18535813e-01] [-3.27924213e-02 -4.95025133e-03 9.99449925e-01 -9.93456532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.252640000000003 meters 0.03444453978433796 Centerline is valid? [True, True] Translation: X:25.95, Y:-0.91, Z:-1.00 [[ 9.92287566e-01 1.19689610e-01 3.22456614e-02 2.59536216e+01] [-1.19656187e-01 9.92810943e-01 -2.97120744e-03 -9.11549359e-01] [-3.23694682e-02 -9.10100673e-04 9.99475557e-01 -9.95064245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.28264 meters 0.04016517937495687 Centerline is valid? [True, True] Translation: X:25.99, Y:-0.91, Z:-1.00 [[ 9.92212176e-01 1.20270869e-01 3.24023953e-02 2.59850048e+01] [-1.20237461e-01 9.92740673e-01 -2.98466570e-03 -9.05642055e-01] [-3.25261441e-02 -9.34560086e-04 9.99470448e-01 -9.98796669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.312640000000002 meters 0.03731321248036905 Centerline is valid? [True, True] Translation: X:26.02, Y:-0.91, Z:-1.00 [[ 9.92235772e-01 1.20024335e-01 3.25934347e-02 2.60169969e+01] [-1.19990236e-01 9.92770517e-01 -3.00727532e-03 -9.11279106e-01] [-3.27187472e-02 -9.26967762e-04 9.99464169e-01 -9.98847067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.342640000000003 meters 0.03402005424668067 Centerline is valid? [True, True] Translation: X:26.05, Y:-0.92, Z:-1.00 [[ 9.92338112e-01 1.19179388e-01 3.25782783e-02 2.60484134e+01] [-1.19144698e-01 9.92872336e-01 -3.01098641e-03 -9.17605489e-01] [-3.27049188e-02 -8.93612550e-04 9.99464652e-01 -9.99356565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.37264 meters 0.03272117795055389 Centerline is valid? [True, True] Translation: X:26.08, Y:-0.92, Z:-1.00 [[ 9.92744217e-01 1.15992353e-01 3.16968885e-02 2.60789864e+01] [-1.15957685e-01 9.93249815e-01 -2.93601101e-03 -9.19309962e-01] [-3.18234835e-02 -7.60789848e-04 9.99493215e-01 -1.00319488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.40264 meters 0.029487556818098542 Centerline is valid? [True, True] Translation: X:26.11, Y:-0.93, Z:-1.01 [[ 9.92966414e-01 1.14202616e-01 3.12324218e-02 2.61111077e+01] [-1.14168060e-01 9.93457237e-01 -2.89333429e-03 -9.25268267e-01] [-3.13585019e-02 -6.92761252e-04 9.99507961e-01 -1.00521997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.432640000000003 meters 0.026954962876374108 Centerline is valid? [True, True] Translation: X:26.14, Y:-0.93, Z:-1.01 [[ 9.93388584e-01 1.10523519e-01 3.10430758e-02 2.61415531e+01] [-1.10487518e-01 9.93873345e-01 -2.87796739e-03 -9.27692224e-01] [-3.11709687e-02 -5.70932431e-04 9.99513904e-01 -1.00896864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.46264 meters 0.022495083241366325 Centerline is valid? [True, True] Translation: X:26.17, Y:-0.93, Z:-1.01 [[ 9.93582045e-01 1.08982743e-01 3.02899503e-02 2.61732892e+01] [-1.08947784e-01 9.94043510e-01 -2.80708371e-03 -9.34425549e-01] [-3.04154522e-02 -5.10954994e-04 9.99537213e-01 -1.00853320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.49264 meters 0.020920142414577635 Centerline is valid? [True, True] Translation: X:26.21, Y:-0.94, Z:-1.01 [[ 9.93728880e-01 1.07621417e-01 3.03404533e-02 2.62051588e+01] [-1.07585549e-01 9.94191840e-01 -2.81696585e-03 -9.37606436e-01] [-3.04673970e-02 -4.64894001e-04 9.99535653e-01 -1.01042445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.522640000000003 meters 0.020920142414577635 Centerline is valid? [True, True] Translation: X:26.24, Y:-0.94, Z:-1.01 [[ 9.93707800e-01 1.07816018e-01 3.03399964e-02 2.62375048e+01] [-1.07780090e-01 9.94170755e-01 -2.82187696e-03 -9.40808768e-01] [-3.04673807e-02 -4.65926404e-04 9.99535653e-01 -1.01179814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.55264 meters 0.018491488360434294 Centerline is valid? [True, True] Translation: X:26.27, Y:-0.95, Z:-1.01 [[ 9.94002888e-01 1.05120384e-01 3.01324312e-02 2.62698272e+01] [-1.05083480e-01 9.94459434e-01 -2.81007940e-03 -9.45230304e-01] [-3.02608771e-02 -3.73193706e-04 9.99541965e-01 -1.01385135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.58264 meters 0.019634550112238296 Centerline is valid? [True, True] Translation: X:26.30, Y:-0.95, Z:-1.02 [[ 9.94121473e-01 1.04101642e-01 2.97547435e-02 2.63008210e+01] [-1.04065183e-01 9.94566606e-01 -2.77546809e-03 -9.45360789e-01] [-2.98820050e-02 -3.37280404e-04 9.99553376e-01 -1.01907773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.612640000000003 meters 0.01650424225955011 Centerline is valid? [True, True] Translation: X:26.33, Y:-0.95, Z:-1.02 [[ 9.94261958e-01 1.03116310e-01 2.84637717e-02 2.63339421e+01] [-1.03082438e-01 9.94669263e-01 -2.65870043e-03 -9.51189611e-01] [-2.85861942e-02 -2.90670291e-04 9.99591289e-01 -1.01848539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.64264 meters 0.01650326299555889 Centerline is valid? [True, True] Translation: X:26.37, Y:-0.95, Z:-1.02 [[ 9.94369888e-01 1.02185498e-01 2.80472891e-02 2.63662671e+01] [-1.02152077e-01 9.94765329e-01 -2.62562075e-03 -9.51981042e-01] [-2.81687711e-02 -2.54250622e-04 9.99603149e-01 -1.02192758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.67264 meters 0.015863224444202316 Centerline is valid? [True, True] Translation: X:26.40, Y:-0.95, Z:-1.02 [[ 9.94553888e-01 1.00391579e-01 2.80016881e-02 2.63976792e+01] [-1.00357394e-01 9.94947985e-01 -2.62709526e-03 -9.52053253e-01] [-2.81239614e-02 -1.97388628e-04 9.99604424e-01 -1.02478406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.702640000000002 meters 0.01517760171162953 Centerline is valid? [True, True] Translation: X:26.43, Y:-0.95, Z:-1.03 [[ 9.94638189e-01 9.95212078e-02 2.81141046e-02 2.64295120e+01] [-9.94862752e-02 9.95035427e-01 -2.64205350e-03 -9.54629544e-01] [-2.82374704e-02 -1.69080231e-04 9.99601229e-01 -1.02595082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.732640000000004 meters 0.013880202159602296 Centerline is valid? [True, True] Translation: X:26.46, Y:-0.96, Z:-1.03 [[ 9.94849432e-01 9.72391607e-02 2.86208377e-02 2.64618370e+01] [-9.72018741e-02 9.95261039e-01 -2.69449691e-03 -9.59397557e-01] [-2.87472153e-02 -1.01380350e-04 9.99586708e-01 -1.02651577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.76264 meters 0.013157116839474807 Centerline is valid? [True, True] Translation: X:26.49, Y:-0.96, Z:-1.03 [[ 9.94964241e-01 9.60432329e-02 2.86680294e-02 2.64941199e+01] [-9.60052009e-02 9.95377161e-01 -2.70331309e-03 -9.64217607e-01] [-2.87951367e-02 -6.25800619e-05 9.99585332e-01 -1.02596625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.792640000000002 meters 0.013156638773893432 Centerline is valid? [True, True] Translation: X:26.53, Y:-0.97, Z:-1.03 [[ 9.95101015e-01 9.43924509e-02 2.93944689e-02 2.65253863e+01] [-9.43515295e-02 9.95535065e-01 -2.77916241e-03 -9.68273183e-01] [-2.95255564e-02 -7.86575514e-06 9.99564026e-01 -1.02793856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.822640000000003 meters 0.013384281609291948 Centerline is valid? [True, True] Translation: X:26.56, Y:-0.97, Z:-1.03 [[ 9.95477990e-01 9.00156360e-02 3.03439780e-02 2.65585295e+01] [-8.99699341e-02 9.95940344e-01 -2.87089232e-03 -9.74141039e-01] [-3.04792171e-02 1.27864410e-04 9.99535393e-01 -1.02605441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.85264 meters 0.015279734871064495 Centerline is valid? [True, True] Translation: X:26.59, Y:-0.98, Z:-1.03 [[ 9.95680140e-01 8.74609414e-02 3.11711902e-02 2.65895892e+01] [-8.74112559e-02 9.96167926e-01 -2.95571264e-03 -9.81210268e-01] [-3.13102492e-02 2.18231491e-04 9.99509690e-01 -1.02812636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.882640000000002 meters 0.01966667338751007 Centerline is valid? [True, True] Translation: X:26.62, Y:-0.99, Z:-1.03 [[ 9.96167375e-01 8.15110887e-02 3.17254534e-02 2.66206487e+01] [-8.14563663e-02 9.96672346e-01 -3.01567061e-03 -9.92999140e-01] [-3.18656927e-02 4.19872523e-04 9.99492072e-01 -1.02818078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.912640000000003 meters 0.02113890048864422 Centerline is valid? [True, True] Translation: X:26.65, Y:-1.00, Z:-1.03 [[ 9.96381277e-01 7.89629687e-02 3.14515544e-02 2.66523615e+01] [-7.89079127e-02 9.96877426e-01 -2.98981028e-03 -9.99769627e-01] [-3.15894289e-02 4.97214481e-04 9.99500806e-01 -1.02910458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.94264 meters 0.02380104706182842 Centerline is valid? [True, True] Translation: X:26.68, Y:-1.01, Z:-1.03 [[ 9.96554658e-01 7.68455135e-02 3.12022483e-02 2.66827737e+01] [-7.67901210e-02 9.97042851e-01 -2.97148666e-03 -1.00801358e+00] [-3.13383240e-02 5.65224451e-04 9.99508674e-01 -1.03118627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.972640000000002 meters 0.02485019170009438 Centerline is valid? [True, True] Translation: X:26.71, Y:-1.01, Z:-1.03 [[ 9.96682219e-01 7.53368416e-02 3.08044487e-02 2.67147478e+01] [-7.52819913e-02 9.97157956e-01 -2.93817379e-03 -1.01454505e+00] [-3.09382538e-02 6.09405336e-04 9.99521112e-01 -1.03240983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.002640000000003 meters 0.02642571555525835 Centerline is valid? [True, True] Translation: X:26.74, Y:-1.02, Z:-1.03 [[ 9.96788877e-01 7.41744287e-02 3.01676867e-02 2.67449801e+01] [-7.41211366e-02 9.97245079e-01 -2.88253841e-03 -1.02273345e+00] [-3.02983878e-02 6.37218996e-04 9.99540695e-01 -1.03494929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.03264 meters 0.03947509272819881 Centerline is valid? [True, True] Translation: X:26.78, Y:-1.03, Z:-1.04 [[ 9.96814390e-01 7.42608859e-02 2.90928271e-02 2.67757151e+01] [-7.42112353e-02 9.97238658e-01 -2.78415486e-03 -1.02629264e+00] [-2.92192457e-02 6.16270988e-04 9.99572837e-01 -1.04234149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.062640000000002 meters 0.025117484477742036 Centerline is valid? [True, True] Translation: X:26.81, Y:-1.03, Z:-1.04 [[ 9.96582642e-01 7.71364295e-02 2.95467239e-02 2.68063759e+01] [-7.70862871e-02 9.97020397e-01 -2.83408188e-03 -1.02579791e+00] [-2.96772974e-02 5.46749564e-04 9.99559382e-01 -1.03958913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.092640000000003 meters 0.023811129346557065 Centerline is valid? [True, True] Translation: X:26.84, Y:-1.03, Z:-1.04 [[ 9.96486433e-01 7.85115071e-02 2.91673256e-02 2.68384496e+01] [-7.84632810e-02 9.96913083e-01 -2.79606214e-03 -1.02765606e+00] [-2.92968116e-02 4.97673922e-04 9.99570632e-01 -1.04105285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.12264 meters 0.029721381405773562 Centerline is valid? [True, True] Translation: X:26.87, Y:-1.03, Z:-1.05 [[ 9.96395645e-01 7.96931621e-02 2.90640272e-02 2.68688522e+01] [-7.96456359e-02 9.96819333e-01 -2.79107795e-03 -1.03052372e+00] [-2.91940140e-02 4.66194989e-04 9.99573655e-01 -1.04652097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.15264 meters 0.01918174043096223 Centerline is valid? [True, True] Translation: X:26.90, Y:-1.03, Z:-1.04 [[ 9.96061784e-01 8.34351300e-02 2.99917053e-02 2.69005596e+01] [-8.33860255e-02 9.96513140e-01 -2.88646862e-03 -1.02779308e+00] [-3.01279613e-02 3.74211978e-04 9.99545980e-01 -1.04178029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.182640000000003 meters 0.017130653178663486 Centerline is valid? [True, True] Translation: X:26.93, Y:-1.03, Z:-1.04 [[ 9.95897772e-01 8.53694576e-02 2.99947143e-02 2.69325803e+01] [-8.53212520e-02 9.96349315e-01 -2.88570361e-03 -1.02658866e+00] [-3.01315640e-02 3.14679224e-04 9.99545892e-01 -1.04205845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.21264 meters 0.016696100762200225 Centerline is valid? [True, True] Translation: X:26.96, Y:-1.03, Z:-1.04 [[ 9.95722951e-01 8.71200048e-02 3.07556450e-02 2.69641787e+01] [-8.70699879e-02 9.96197786e-01 -2.96435697e-03 -1.02821900e+00] [-3.08969603e-02 2.73784633e-04 9.99522537e-01 -1.04437440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.24264 meters 0.01588663796316115 Centerline is valid? [True, True] Translation: X:27.00, Y:-1.03, Z:-1.05 [[ 9.95602012e-01 8.84840882e-02 3.07766152e-02 2.69955575e+01] [-8.84344862e-02 9.96077562e-01 -2.97181483e-03 -1.02910172e+00] [-3.09188541e-02 2.37030678e-04 9.99521870e-01 -1.04574825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.272640000000003 meters 0.014447655433388934 Centerline is valid? [True, True] Translation: X:27.03, Y:-1.03, Z:-1.05 [[ 9.95359215e-01 9.10521062e-02 3.11375532e-02 2.70265461e+01] [-9.10024383e-02 9.95846116e-01 -3.01149878e-03 -1.02820331e+00] [-3.12824147e-02 1.63929797e-04 9.99510572e-01 -1.04721481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.30264 meters 0.014000741252798347 Centerline is valid? [True, True] Translation: X:27.06, Y:-1.03, Z:-1.05 [[ 9.95252942e-01 9.20537057e-02 3.15863391e-02 2.70579776e+01] [-9.20029447e-02 9.95754034e-01 -3.05978336e-03 -1.03005514e+00] [-3.17338890e-02 1.39222180e-04 9.99496344e-01 -1.04778243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.33264 meters 0.01348218209136731 Centerline is valid? [True, True] Translation: X:27.09, Y:-1.03, Z:-1.05 [[ 9.95143020e-01 9.28243720e-02 3.27720164e-02 2.70894910e+01] [-9.27699749e-02 9.95682490e-01 -3.17981226e-03 -1.03214932e+00] [-3.29256869e-02 1.24108840e-04 9.99457795e-01 -1.04714044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.362640000000003 meters 0.024249435309200082 Centerline is valid? [True, True] Translation: X:27.12, Y:-1.03, Z:-1.05 [[ 9.95163120e-01 9.25270230e-02 3.30017405e-02 2.71224632e+01] [-9.24715463e-02 9.95710164e-01 -3.20664295e-03 -1.03449140e+00] [-3.31568696e-02 1.39410822e-04 9.99450150e-01 -1.05031342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.392640000000004 meters 0.01364420721373349 Centerline is valid? [True, True] Translation: X:27.15, Y:-1.04, Z:-1.05 [[ 9.95144496e-01 9.24023313e-02 3.39004622e-02 2.71533520e+01] [-9.23434743e-02 9.95721741e-01 -3.30113410e-03 -1.03994537e+00] [-3.40604597e-02 1.54618965e-04 9.99419762e-01 -1.04823566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.42264 meters 0.014089993627430122 Centerline is valid? [True, True] Translation: X:27.19, Y:-1.04, Z:-1.05 [[ 9.95183635e-01 9.21890493e-02 3.33273336e-02 2.71854168e+01] [-9.21318772e-02 9.95741509e-01 -3.25037886e-03 -1.04435476e+00] [-3.34850587e-02 1.64214046e-04 9.99439205e-01 -1.05110410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.452640000000002 meters 0.014350879835963717 Centerline is valid? [True, True] Translation: X:27.22, Y:-1.05, Z:-1.05 [[ 9.95208217e-01 9.21351546e-02 3.27371011e-02 2.72185211e+01] [-9.20797843e-02 9.95746496e-01 -3.19819006e-03 -1.04815411e+00] [-3.28925194e-02 1.68439824e-04 9.99458880e-01 -1.05365101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.482640000000004 meters 0.013810195053420014 Centerline is valid? [True, True] Translation: X:27.25, Y:-1.05, Z:-1.05 [[ 9.95183599e-01 9.24865281e-02 3.24937937e-02 2.72518232e+01] [-9.24319793e-02 9.95713923e-01 -3.18011191e-03 -1.05060419e+00] [-3.26486403e-02 1.61329543e-04 9.99466878e-01 -1.05442111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.51264 meters 0.014087495047865372 Centerline is valid? [True, True] Translation: X:27.28, Y:-1.05, Z:-1.06 [[ 9.95101559e-01 9.36418720e-02 3.16873297e-02 2.72837961e+01] [-9.35903935e-02 9.95605938e-01 -3.10715032e-03 -1.05273223e+00] [-3.18390530e-02 1.26300471e-04 9.99493001e-01 -1.05904903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.542640000000002 meters 0.013236225158242158 Centerline is valid? [True, True] Translation: X:27.32, Y:-1.05, Z:-1.06 [[ 9.95033192e-01 9.45131623e-02 3.12443367e-02 2.73170693e+01] [-9.44633781e-02 9.95523607e-01 -3.06895722e-03 -1.05403320e+00] [-3.13945316e-02 1.02268710e-04 9.99507065e-01 -1.05861516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.572640000000003 meters 0.013280464114086156 Centerline is valid? [True, True] Translation: X:27.35, Y:-1.06, Z:-1.06 [[ 9.94880403e-01 9.60165288e-02 3.15247651e-02 2.73481482e+01] [-9.59663925e-02 9.95379738e-01 -3.10308709e-03 -1.05638105e+00] [-3.16770601e-02 6.18825566e-05 9.99498154e-01 -1.06211638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.60264 meters 0.012830125490597383 Centerline is valid? [True, True] Translation: X:27.38, Y:-1.05, Z:-1.06 [[ 9.94540957e-01 9.96400452e-02 3.09862245e-02 2.73816390e+01] [-9.95932293e-02 9.95023547e-01 -3.05444290e-03 -1.05462912e+00] [-3.11363678e-02 -4.82495894e-05 9.99515145e-01 -1.06222272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.632640000000002 meters 0.0132923786161557 Centerline is valid? [True, True] Translation: X:27.41, Y:-1.05, Z:-1.06 [[ 9.94341654e-01 1.01609706e-01 3.09861786e-02 2.74133312e+01] [-1.01563656e-01 9.94824335e-01 -3.06052384e-03 -1.05420039e+00] [-3.11367835e-02 -1.03863256e-04 9.99515127e-01 -1.06409869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.662640000000003 meters 0.014066957969667348 Centerline is valid? [True, True] Translation: X:27.45, Y:-1.05, Z:-1.07 [[ 9.94128607e-01 1.03582742e-01 3.12878171e-02 2.74454005e+01] [-1.03536589e-01 9.94620827e-01 -3.09601487e-03 -1.05366844e+00] [-3.14402082e-02 -1.61596908e-04 9.99505621e-01 -1.06604594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.69264 meters 0.015399844521110671 Centerline is valid? [True, True] Translation: X:27.48, Y:-1.05, Z:-1.07 [[ 9.93804029e-01 1.06381843e-01 3.21940399e-02 2.74787827e+01] [-1.06334256e-01 9.94325319e-01 -3.19153084e-03 -1.05123765e+00] [-3.23508700e-02 -2.51573064e-04 9.99476542e-01 -1.06646783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.722640000000002 meters 0.01596373141545001 Centerline is valid? [True, True] Translation: X:27.51, Y:-1.05, Z:-1.07 [[ 9.93740738e-01 1.07088331e-01 3.18030574e-02 2.75098779e+01] [-1.07042053e-01 9.94249475e-01 -3.15908996e-03 -1.05182513e+00] [-3.19584748e-02 -2.64948156e-04 9.99489162e-01 -1.06832141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.752640000000003 meters 0.016211837368418865 Centerline is valid? [True, True] Translation: X:27.54, Y:-1.05, Z:-1.07 [[ 9.93748212e-01 1.07160192e-01 3.13238480e-02 2.75421790e+01] [-1.07115193e-01 9.94241734e-01 -3.11594697e-03 -1.05135377e+00] [-3.14773825e-02 -2.58793310e-04 9.99504431e-01 -1.07120389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.78264 meters 0.015580832620683858 Centerline is valid? [True, True] Translation: X:27.57, Y:-1.05, Z:-1.07 [[ 9.93815143e-01 1.06686813e-01 3.08120983e-02 2.75748002e+01] [-1.06642885e-01 9.94292648e-01 -3.07021429e-03 -1.05488134e+00] [-3.09637942e-02 -2.34665588e-04 9.99520479e-01 -1.07305914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.812640000000002 meters 0.02379350585444995 Centerline is valid? [True, True] Translation: X:27.61, Y:-1.06, Z:-1.08 [[ 9.93987086e-01 1.05308848e-01 2.99953320e-02 2.76075293e+01] [-1.05266428e-01 9.94439547e-01 -2.99425451e-03 -1.05912309e+00] [-3.01438658e-02 -1.81251134e-04 9.99545554e-01 -1.07952443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.842640000000003 meters 0.013752806125919332 Centerline is valid? [True, True] Translation: X:27.64, Y:-1.07, Z:-1.08 [[ 9.94101572e-01 1.04176862e-01 3.01537180e-02 2.76395427e+01] [-1.04133291e-01 9.94558777e-01 -3.01601381e-03 -1.06561832e+00] [-3.03038438e-02 -1.41781821e-04 9.99540723e-01 -1.07599972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.87264 meters 0.012796539290075855 Centerline is valid? [True, True] Translation: X:27.67, Y:-1.07, Z:-1.08 [[ 9.94481296e-01 1.00354049e-01 3.05944051e-02 2.76705356e+01] [-1.00307221e-01 9.94951790e-01 -3.06543980e-03 -1.07446069e+00] [-3.07475874e-02 -2.03172009e-05 9.99527181e-01 -1.07687697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.90264 meters 0.012924687842575559 Centerline is valid? [True, True] Translation: X:27.70, Y:-1.08, Z:-1.08 [[ 9.94694906e-01 9.81553736e-02 3.07825839e-02 2.77028639e+01] [-9.81067572e-02 9.95171101e-01 -3.08939858e-03 -1.08095605e+00] [-3.09371790e-02 5.30295368e-05 9.99521330e-01 -1.07839100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.932640000000003 meters 0.013673366956069492 Centerline is valid? [True, True] Translation: X:27.73, Y:-1.09, Z:-1.08 [[ 9.94894030e-01 9.60394479e-02 3.10208680e-02 2.77340096e+01] [-9.59888498e-02 9.95377521e-01 -3.11964036e-03 -1.08745821e+00] [-3.11770833e-02 1.26054127e-04 9.99513869e-01 -1.08011924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.96264 meters 0.016013074376747233 Centerline is valid? [True, True] Translation: X:27.76, Y:-1.10, Z:-1.08 [[ 9.95266174e-01 9.19917866e-02 3.13489223e-02 2.77637650e+01] [-9.19378665e-02 9.95759731e-01 -3.16017547e-03 -1.09788837e+00] [-3.15067046e-02 2.63062717e-04 9.99503506e-01 -1.08214984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.99264 meters 0.016929891963779753 Centerline is valid? [True, True] Translation: X:27.80, Y:-1.10, Z:-1.08 [[ 9.95386400e-01 9.06448661e-02 3.14550796e-02 2.77954202e+01] [-9.05899312e-02 9.95883233e-01 -3.17013262e-03 -1.10406481e+00] [-3.16129427e-02 3.05993400e-04 9.99500139e-01 -1.08347396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.022640000000003 meters 0.01815670012159782 Centerline is valid? [True, True] Translation: X:27.83, Y:-1.11, Z:-1.09 [[ 9.95529763e-01 8.93431455e-02 3.06315658e-02 2.78269106e+01] [-8.92902822e-02 9.96000846e-01 -3.09207206e-03 -1.11067684e+00] [-3.07853209e-02 3.43148602e-04 9.99525961e-01 -1.08612588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.05264 meters 0.019765134016183232 Centerline is valid? [True, True] Translation: X:27.86, Y:-1.12, Z:-1.09 [[ 9.95660321e-01 8.81201215e-02 2.99227112e-02 2.78569828e+01] [-8.80689748e-02 9.96109784e-01 -3.02551102e-03 -1.11852317e+00] [-3.00729138e-02 3.77118779e-04 9.99547637e-01 -1.08919002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.08264 meters 0.02005945057395214 Centerline is valid? [True, True] Translation: X:27.89, Y:-1.12, Z:-1.09 [[ 9.95666654e-01 8.79718110e-02 3.01475337e-02 2.78884139e+01] [-8.79196899e-02 9.96122889e-01 -3.05268893e-03 -1.12340335e+00] [-3.02991989e-02 3.88898758e-04 9.99540798e-01 -1.09024953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.112640000000003 meters 0.020456009624264936 Centerline is valid? [True, True] Translation: X:27.92, Y:-1.13, Z:-1.09 [[ 9.95674717e-01 8.78584432e-02 3.02117843e-02 2.79203408e+01] [-8.78058839e-02 9.96132890e-01 -3.06457606e-03 -1.12950148e+00] [-3.03642009e-02 3.98548483e-04 9.99538822e-01 -1.09182641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.142640000000004 meters 0.02052301491689256 Centerline is valid? [True, True] Translation: X:27.95, Y:-1.13, Z:-1.09 [[ 9.95655337e-01 8.81216333e-02 3.00836865e-02 2.79532583e+01] [-8.80694838e-02 9.96109644e-01 -3.05671288e-03 -1.13356915e+00] [-3.02360128e-02 3.93977746e-04 9.99542710e-01 -1.09335148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.17264 meters 0.02035843881081865 Centerline is valid? [True, True] Translation: X:27.99, Y:-1.14, Z:-1.10 [[ 9.95608119e-01 8.86527548e-02 3.00859284e-02 2.79864311e+01] [-8.86006701e-02 9.96062519e-01 -3.06255348e-03 -1.13732200e+00] [-3.02389694e-02 3.83469690e-04 9.99542624e-01 -1.09537622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.202640000000002 meters 0.01968971465225631 Centerline is valid? [True, True] Translation: X:28.02, Y:-1.14, Z:-1.10 [[ 9.95496916e-01 8.99048190e-02 3.00501837e-02 2.80175975e+01] [-8.98532467e-02 9.95950300e-01 -3.06492032e-03 -1.14268070e+00] [-3.02040406e-02 3.51012156e-04 9.99543692e-01 -1.09784645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.232640000000004 meters 0.019094053205306733 Centerline is valid? [True, True] Translation: X:28.05, Y:-1.15, Z:-1.10 [[ 9.95430489e-01 9.06956732e-02 2.98736764e-02 2.80501019e+01] [-9.06449402e-02 9.95878600e-01 -3.05094504e-03 -1.14693442e+00] [-3.00272626e-02 3.29106097e-04 9.99549026e-01 -1.09910519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.26264 meters 0.01791299267557119 Centerline is valid? [True, True] Translation: X:28.08, Y:-1.15, Z:-1.10 [[ 9.95338924e-01 9.17018776e-02 2.98528264e-02 2.80822484e+01] [-9.16514953e-02 9.95786460e-01 -3.05456222e-03 -1.14930103e+00] [-3.00071494e-02 3.04268502e-04 9.99549638e-01 -1.09944618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.292640000000002 meters 0.025229172961737593 Centerline is valid? [True, True] Translation: X:28.11, Y:-1.15, Z:-1.11 [[ 9.95202445e-01 9.30164453e-02 3.03320793e-02 2.81134185e+01] [-9.29648816e-02 9.95664535e-01 -3.10886510e-03 -1.15182105e+00] [-3.04897512e-02 2.74131984e-04 9.99535042e-01 -1.10507033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.322640000000003 meters 0.01562653636116945 Centerline is valid? [True, True] Translation: X:28.15, Y:-1.15, Z:-1.10 [[ 9.95097379e-01 9.40935052e-02 3.04568276e-02 2.81462350e+01] [-9.40418839e-02 9.95563334e-01 -3.12611675e-03 -1.15360024e+00] [-3.06158481e-02 2.46573140e-04 9.99531195e-01 -1.09951147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.35264 meters 0.01487620115737208 Centerline is valid? [True, True] Translation: X:28.18, Y:-1.16, Z:-1.10 [[ 9.94896626e-01 9.62114121e-02 3.03984984e-02 2.81771826e+01] [-9.61608125e-02 9.95360904e-01 -3.12549382e-03 -1.15604548e+00] [-3.05581850e-02 1.86398952e-04 9.99532972e-01 -1.10162061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.382640000000002 meters 0.014430706462897038 Centerline is valid? [True, True] Translation: X:28.21, Y:-1.16, Z:-1.10 [[ 9.94832723e-01 9.69820494e-02 3.00388972e-02 2.82100857e+01] [-9.69328636e-02 9.95286117e-01 -3.09274893e-03 -1.15815981e+00] [-3.01972385e-02 1.65011517e-04 9.99543946e-01 -1.10319572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.412640000000003 meters 0.014430706462897038 Centerline is valid? [True, True] Translation: X:28.24, Y:-1.16, Z:-1.10 [[ 9.94813867e-01 9.71754633e-02 3.00382935e-02 2.82423931e+01] [-9.71261889e-02 9.95267252e-01 -3.09859866e-03 -1.16167566e+00] [-3.01972376e-02 1.65023947e-04 9.99543946e-01 -1.10456923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.44264 meters 0.014579329158090248 Centerline is valid? [True, True] Translation: X:28.28, Y:-1.17, Z:-1.11 [[ 9.94824558e-01 9.71812901e-02 2.96630403e-02 2.82752598e+01] [-9.71330718e-02 9.95266682e-01 -3.06559891e-03 -1.16679292e+00] [-2.98205545e-02 1.68470860e-04 9.99555254e-01 -1.10655333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.472640000000002 meters 0.01451884937814344 Centerline is valid? [True, True] Translation: X:28.31, Y:-1.17, Z:-1.11 [[ 9.94831735e-01 9.67952815e-02 3.06674524e-02 2.83067962e+01] [-9.67433544e-02 9.95304293e-01 -3.17601182e-03 -1.17229075e+00] [-3.08308700e-02 1.92725138e-04 9.99524597e-01 -1.10573078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.502640000000003 meters 0.015163638713958861 Centerline is valid? [True, True] Translation: X:28.34, Y:-1.18, Z:-1.11 [[ 9.94820729e-01 9.66072414e-02 3.16031298e-02 2.83376205e+01] [-9.65518157e-02 9.95322559e-01 -3.27876085e-03 -1.17704867e+00] [-3.17720600e-02 2.10439704e-04 9.99495119e-01 -1.10709444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.53264 meters 0.016064886707914096 Centerline is valid? [True, True] Translation: X:28.37, Y:-1.18, Z:-1.11 [[ 9.94840120e-01 9.65432087e-02 3.11856382e-02 2.83689381e+01] [-9.64890584e-02 9.95328771e-01 -3.24017130e-03 -1.18133644e+00] [-3.13527795e-02 2.14379540e-04 9.99508358e-01 -1.11074260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.562640000000002 meters 0.014939537950001974 Centerline is valid? [True, True] Translation: X:28.40, Y:-1.18, Z:-1.11 [[ 9.94826374e-01 9.67983175e-02 3.08313456e-02 2.84018985e+01] [-9.67453527e-02 9.95303995e-01 -3.20854135e-03 -1.18387058e+00] [-3.09971428e-02 2.09152148e-04 9.99519451e-01 -1.10998210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.592640000000003 meters 0.014852385641046753 Centerline is valid? [True, True] Translation: X:28.43, Y:-1.19, Z:-1.11 [[ 9.94710366e-01 9.77549993e-02 3.15475423e-02 2.84327619e+01] [-9.76998120e-02 9.95210492e-01 -3.28980482e-03 -1.18607161e+00] [-3.17180400e-02 1.90214009e-04 9.99496838e-01 -1.11178803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.62264 meters 0.014374805118980791 Centerline is valid? [True, True] Translation: X:28.47, Y:-1.19, Z:-1.11 [[ 9.94629141e-01 9.85881124e-02 3.15159519e-02 2.84661752e+01] [-9.85333073e-02 9.95128311e-01 -3.29112681e-03 -1.18785723e+00] [-3.16868819e-02 1.68079662e-04 9.99497831e-01 -1.11275014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.65264 meters 0.013674284030111094 Centerline is valid? [True, True] Translation: X:28.50, Y:-1.19, Z:-1.11 [[ 9.94546963e-01 9.92919834e-02 3.18973322e-02 2.84982348e+01] [-9.92360019e-02 9.95058329e-01 -3.33729404e-03 -1.18952055e+00] [-3.20710726e-02 1.53731932e-04 9.99485579e-01 -1.11303619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.682640000000003 meters 0.013364100260822874 Centerline is valid? [True, True] Translation: X:28.53, Y:-1.19, Z:-1.11 [[ 9.94442368e-01 1.00209593e-01 3.22864392e-02 2.85306772e+01] [-1.00152536e-01 9.94966341e-01 -3.38367465e-03 -1.19191085e+00] [-3.24629969e-02 1.31300648e-04 9.99472929e-01 -1.11384936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.71264 meters 0.013231992411123078 Centerline is valid? [True, True] Translation: X:28.56, Y:-1.19, Z:-1.12 [[ 9.94294915e-01 1.01901628e-01 3.15226920e-02 2.85622884e+01] [-1.01847925e-01 9.94794477e-01 -3.30879874e-03 -1.19194808e+00] [-3.16957719e-02 7.94009820e-05 9.99497560e-01 -1.11715284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.74264 meters 0.013265371717066387 Centerline is valid? [True, True] Translation: X:28.60, Y:-1.19, Z:-1.12 [[ 9.94245053e-01 1.02601052e-01 3.08188077e-02 2.85951238e+01] [-1.02549890e-01 9.94722585e-01 -3.24033265e-03 -1.19397490e+00] [-3.09886256e-02 6.12193703e-05 9.99519735e-01 -1.11972637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.772640000000003 meters 0.013040026201388506 Centerline is valid? [True, True] Translation: X:28.63, Y:-1.20, Z:-1.12 [[ 9.94181751e-01 1.03251856e-01 3.06871200e-02 2.86284925e+01] [-1.03201262e-01 9.94655243e-01 -3.23224120e-03 -1.19646013e+00] [-3.08568397e-02 4.64857206e-05 9.99523813e-01 -1.12025435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.802640000000004 meters 0.02911474678105406 Centerline is valid? [True, True] Translation: X:28.66, Y:-1.20, Z:-1.13 [[ 9.94099402e-01 1.03958842e-01 3.09667241e-02 2.86601930e+01] [-1.03907465e-01 9.94581600e-01 -3.26809205e-03 -1.19942608e+00] [-3.11386810e-02 3.11345468e-05 9.99515073e-01 -1.12723544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.83264 meters 0.013100666137319165 Centerline is valid? [True, True] Translation: X:28.69, Y:-1.20, Z:-1.12 [[ 9.94160280e-01 1.03538719e-01 3.04149805e-02 2.86934146e+01] [-1.03488796e-01 9.94625423e-01 -3.21523190e-03 -1.20407727e+00] [-3.05844138e-02 4.88461353e-05 9.99532186e-01 -1.12387526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.862640000000003 meters 0.013356982087371318 Centerline is valid? [True, True] Translation: X:28.73, Y:-1.21, Z:-1.13 [[ 9.94156591e-01 1.03530952e-01 3.05616644e-02 2.87252540e+01] [-1.03480351e-01 9.94626231e-01 -3.23696034e-03 -1.20763997e+00] [-3.07325587e-02 5.55136864e-05 9.99527642e-01 -1.12625016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.892640000000004 meters 0.013435475485206723 Centerline is valid? [True, True] Translation: X:28.76, Y:-1.21, Z:-1.13 [[ 9.94161629e-01 1.03539333e-01 3.03687776e-02 2.87584505e+01] [-1.03489205e-01 9.94625358e-01 -3.22203829e-03 -1.20953993e+00] [-3.05391640e-02 6.03861828e-05 9.99533569e-01 -1.12676219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.92264 meters 0.013402391536890757 Centerline is valid? [True, True] Translation: X:28.79, Y:-1.21, Z:-1.13 [[ 9.94089816e-01 1.04298872e-01 3.01194671e-02 2.87910040e+01] [-1.04249741e-01 9.94545999e-01 -3.20125077e-03 -1.21142527e+00] [-3.02890823e-02 4.23841407e-05 9.99541180e-01 -1.12822208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.952640000000002 meters 0.0130579224873694 Centerline is valid? [True, True] Translation: X:28.82, Y:-1.21, Z:-1.13 [[ 9.93952206e-01 1.05532626e-01 3.03624396e-02 2.88240996e+01] [-1.05483097e-01 9.94415841e-01 -3.23288426e-03 -1.21277008e+00] [-3.05340657e-02 1.06082741e-05 9.99533727e-01 -1.12857653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.982640000000004 meters 0.0133938290515283 Centerline is valid? [True, True] Translation: X:28.86, Y:-1.21, Z:-1.13 [[ 9.93551536e-01 1.09170148e-01 3.06141136e-02 2.88580086e+01] [-1.09121335e-01 9.94023073e-01 -3.26570071e-03 -1.21082426e+00] [-3.07876523e-02 -9.60109805e-05 9.99525943e-01 -1.12889107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.012640000000005 meters 0.014128978885778786 Centerline is valid? [True, True] Translation: X:28.89, Y:-1.21, Z:-1.13 [[ 9.93292474e-01 1.11419416e-01 3.09156156e-02 2.88907925e+01] [-1.11370536e-01 9.93773459e-01 -3.30394356e-03 -1.21065503e+00] [-3.10912417e-02 -1.61306403e-04 9.99516537e-01 -1.12902653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.04264 meters 0.015383903240474278 Centerline is valid? [True, True] Translation: X:28.92, Y:-1.21, Z:-1.13 [[ 9.93059820e-01 1.13448418e-01 3.10104817e-02 2.89218095e+01] [-1.13400026e-01 9.93543863e-01 -3.32049904e-03 -1.20972853e+00] [-3.11869791e-02 -2.19135240e-04 9.99513544e-01 -1.13077052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.07264 meters 0.016756661897515696 Centerline is valid? [True, True] Translation: X:28.95, Y:-1.21, Z:-1.13 [[ 9.92761478e-01 1.16075164e-01 3.08415972e-02 2.89542943e+01] [-1.16028421e-01 9.93240388e-01 -3.30702287e-03 -1.20819254e+00] [-3.10169832e-02 -2.95416916e-04 9.99518814e-01 -1.13127549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.10264 meters 0.01738252508370199 Centerline is valid? [True, True] Translation: X:28.99, Y:-1.21, Z:-1.13 [[ 9.92699347e-01 1.16603361e-01 3.08490177e-02 2.89861930e+01] [-1.16556671e-01 9.93178515e-01 -3.31361250e-03 -1.20910054e+00] [-3.10249599e-02 -3.06237832e-04 9.99518563e-01 -1.13321454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.13264 meters 0.017010364911010968 Centerline is valid? [True, True] Translation: X:29.02, Y:-1.21, Z:-1.13 [[ 9.92709342e-01 1.16476002e-01 3.10081031e-02 2.90185338e+01] [-1.16428665e-01 9.93193461e-01 -3.33396400e-03 -1.21181031e+00] [-3.11853720e-02 -3.00574830e-04 9.99513573e-01 -1.13395973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.16264 meters 0.015994986165531324 Centerline is valid? [True, True] Translation: X:29.05, Y:-1.22, Z:-1.14 [[ 9.92966757e-01 1.14087744e-01 3.16386938e-02 2.90498471e+01] [-1.14037076e-01 9.93470652e-01 -3.40723367e-03 -1.21596042e+00] [-3.18208373e-02 -2.24714352e-04 9.99493564e-01 -1.13566598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.192640000000004 meters 0.014141185171867698 Centerline is valid? [True, True] Translation: X:29.08, Y:-1.22, Z:-1.13 [[ 9.93168582e-01 1.12184105e-01 3.21075387e-02 2.90816703e+01] [-1.12130751e-01 9.93687426e-01 -3.46323872e-03 -1.22300008e+00] [-3.22933778e-02 -1.60662521e-04 9.99478420e-01 -1.13483662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.222640000000006 meters 0.013264235201479202 Centerline is valid? [True, True] Translation: X:29.11, Y:-1.23, Z:-1.14 [[ 9.93416397e-01 1.10029821e-01 3.18951457e-02 2.91130675e+01] [-1.09975893e-01 9.93928283e-01 -3.44551310e-03 -1.23034478e+00] [-3.20805965e-02 -8.48679251e-05 9.99485282e-01 -1.13609757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.25264 meters 0.01317777120472402 Centerline is valid? [True, True] Translation: X:29.15, Y:-1.24, Z:-1.14 [[ 9.93691777e-01 1.07767507e-01 3.10292987e-02 2.91455840e+01] [-1.07715222e-01 9.94176123e-01 -3.35657277e-03 -1.23922131e+00] [-3.12103174e-02 -6.92902558e-06 9.99512839e-01 -1.13860222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.28264 meters 0.014530250095562912 Centerline is valid? [True, True] Translation: X:29.18, Y:-1.25, Z:-1.14 [[ 9.94252094e-01 1.02837355e-01 2.97867683e-02 2.91763849e+01] [-1.02786792e-01 9.94698174e-01 -3.22777836e-03 -1.25329539e+00] [-2.99607802e-02 1.47539026e-04 9.99551064e-01 -1.14221615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.31264 meters 0.016177754470766754 Centerline is valid? [True, True] Translation: X:29.21, Y:-1.26, Z:-1.14 [[ 9.94507702e-01 1.00314002e-01 2.98585206e-02 2.92062640e+01] [-1.00261896e-01 9.94955802e-01 -3.24097070e-03 -1.26202144e+00] [-3.00330231e-02 2.29498420e-04 9.99548881e-01 -1.14372264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.34264 meters 0.021054364602312723 Centerline is valid? [True, True] Translation: X:29.24, Y:-1.28, Z:-1.15 [[ 9.94970000e-01 9.55536255e-02 3.00699687e-02 2.92364052e+01] [-9.54984927e-02 9.95424211e-01 -3.26761363e-03 -1.27551671e+00] [-3.02446072e-02 3.79540845e-04 9.99542455e-01 -1.14568857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.372640000000004 meters 0.021725762527355107 Centerline is valid? [True, True] Translation: X:29.27, Y:-1.28, Z:-1.15 [[ 9.95156829e-01 9.38335634e-02 2.92941656e-02 2.92682094e+01] [-9.37803728e-02 9.95587807e-01 -3.18743236e-03 -1.28189255e+00] [-2.94640022e-02 4.24777304e-04 9.99565752e-01 -1.14631365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.402640000000005 meters 0.02256103334149055 Centerline is valid? [True, True] Translation: X:29.30, Y:-1.29, Z:-1.15 [[ 9.95325192e-01 9.22285696e-02 2.86645054e-02 2.92995493e+01] [-9.21768472e-02 9.95737753e-01 -3.12339657e-03 -1.28906820e+00] [-2.88303966e-02 4.66591554e-04 9.99584209e-01 -1.14776236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.43264 meters 0.023572104935395796 Centerline is valid? [True, True] Translation: X:29.33, Y:-1.30, Z:-1.15 [[ 9.95500120e-01 9.06346405e-02 2.76563517e-02 2.93302729e+01] [-9.05857242e-02 9.95884085e-01 -3.01908346e-03 -1.29942094e+00] [-2.78161541e-02 5.00227293e-04 9.99612931e-01 -1.14983996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.46264 meters 0.023928851780516475 Centerline is valid? [True, True] Translation: X:29.36, Y:-1.31, Z:-1.15 [[ 9.95502750e-01 9.08562941e-02 2.68217955e-02 2.93617491e+01] [-9.08103395e-02 9.95863898e-01 -2.92898057e-03 -1.30556133e+00] [-2.69769741e-02 4.80111857e-04 9.99635940e-01 -1.15260508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.49264 meters 0.0233344307730946 Centerline is valid? [True, True] Translation: X:29.39, Y:-1.31, Z:-1.15 [[ 9.95419310e-01 9.18818871e-02 2.64218712e-02 2.93937162e+01] [-9.18375374e-02 9.95769811e-01 -2.88969499e-03 -1.30979073e+00] [-2.65756123e-02 4.49938607e-04 9.99646705e-01 -1.15447998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.52264 meters 0.023426015778883695 Centerline is valid? [True, True] Translation: X:29.42, Y:-1.31, Z:-1.16 [[ 9.95269565e-01 9.34939410e-02 2.64078746e-02 2.94244982e+01] [-9.34500804e-02 9.95619764e-01 -2.89287084e-03 -1.31417689e+00] [-2.65626677e-02 4.11368302e-04 9.99647065e-01 -1.15719882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.552640000000004 meters 0.02004546550473909 Centerline is valid? [True, True] Translation: X:29.46, Y:-1.31, Z:-1.16 [[ 9.94896006e-01 9.73249561e-02 2.66418979e-02 2.94572300e+01] [-9.72815757e-02 9.95252608e-01 -2.92266246e-03 -1.31308465e+00] [-2.67998663e-02 3.15979400e-04 9.99640769e-01 -1.15778247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.582640000000005 meters 0.017263791521140808 Centerline is valid? [True, True] Translation: X:29.49, Y:-1.31, Z:-1.16 [[ 9.94688747e-01 9.94753112e-02 2.64378273e-02 2.94896339e+01] [-9.94332419e-02 9.95039997e-01 -2.90441662e-03 -1.31214651e+00] [-2.65956133e-02 2.60191653e-04 9.99646240e-01 -1.15593863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.61264 meters 0.015523147820120826 Centerline is valid? [True, True] Translation: X:29.52, Y:-1.31, Z:-1.16 [[ 9.94231174e-01 1.03764381e-01 2.71537472e-02 2.95208083e+01] [-1.03721460e-01 9.94601895e-01 -2.98820513e-03 -1.31274662e+00] [-2.73172376e-02 1.54540399e-04 9.99626803e-01 -1.15799468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.64264 meters 0.014613890152673321 Centerline is valid? [True, True] Translation: X:29.55, Y:-1.32, Z:-1.16 [[ 9.94002340e-01 1.05770906e-01 2.77824490e-02 2.95529811e+01] [-1.05726631e-01 9.94390519e-01 -3.06192358e-03 -1.31509874e+00] [-2.79504663e-02 1.06214468e-04 9.99609304e-01 -1.15895339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.67264 meters 0.014017315376281135 Centerline is valid? [True, True] Translation: X:29.59, Y:-1.32, Z:-1.16 [[ 9.93809200e-01 1.07428793e-01 2.83253931e-02 2.95851991e+01] [-1.07383306e-01 9.94212779e-01 -3.12658276e-03 -1.31748640e+00] [-2.84973528e-02 6.55523703e-05 9.99593866e-01 -1.15928492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.70264 meters 0.013697661471425341 Centerline is valid? [True, True] Translation: X:29.62, Y:-1.32, Z:-1.16 [[ 9.93633354e-01 1.08989040e-01 2.85332655e-02 2.96186162e+01] [-1.08943397e-01 9.94042951e-01 -3.15401238e-03 -1.31954817e+00] [-2.87070443e-02 2.54210334e-05 9.99587868e-01 -1.16030335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.73264 meters 0.013574993842701206 Centerline is valid? [True, True] Translation: X:29.65, Y:-1.32, Z:-1.16 [[ 9.93279588e-01 1.11964663e-01 2.93185132e-02 2.96512482e+01] [-1.11917589e-01 9.93712187e-01 -3.24686794e-03 -1.31873646e+00] [-2.94976983e-02 -5.62096672e-05 9.99564847e-01 -1.15994725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.762640000000005 meters 0.013647883538658975 Centerline is valid? [True, True] Translation: X:29.68, Y:-1.32, Z:-1.16 [[ 9.93135857e-01 1.13023912e-01 3.01125461e-02 2.96828685e+01] [-1.12974583e-01 9.93592264e-01 -3.33998469e-03 -1.32106525e+00] [-3.02970910e-02 -8.48937796e-05 9.99540934e-01 -1.16080770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.79264 meters 0.013276932996606771 Centerline is valid? [True, True] Translation: X:29.72, Y:-1.33, Z:-1.16 [[ 9.93072619e-01 1.13543279e-01 3.02439619e-02 2.97159217e+01] [-1.13493619e-01 9.93533046e-01 -3.35918505e-03 -1.32569952e+00] [-3.04297885e-02 -9.65819812e-05 9.99536902e-01 -1.15992543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.82264 meters 0.013287954821746429 Centerline is valid? [True, True] Translation: X:29.75, Y:-1.33, Z:-1.16 [[ 9.93246927e-01 1.12115374e-01 2.98443316e-02 2.97468690e+01] [-1.12066170e-01 9.93695195e-01 -3.32153757e-03 -1.33472359e+00] [-3.00285644e-02 -4.54329652e-05 9.99549040e-01 -1.16381852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.85264 meters 0.013402397461012032 Centerline is valid? [True, True] Translation: X:29.78, Y:-1.34, Z:-1.17 [[ 9.93400636e-01 1.10819908e-01 2.95656117e-02 2.97783457e+01] [-1.10770958e-01 9.93840504e-01 -3.29345310e-03 -1.34203565e+00] [-2.97484826e-02 -3.29272269e-06 9.99557416e-01 -1.16656704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.88264 meters 0.01327062712723799 Centerline is valid? [True, True] Translation: X:29.81, Y:-1.35, Z:-1.17 [[ 9.93594418e-01 1.09158511e-01 2.92327101e-02 2.98110077e+01] [-1.09109796e-01 9.94024354e-01 -3.26122210e-03 -1.34942673e+00] [-2.94140159e-02 5.07570562e-05 9.99567313e-01 -1.16612460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.91264 meters 0.014911176336840972 Centerline is valid? [True, True] Translation: X:29.84, Y:-1.36, Z:-1.17 [[ 9.93968532e-01 1.05720354e-01 2.91507246e-02 2.98410686e+01] [-1.05670247e-01 9.94395888e-01 -3.25840863e-03 -1.36146799e+00] [-2.93318408e-02 1.58391384e-04 9.99569716e-01 -1.17000649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.942640000000004 meters 0.01509047014567427 Centerline is valid? [True, True] Translation: X:29.87, Y:-1.37, Z:-1.17 [[ 9.94067835e-01 1.04889648e-01 2.87628451e-02 2.98729377e+01] [-1.04840391e-01 9.94483850e-01 -3.21946536e-03 -1.36755392e+00] [-2.89418735e-02 1.84859049e-04 9.99581079e-01 -1.17043630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.972640000000006 meters 0.02519781242464009 Centerline is valid? [True, True] Translation: X:29.91, Y:-1.37, Z:-1.18 [[ 9.94044501e-01 1.05143006e-01 2.86439921e-02 2.99058711e+01] [-1.05094128e-01 9.94457096e-01 -3.21072531e-03 -1.37249556e+00] [-2.88228065e-02 1.81288453e-04 9.99584520e-01 -1.17562023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.00264 meters 0.014635715134311438 Centerline is valid? [True, True] Translation: X:29.94, Y:-1.37, Z:-1.17 [[ 9.93808342e-01 1.07474106e-01 2.81832587e-02 2.99375182e+01] [-1.07427558e-01 9.94207877e-01 -3.16500728e-03 -1.37499112e+00] [-2.83601742e-02 1.17751986e-04 9.99597762e-01 -1.17443864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.03264 meters 0.013647207104709744 Centerline is valid? [True, True] Translation: X:29.97, Y:-1.38, Z:-1.17 [[ 9.93528756e-01 1.09984739e-01 2.83543452e-02 2.99700997e+01] [-1.09938520e-01 9.93933275e-01 -3.18859660e-03 -1.37567983e+00] [-2.85330241e-02 5.07276662e-05 9.99592849e-01 -1.17418711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.06264 meters 0.013416121246940058 Centerline is valid? [True, True] Translation: X:30.00, Y:-1.38, Z:-1.18 [[ 9.93226344e-01 1.12670441e-01 2.84042593e-02 3.00033146e+01] [-1.12625028e-01 9.93632413e-01 -3.19870795e-03 -1.37615006e+00] [-2.85837925e-02 -2.19895066e-05 9.99591400e-01 -1.17526368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.09264 meters 0.014009976525577407 Centerline is valid? [True, True] Translation: X:30.04, Y:-1.38, Z:-1.18 [[ 9.92914987e-01 1.15286731e-01 2.87888557e-02 3.00353032e+01] [-1.15241007e-01 9.93332251e-01 -3.24796206e-03 -1.37581501e+00] [-2.89713458e-02 -9.27065115e-05 9.99580238e-01 -1.17729244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.122640000000004 meters 0.015863507466354447 Centerline is valid? [True, True] Translation: X:30.07, Y:-1.37, Z:-1.18 [[ 9.92381228e-01 1.19760199e-01 2.89308476e-02 3.00679054e+01] [-1.19715760e-01 9.92802824e-01 -3.26954739e-03 -1.37153194e+00] [-2.91141888e-02 -2.18840962e-04 9.99576068e-01 -1.17796881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.152640000000005 meters 0.0163055610100294 Centerline is valid? [True, True] Translation: X:30.10, Y:-1.37, Z:-1.18 [[ 9.92201472e-01 1.21384988e-01 2.83182383e-02 3.00997117e+01] [-1.21342939e-01 9.92605470e-01 -3.20501080e-03 -1.37277194e+00] [-2.84978785e-02 -2.56201848e-04 9.99593820e-01 -1.17849721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.18264 meters 0.017704355428310413 Centerline is valid? [True, True] Translation: X:30.13, Y:-1.37, Z:-1.18 [[ 9.92015553e-01 1.22965150e-01 2.80127694e-02 3.01307866e+01] [-1.22924507e-01 9.92410946e-01 -3.17493493e-03 -1.37237949e+00] [-2.81905853e-02 -2.93871020e-04 9.99602523e-01 -1.18116313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.21264 meters 0.018208937538688012 Centerline is valid? [True, True] Translation: X:30.16, Y:-1.38, Z:-1.18 [[ 9.92008985e-01 1.23001588e-01 2.80852742e-02 3.01627373e+01] [-1.22960628e-01 9.92406431e-01 -3.18740647e-03 -1.37512521e+00] [-2.82640628e-02 -2.91447089e-04 9.99600449e-01 -1.18425029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.24264 meters 0.018004464135640195 Centerline is valid? [True, True] Translation: X:30.20, Y:-1.38, Z:-1.19 [[ 9.92035049e-01 1.22846123e-01 2.78440490e-02 3.01950308e+01] [-1.22805663e-01 9.92425691e-01 -3.16500833e-03 -1.37972252e+00] [-2.80219586e-02 -2.79607700e-04 9.99607269e-01 -1.18533578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.27264 meters 0.017223647979065306 Centerline is valid? [True, True] Translation: X:30.23, Y:-1.38, Z:-1.19 [[ 9.92084348e-01 1.22312198e-01 2.84318944e-02 3.02272193e+01] [-1.22269622e-01 9.92491640e-01 -3.23776522e-03 -1.38443858e+00] [-2.86144357e-02 -2.64220789e-04 9.99590488e-01 -1.18511662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.302640000000004 meters 0.016990455580685196 Centerline is valid? [True, True] Translation: X:30.26, Y:-1.39, Z:-1.18 [[ 9.91993012e-01 1.22978969e-01 2.87408699e-02 3.02603647e+01] [-1.22935611e-01 9.92409237e-01 -3.27747003e-03 -1.38687881e+00] [-2.89257647e-02 -2.82049033e-04 9.99581523e-01 -1.18437884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.332640000000005 meters 0.016990455580685196 Centerline is valid? [True, True] Translation: X:30.29, Y:-1.39, Z:-1.19 [[ 9.91968852e-01 1.23173842e-01 2.87402274e-02 3.02926328e+01] [-1.23130403e-01 9.92385069e-01 -3.28309196e-03 -1.39075869e+00] [-2.89257636e-02 -2.82070830e-04 9.99581523e-01 -1.18575242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.36264 meters 0.01735155237198567 Centerline is valid? [True, True] Translation: X:30.32, Y:-1.39, Z:-1.19 [[ 9.91832976e-01 1.24066335e-01 2.95785629e-02 3.03244226e+01] [-1.24020534e-01 9.92273877e-01 -3.38515140e-03 -1.39126935e+00] [-2.97700187e-02 -3.10844372e-04 9.99556726e-01 -1.18557581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.39264 meters 0.01880034511324762 Centerline is valid? [True, True] Translation: X:30.36, Y:-1.39, Z:-1.18 [[ 9.91495571e-01 1.26488202e-01 3.06148285e-02 3.03569190e+01] [-1.26440100e-01 9.91968035e-01 -3.50984614e-03 -1.38769583e+00] [-3.08128854e-02 -3.90945080e-04 9.99525094e-01 -1.18430270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.42264 meters 0.020511057691764003 Centerline is valid? [True, True] Translation: X:30.39, Y:-1.39, Z:-1.19 [[ 9.91350537e-01 1.27609898e-01 3.06565932e-02 3.03884829e+01] [-1.27562033e-01 9.91824348e-01 -3.52008946e-03 -1.38686736e+00] [-3.08551538e-02 -4.20974770e-04 9.99523778e-01 -1.18649227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.45264 meters 0.02246096403092873 Centerline is valid? [True, True] Translation: X:30.42, Y:-1.39, Z:-1.19 [[ 9.91235238e-01 1.28590354e-01 3.02857024e-02 3.04195772e+01] [-1.28543928e-01 9.91697699e-01 -3.48306594e-03 -1.38623486e+00] [-3.04821501e-02 -4.40505442e-04 9.99535214e-01 -1.18944964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.48264 meters 0.02240251646268558 Centerline is valid? [True, True] Translation: X:30.45, Y:-1.39, Z:-1.19 [[ 9.91117236e-01 1.29866980e-01 2.86564369e-02 3.04507929e+01] [-1.29825855e-01 9.91531323e-01 -3.29895809e-03 -1.38674205e+00] [-2.88421805e-02 -4.50692198e-04 9.99583876e-01 -1.19175215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.512640000000005 meters 0.023502020938625648 Centerline is valid? [True, True] Translation: X:30.48, Y:-1.39, Z:-1.19 [[ 9.91081880e-01 1.30221496e-01 2.82678024e-02 3.04801318e+01] [-1.30181589e-01 9.91484824e-01 -3.25538795e-03 -1.38627992e+00] [-2.84510186e-02 -4.53591439e-04 9.99595085e-01 -1.19460489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.54264 meters 0.023730038180539537 Centerline is valid? [True, True] Translation: X:30.51, Y:-1.39, Z:-1.20 [[ 9.91068837e-01 1.30275243e-01 2.84766974e-02 3.05098582e+01] [-1.30234786e-01 9.91477761e-01 -3.27877626e-03 -1.38616207e+00] [-2.86611555e-02 -4.59163608e-04 9.99589079e-01 -1.19564675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.57264 meters 0.023256168017382263 Centerline is valid? [True, True] Translation: X:30.54, Y:-1.39, Z:-1.20 [[ 9.91082221e-01 1.30085327e-01 2.88762594e-02 3.05409615e+01] [-1.30043631e-01 9.91502696e-01 -3.32528034e-03 -1.38636319e+00] [-2.90634593e-02 -4.59547396e-04 9.99577463e-01 -1.19568136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.60264 meters 0.019273634991074488 Centerline is valid? [True, True] Translation: X:30.57, Y:-1.39, Z:-1.19 [[ 9.91298621e-01 1.28215525e-01 2.97963638e-02 3.05727423e+01] [-1.28237779e-01 9.91742760e-01 -1.17077229e-03 -1.38984686e+00] [-2.97004392e-02 -2.66043455e-03 9.99555304e-01 -1.19429894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.63264 meters 0.020185384967121946 Centerline is valid? [True, True] Translation: X:30.60, Y:-1.39, Z:-1.20 [[ 9.91495683e-01 1.26782304e-01 2.93693423e-02 3.06024100e+01] [-1.26667039e-01 9.91928568e-01 -5.75997637e-03 -1.38695884e+00] [-2.98625528e-02 1.99086408e-03 9.99552032e-01 -1.19777897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.66264 meters 0.017986036264586062 Centerline is valid? [True, True] Translation: X:30.63, Y:-1.39, Z:-1.20 [[ 9.91743685e-01 1.24926385e-01 2.89458557e-02 3.06318314e+01] [-1.24882268e-01 9.92165966e-01 -3.33404654e-03 -1.39371602e+00] [-2.91356032e-02 -3.08304501e-04 9.99575421e-01 -1.19915278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.692640000000004 meters 0.01670964263279831 Centerline is valid? [True, True] Translation: X:30.66, Y:-1.40, Z:-1.20 [[ 9.91993816e-01 1.22996852e-01 2.86364045e-02 3.06621051e+01] [-1.22952895e-01 9.92407029e-01 -3.29754758e-03 -1.39808695e+00] [-2.88245571e-02 -2.49782021e-04 9.99584455e-01 -1.20144346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.722640000000006 meters 0.014789969843167411 Centerline is valid? [True, True] Translation: X:30.69, Y:-1.40, Z:-1.20 [[ 9.92501378e-01 1.18955937e-01 2.81158111e-02 3.06923150e+01] [-1.18911871e-01 9.92899526e-01 -3.24008129e-03 -1.40308907e+00] [-2.83016024e-02 -1.27518555e-04 9.99599421e-01 -1.20471073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.75264 meters 0.014191822511067577 Centerline is valid? [True, True] Translation: X:30.72, Y:-1.41, Z:-1.21 [[ 9.92727907e-01 1.17102770e-01 2.78970228e-02 3.07237754e+01] [-1.17058651e-01 9.93119799e-01 -3.21503355e-03 -1.40707137e+00] [-2.80815750e-02 -7.39343204e-05 9.99605632e-01 -1.20593848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.78264 meters 0.013836323458344093 Centerline is valid? [True, True] Translation: X:30.76, Y:-1.41, Z:-1.21 [[ 9.92948747e-01 1.15281913e-01 2.76200303e-02 3.07550104e+01] [-1.15237944e-01 9.93332814e-01 -3.18375378e-03 -1.41079352e+00] [-2.78029117e-02 -2.15711828e-05 9.99613424e-01 -1.20723730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.81264 meters 0.014243970736691966 Centerline is valid? [True, True] Translation: X:30.79, Y:-1.42, Z:-1.21 [[ 9.93391634e-01 1.11154402e-01 2.85965133e-02 3.07860874e+01] [-1.11105591e-01 9.93803144e-01 -3.29514021e-03 -1.41801382e+00] [-2.87855742e-02 9.61322196e-05 9.99585605e-01 -1.20793488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.84264 meters 0.014833745511663872 Centerline is valid? [True, True] Translation: X:30.82, Y:-1.42, Z:-1.21 [[ 9.93631047e-01 1.08803261e-01 2.93119755e-02 3.08185605e+01] [-1.08750816e-01 9.94063288e-01 -3.38225717e-03 -1.42422462e+00] [-2.95059594e-02 1.73014480e-04 9.99564589e-01 -1.20712363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.872640000000004 meters 0.015051267215797437 Centerline is valid? [True, True] Translation: X:30.85, Y:-1.43, Z:-1.21 [[ 9.93836808e-01 1.06327118e-01 3.13519368e-02 3.08514500e+01] [-1.06533229e-01 9.94296702e-01 4.97392068e-03 -1.43415028e+00] [-3.06442647e-02 -8.28328853e-03 9.99496031e-01 -1.20660970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.902640000000005 meters 0.020042971553743624 Centerline is valid? [True, True] Translation: X:30.88, Y:-1.43, Z:-1.21 [[ 9.94375659e-01 1.01755831e-01 2.93734459e-02 3.08809733e+01] [-1.01438471e-01 9.94768187e-01 -1.21033404e-02 -1.43450377e+00] [-3.04513549e-02 9.05566960e-03 9.99495228e-01 -1.20770468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.93264 meters 0.023456382957573563 Centerline is valid? [True, True] Translation: X:30.91, Y:-1.45, Z:-1.21 [[ 9.94608885e-01 9.89420023e-02 3.10426541e-02 3.09110159e+01] [-9.88779240e-02 9.95093072e-01 -3.59631774e-03 -1.44853881e+00] [-3.12461569e-02 5.07496384e-04 9.99511591e-01 -1.21021951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.96264 meters 0.023817858086560065 Centerline is valid? [True, True] Translation: X:30.94, Y:-1.45, Z:-1.21 [[ 9.94840661e-01 9.64763171e-02 3.13748140e-02 3.09423663e+01] [-9.64095686e-02 9.95335104e-01 -3.63687125e-03 -1.45372708e+00] [-3.15793257e-02 5.93275116e-04 9.99501073e-01 -1.20902877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.99264 meters 0.031287538512059274 Centerline is valid? [True, True] Translation: X:30.97, Y:-1.47, Z:-1.21 [[ 9.95289210e-01 9.21791655e-02 3.00398130e-02 3.09709686e+01] [-9.21158346e-02 9.95742188e-01 -3.48829404e-03 -1.46936253e+00] [-3.02334572e-02 7.04718973e-04 9.99542616e-01 -1.21464877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.02264 meters 0.03392055059197923 Centerline is valid? [True, True] Translation: X:31.00, Y:-1.48, Z:-1.22 [[ 9.95455928e-01 9.04293580e-02 2.98333209e-02 3.10007973e+01] [-9.03661029e-02 9.95902588e-01 -3.46454197e-03 -1.47746212e+00] [-3.00243778e-02 7.52877895e-04 9.99548883e-01 -1.21677981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.052640000000004 meters 0.03713214899000467 Centerline is valid? [True, True] Translation: X:31.03, Y:-1.49, Z:-1.22 [[ 9.95661245e-01 8.78883680e-02 3.05666326e-02 3.10304270e+01] [-8.78207652e-02 9.96129968e-01 -3.54977607e-03 -1.48841914e+00] [-3.07603227e-02 8.49989406e-04 9.99526428e-01 -1.21739114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.082640000000005 meters 0.033928476677804506 Centerline is valid? [True, True] Translation: X:31.06, Y:-1.49, Z:-1.22 [[ 9.95712519e-01 8.72564306e-02 3.07065863e-02 3.10625635e+01] [-8.71878625e-02 9.96185500e-01 -3.56746509e-03 -1.48988278e+00] [-3.09007403e-02 8.74928025e-04 9.99522075e-01 -1.21593719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.11264 meters 0.031509902307890976 Centerline is valid? [True, True] Translation: X:31.10, Y:-1.49, Z:-1.22 [[ 9.95628182e-01 8.82482531e-02 3.06066741e-02 3.10950470e+01] [-8.82406264e-02 9.96097899e-01 -1.60242750e-03 -1.49453443e+00] [-3.06286552e-02 -1.10533011e-03 9.99530222e-01 -1.21638618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.14264 meters 0.03300926846699257 Centerline is valid? [True, True] Translation: X:31.13, Y:-1.50, Z:-1.22 [[ 9.95695390e-01 8.73026349e-02 3.11278209e-02 3.11254074e+01] [-8.71699398e-02 9.96177731e-01 -5.59735765e-03 -1.49927181e+00] [-3.14975060e-02 2.85985293e-03 9.99499739e-01 -1.21695401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.17264 meters 0.032470031412035055 Centerline is valid? [True, True] Translation: X:31.16, Y:-1.51, Z:-1.22 [[ 9.95621097e-01 8.83499668e-02 3.05436436e-02 3.11563269e+01] [-8.82821072e-02 9.96089130e-01 -3.56581746e-03 -1.50870219e+00] [-3.07392312e-02 8.53745878e-04 9.99527074e-01 -1.22034166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.20264 meters 0.030695597387069014 Centerline is valid? [True, True] Translation: X:31.19, Y:-1.51, Z:-1.22 [[ 9.95502357e-01 8.97273532e-02 3.03983355e-02 3.11884070e+01] [-8.96607631e-02 9.95966038e-01 -3.54938752e-03 -1.51308161e+00] [-3.05941869e-02 8.07885684e-04 9.99531562e-01 -1.22153983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.23264 meters 0.029209677610546794 Centerline is valid? [True, True] Translation: X:31.22, Y:-1.52, Z:-1.22 [[ 9.95323770e-01 9.16400596e-02 3.05400255e-02 3.12199645e+01] [-9.15735853e-02 9.95791909e-01 -3.57117153e-03 -1.51684007e+00] [-3.07387727e-02 7.57812272e-04 9.99527165e-01 -1.22210130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.262640000000005 meters 0.028405093257986857 Centerline is valid? [True, True] Translation: X:31.25, Y:-1.52, Z:-1.22 [[ 9.95062647e-01 9.43357187e-02 3.08399146e-02 3.12497723e+01] [-9.42690071e-02 9.95540204e-01 -3.61327246e-03 -1.52057989e+00] [-3.10432356e-02 6.88184328e-04 9.99517806e-01 -1.22456920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.29264 meters 0.021100120061353162 Centerline is valid? [True, True] Translation: X:31.28, Y:-1.52, Z:-1.23 [[ 9.94368637e-01 1.01486870e-01 3.05193046e-02 3.12814202e+01] [-1.01424891e-01 9.94836772e-01 -3.57609317e-03 -1.51700346e+00] [-3.07246530e-02 4.60537757e-04 9.99527780e-01 -1.22586438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.32264 meters 0.017584872953679404 Centerline is valid? [True, True] Translation: X:31.31, Y:-1.52, Z:-1.23 [[ 9.93909229e-01 1.05869867e-01 3.05943893e-02 3.13129730e+01] [-1.05809698e-01 9.94379940e-01 -3.58356821e-03 -1.51742771e+00] [-3.08018389e-02 3.24558437e-04 9.99525458e-01 -1.22684652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.35264 meters 0.012427048274240321 Centerline is valid? [True, True] Translation: X:31.35, Y:-1.51, Z:-1.23 [[ 9.92907126e-01 1.14860167e-01 3.07014929e-02 3.13459397e+01] [-1.14803728e-01 9.93381669e-01 -3.60064162e-03 -1.51072297e+00] [-3.09118705e-02 5.04568765e-05 9.99522113e-01 -1.22645139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.38264 meters 0.01299618869275428 Centerline is valid? [True, True] Translation: X:31.38, Y:-1.51, Z:-1.23 [[ 9.92375370e-01 1.19362245e-01 3.07209806e-02 3.13787282e+01] [-1.19307732e-01 9.92850768e-01 -3.60802326e-03 -1.50885360e+00] [-3.09320110e-02 -8.47371034e-05 9.99521487e-01 -1.22986290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.41264 meters 0.014616365953821969 Centerline is valid? [True, True] Translation: X:31.41, Y:-1.51, Z:-1.23 [[ 9.91911732e-01 1.23245807e-01 3.03576498e-02 3.14107437e+01] [-1.23194217e-01 9.92376155e-01 -3.57110740e-03 -1.50775048e+00] [-3.05663318e-02 -1.97663573e-04 9.99532721e-01 -1.23164419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.442640000000004 meters 0.01915056916161913 Centerline is valid? [True, True] Translation: X:31.44, Y:-1.50, Z:-1.23 [[ 9.91219733e-01 1.28832818e-01 2.97581139e-02 3.14422352e+01] [-1.28785575e-01 9.91666263e-01 -3.50679983e-03 -1.50363489e+00] [-2.99619086e-02 -3.56406622e-04 9.99550978e-01 -1.23455403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.472640000000006 meters 0.02012034857110166 Centerline is valid? [True, True] Translation: X:31.47, Y:-1.50, Z:-1.24 [[ 9.90980369e-01 1.30743787e-01 2.93933647e-02 3.14731708e+01] [-1.30698525e-01 9.91416106e-01 -3.46415457e-03 -1.50451926e+00] [-2.95939718e-02 -4.08760242e-04 9.99561919e-01 -1.23569013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.50264 meters 0.020361230878273618 Centerline is valid? [True, True] Translation: X:31.50, Y:-1.51, Z:-1.24 [[ 9.90805012e-01 1.32118577e-01 2.91566446e-02 3.15039883e+01] [-1.32074626e-01 9.91233818e-01 -3.43660409e-03 -1.50633481e+00] [-2.93550914e-02 -4.45848381e-04 9.99568947e-01 -1.23638343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.53264 meters 0.024018718671906893 Centerline is valid? [True, True] Translation: X:31.53, Y:-1.50, Z:-1.24 [[ 9.90535678e-01 1.34140006e-01 2.90779969e-02 3.15342131e+01] [-1.34097143e-01 9.90962262e-01 -3.42802672e-03 -1.50262300e+00] [-2.92750331e-02 -5.03693517e-04 9.99571267e-01 -1.24003256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.56264 meters 0.024225445249087006 Centerline is valid? [True, True] Translation: X:31.56, Y:-1.51, Z:-1.24 [[ 9.90423077e-01 1.34941243e-01 2.92059953e-02 3.15634047e+01] [-1.34898355e-01 9.90853460e-01 -3.44289671e-03 -1.50517732e+00] [-2.94034503e-02 -5.29916384e-04 9.99567485e-01 -1.24010444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.59264 meters 0.025473438248770363 Centerline is valid? [True, True] Translation: X:31.59, Y:-1.51, Z:-1.24 [[ 9.90330647e-01 1.35531523e-01 2.96043184e-02 3.15919284e+01] [-1.35487738e-01 9.90772879e-01 -3.48926544e-03 -1.50572567e+00] [-2.98040612e-02 -5.55495645e-04 9.99555606e-01 -1.24107208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.622640000000004 meters 0.026622120084842195 Centerline is valid? [True, True] Translation: X:31.62, Y:-1.51, Z:-1.24 [[ 9.90245981e-01 1.36066327e-01 2.99808441e-02 3.16211991e+01] [-1.36021700e-01 9.90699560e-01 -3.53252641e-03 -1.50579958e+00] [-3.01826669e-02 -5.79975297e-04 9.99544231e-01 -1.24156666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.652640000000005 meters 0.026444020489432313 Centerline is valid? [True, True] Translation: X:31.65, Y:-1.50, Z:-1.24 [[ 9.90128273e-01 1.36809529e-01 3.04820650e-02 3.16512433e+01] [-1.36763788e-01 9.90597181e-01 -3.59033818e-03 -1.50394837e+00] [-3.06866401e-02 -6.13947325e-04 9.99528866e-01 -1.24114915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.68264 meters 0.027181625610738502 Centerline is valid? [True, True] Translation: X:31.68, Y:-1.50, Z:-1.24 [[ 9.90158270e-01 1.36718320e-01 2.99115498e-02 3.16800698e+01] [-1.36674251e-01 9.90609782e-01 -3.52257998e-03 -1.50375662e+00] [-3.01122750e-02 -6.00226944e-04 9.99546342e-01 -1.24392415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.71264 meters 0.02690911522201496 Centerline is valid? [True, True] Translation: X:31.71, Y:-1.50, Z:-1.25 [[ 9.90244067e-01 1.36141320e-01 2.97023463e-02 3.17093914e+01] [-1.36097623e-01 9.90689258e-01 -3.49734274e-03 -1.50491266e+00] [-2.99019283e-02 -5.79195827e-04 9.99552670e-01 -1.24587251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.74264 meters 0.02295598898507078 Centerline is valid? [True, True] Translation: X:31.74, Y:-1.51, Z:-1.24 [[ 9.90486183e-01 1.34060493e-01 3.10629210e-02 3.17393259e+01] [-1.34011774e-01 9.90973001e-01 -3.65447332e-03 -1.50931777e+00] [-3.12724365e-02 -5.43091819e-04 9.99510750e-01 -1.24391058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.77264 meters 0.021320387523368938 Centerline is valid? [True, True] Translation: X:31.77, Y:-1.51, Z:-1.24 [[ 9.90693912e-01 1.32373329e-01 3.16681853e-02 3.17686601e+01] [-1.32321839e-01 9.91199804e-01 -3.72540949e-03 -1.51301994e+00] [-3.18826439e-02 -4.99652013e-04 9.99491494e-01 -1.24373573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.802640000000004 meters 0.029652572832349452 Centerline is valid? [True, True] Translation: X:31.80, Y:-1.52, Z:-1.25 [[ 9.90939427e-01 1.30546349e-01 3.15705931e-02 3.17974367e+01] [-1.30494278e-01 9.91442110e-01 -3.71302490e-03 -1.51602752e+00] [-3.17851373e-02 -4.40399005e-04 9.99494628e-01 -1.24798918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.832640000000005 meters 0.018551079879418633 Centerline is valid? [True, True] Translation: X:31.83, Y:-1.52, Z:-1.25 [[ 9.91378652e-01 1.27149603e-01 3.16440654e-02 3.18270989e+01] [-1.27095572e-01 9.91883495e-01 -3.72127028e-03 -1.51939577e+00] [-3.18603842e-02 -3.32632669e-04 9.99492274e-01 -1.24821893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.86264 meters 0.01577281224298444 Centerline is valid? [True, True] Translation: X:31.86, Y:-1.53, Z:-1.25 [[ 9.91575483e-01 1.25416160e-01 3.23859268e-02 3.18573059e+01] [-1.25358657e-01 9.92104181e-01 -3.80800034e-03 -1.52535932e+00] [-3.26077981e-02 -2.83936517e-04 9.99468184e-01 -1.24657994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.89264 meters 0.014016599534801987 Centerline is valid? [True, True] Translation: X:31.89, Y:-1.53, Z:-1.25 [[ 9.91781264e-01 1.23651695e-01 3.28661372e-02 3.18874165e+01] [-1.23591505e-01 9.92325655e-01 -3.86446442e-03 -1.52960484e+00] [-3.30917587e-02 -2.29271969e-04 9.99452291e-01 -1.24602829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.92264 meters 0.01769537226063744 Centerline is valid? [True, True] Translation: X:31.92, Y:-1.53, Z:-1.25 [[ 9.92069672e-01 1.21490287e-01 3.22160874e-02 3.19174010e+01] [-1.21431336e-01 9.92592608e-01 -3.78741387e-03 -1.52991496e+00] [-3.24375842e-02 -1.54664082e-04 9.99473751e-01 -1.25012784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.95264 meters 0.01257435003309932 Centerline is valid? [True, True] Translation: X:31.95, Y:-1.53, Z:-1.25 [[ 9.92140657e-01 1.20948212e-01 3.20694051e-02 3.19489762e+01] [-1.20889436e-01 9.92658810e-01 -3.77256510e-03 -1.53304304e+00] [-3.22902625e-02 -1.33937059e-04 9.99478525e-01 -1.24905796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.98264 meters 0.012760672436082785 Centerline is valid? [True, True] Translation: X:31.98, Y:-1.53, Z:-1.25 [[ 9.92251473e-01 1.20235351e-01 3.13125283e-02 3.19791817e+01] [-1.20178950e-01 9.92745410e-01 -3.68391373e-03 -1.53403446e+00] [-3.15283054e-02 -1.07737954e-04 9.99502854e-01 -1.25265630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.012640000000005 meters 0.012812609873748456 Centerline is valid? [True, True] Translation: X:32.01, Y:-1.54, Z:-1.26 [[ 9.92287869e-01 1.20060373e-01 3.08267896e-02 3.20088854e+01] [-1.20005540e-01 9.92766587e-01 -3.62947699e-03 -1.53628828e+00] [-3.10395630e-02 -9.78995463e-05 9.99518152e-01 -1.25523229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.042640000000006 meters 0.013056552710962585 Centerline is valid? [True, True] Translation: X:32.04, Y:-1.54, Z:-1.26 [[ 9.92311022e-01 1.19969534e-01 3.04326403e-02 3.20386142e+01] [-1.19916087e-01 9.92777569e-01 -3.58193132e-03 -1.53801005e+00] [-3.06425653e-02 -9.49732163e-05 9.99530402e-01 -1.25791271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.07264 meters 0.012931605190896854 Centerline is valid? [True, True] Translation: X:32.07, Y:-1.54, Z:-1.26 [[ 9.92316813e-01 1.19977084e-01 3.02132718e-02 3.20681094e+01] [-1.19924384e-01 9.92776657e-01 -3.55691507e-03 -1.53917209e+00] [-3.04217793e-02 -9.37213812e-05 9.99537146e-01 -1.25809642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.10264 meters 0.013332880824411985 Centerline is valid? [True, True] Translation: X:32.10, Y:-1.54, Z:-1.26 [[ 9.92258176e-01 1.20595843e-01 2.96707707e-02 3.20976311e+01] [-1.20545315e-01 9.92701682e-01 -3.49239138e-03 -1.53626080e+00] [-2.98753919e-02 -1.11318497e-04 9.99553625e-01 -1.26020460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.13264 meters 0.023864634390350116 Centerline is valid? [True, True] Translation: X:32.13, Y:-1.54, Z:-1.26 [[ 9.92239811e-01 1.20737124e-01 2.97103486e-02 3.21269023e+01] [-1.20686549e-01 9.92684508e-01 -3.49622542e-03 -1.53755293e+00] [-2.99151270e-02 -1.16545391e-04 9.99552436e-01 -1.26185731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.16264 meters 0.014056212602589402 Centerline is valid? [True, True] Translation: X:32.16, Y:-1.54, Z:-1.26 [[ 9.92172312e-01 1.21261936e-01 2.98269287e-02 3.21556498e+01] [-1.21211218e-01 9.92620534e-01 -3.50934100e-03 -1.53776926e+00] [-3.00323713e-02 -1.33487380e-04 9.99548918e-01 -1.26339516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.192640000000004 meters 0.013251549286493221 Centerline is valid? [True, True] Translation: X:32.18, Y:-1.54, Z:-1.26 [[ 9.92164246e-01 1.21241777e-01 3.01751632e-02 3.21849118e+01] [-1.21189898e-01 9.92622996e-01 -3.54901360e-03 -1.53982577e+00] [-3.03828496e-02 -1.35720551e-04 9.99538325e-01 -1.26180854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.222640000000006 meters 0.013251549286493221 Centerline is valid? [True, True] Translation: X:32.21, Y:-1.54, Z:-1.26 [[ 9.92167174e-01 1.21217794e-01 3.01752489e-02 3.22138559e+01] [-1.21165927e-01 9.92625925e-01 -3.54828484e-03 -1.54318490e+00] [-3.03828496e-02 -1.35720260e-04 9.99538325e-01 -1.26304108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.25264 meters 0.013204846638610367 Centerline is valid? [True, True] Translation: X:32.24, Y:-1.54, Z:-1.26 [[ 9.92257757e-01 1.20440590e-01 3.03085430e-02 3.22429551e+01] [-1.20387919e-01 9.92720530e-01 -3.56335242e-03 -1.54427241e+00] [-3.05170851e-02 -1.13018345e-04 9.99534239e-01 -1.26484076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.28264 meters 0.013045448949326861 Centerline is valid? [True, True] Translation: X:32.27, Y:-1.55, Z:-1.27 [[ 9.92396027e-01 1.19272972e-01 3.03987474e-02 3.22715976e+01] [-1.19219474e-01 9.92861497e-01 -3.57282946e-03 -1.54815208e+00] [-3.06078879e-02 -7.84609193e-05 9.99531466e-01 -1.26719945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.31264 meters 0.012380263732410048 Centerline is valid? [True, True] Translation: X:32.30, Y:-1.55, Z:-1.27 [[ 9.92581810e-01 1.17738519e-01 3.03148869e-02 3.23008561e+01] [-1.17684637e-01 9.93044631e-01 -3.56176685e-03 -1.55275885e+00] [-3.05233929e-02 -3.22514684e-05 9.99534052e-01 -1.26690151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.34264 meters 0.012718403882395599 Centerline is valid? [True, True] Translation: X:32.33, Y:-1.56, Z:-1.27 [[ 9.92957106e-01 1.14675142e-01 2.97623479e-02 3.23301495e+01] [-1.14621856e-01 9.93403044e-01 -3.49600895e-03 -1.55722906e+00] [-2.99669123e-02 5.99713875e-05 9.99550889e-01 -1.26931564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.372640000000004 meters 0.013132537771892877 Centerline is valid? [True, True] Translation: X:32.36, Y:-1.56, Z:-1.27 [[ 9.93146301e-01 1.12982284e-01 2.99237196e-02 3.23590424e+01] [-1.12927656e-01 9.93596996e-01 -3.51474789e-03 -1.56216633e+00] [-3.01292221e-02 1.11443365e-04 9.99546006e-01 -1.27056064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.402640000000005 meters 0.013555065094099384 Centerline is valid? [True, True] Translation: X:32.39, Y:-1.57, Z:-1.27 [[ 9.93341479e-01 1.11214397e-01 3.00676526e-02 3.23889475e+01] [-1.11158462e-01 9.93796423e-01 -3.53066298e-03 -1.56798409e+00] [-3.02737861e-02 1.64879977e-04 9.99541630e-01 -1.27083724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.43264 meters 0.014753137062135453 Centerline is valid? [True, True] Translation: X:32.42, Y:-1.58, Z:-1.27 [[ 9.93587588e-01 1.08795735e-01 3.07764939e-02 3.24196376e+01] [-1.08735979e-01 9.94064097e-01 -3.61362949e-03 -1.57550174e+00] [-3.09869551e-02 2.43945209e-04 9.99519759e-01 -1.27102894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.46264 meters 0.015411707652198504 Centerline is valid? [True, True] Translation: X:32.45, Y:-1.58, Z:-1.27 [[ 9.93648742e-01 1.08168102e-01 3.10135184e-02 3.24493596e+01] [-1.08107089e-01 9.94132582e-01 -3.64234307e-03 -1.57964417e+00] [-3.12255344e-02 2.66428432e-04 9.99512329e-01 -1.27188687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.49264 meters 0.016511323760368426 Centerline is valid? [True, True] Translation: X:32.48, Y:-1.59, Z:-1.27 [[ 9.93695623e-01 1.07781935e-01 3.08555242e-02 3.24787779e+01] [-1.07721359e-01 9.94174521e-01 -3.62366126e-03 -1.58500247e+00] [-3.10663412e-02 2.77017331e-04 9.99517286e-01 -1.27472521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.52264 meters 0.015613978337804469 Centerline is valid? [True, True] Translation: X:32.51, Y:-1.59, Z:-1.27 [[ 9.93737530e-01 1.07611401e-01 3.00916516e-02 3.25102380e+01] [-1.07553702e-01 9.94192995e-01 -3.53423700e-03 -1.58994073e+00] [-3.02972334e-02 2.75635426e-04 9.99540895e-01 -1.27497926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.552640000000004 meters 0.015175636292935325 Centerline is valid? [True, True] Translation: X:32.54, Y:-1.59, Z:-1.28 [[ 9.93678319e-01 1.08028854e-01 3.05477595e-02 3.25413940e+01] [-1.07969374e-01 9.94147721e-01 -3.59478220e-03 -1.59300390e+00] [-3.07573257e-02 2.73834656e-04 9.99526844e-01 -1.27514792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.582640000000005 meters 0.015229256354023089 Centerline is valid? [True, True] Translation: X:32.57, Y:-1.60, Z:-1.28 [[ 9.93582011e-01 1.08824680e-01 3.08541271e-02 3.25718539e+01] [-1.08764356e-01 9.94060926e-01 -3.63173889e-03 -1.59634138e+00] [-3.10661050e-02 2.52601163e-04 9.99517300e-01 -1.27682171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.61264 meters 0.014059888230370491 Centerline is valid? [True, True] Translation: X:32.60, Y:-1.60, Z:-1.28 [[ 9.93373064e-01 1.10613924e-01 3.12172191e-02 3.26022242e+01] [-1.10553043e-01 9.93863431e-01 -3.67486911e-03 -1.59881128e+00] [-3.14321442e-02 1.99357416e-04 9.99505868e-01 -1.27729223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.64264 meters 0.013534469000490323 Centerline is valid? [True, True] Translation: X:32.63, Y:-1.60, Z:-1.28 [[ 9.93281202e-01 1.11444196e-01 3.11872559e-02 3.26333051e+01] [-1.11383833e-01 9.93770678e-01 -3.67158172e-03 -1.60159673e+00] [-3.14021569e-02 1.73157016e-04 9.99506816e-01 -1.27804002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.67264 meters 0.012943581492741194 Centerline is valid? [True, True] Translation: X:32.66, Y:-1.60, Z:-1.28 [[ 9.93199214e-01 1.12269374e-01 3.08368003e-02 3.26648794e+01] [-1.12210736e-01 9.93677798e-01 -3.63104473e-03 -1.60402510e+00] [-3.10494989e-02 1.46130725e-04 9.99517837e-01 -1.27919753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.70264 meters 0.013182240125423834 Centerline is valid? [True, True] Translation: X:32.69, Y:-1.61, Z:-1.28 [[ 9.93196683e-01 1.12412620e-01 3.03932866e-02 3.26948170e+01] [-1.12355698e-01 9.93661604e-01 -3.57967961e-03 -1.60932850e+00] [-3.06030431e-02 1.40466983e-04 9.99531607e-01 -1.28205109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.73264 meters 0.013762686337228599 Centerline is valid? [True, True] Translation: X:32.72, Y:-1.62, Z:-1.28 [[ 9.93281521e-01 1.11749412e-01 3.00647615e-02 3.27247907e+01] [-1.11693403e-01 9.93736405e-01 -3.54120121e-03 -1.61589606e+00] [-3.02721752e-02 1.59374195e-04 9.99541680e-01 -1.28448375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.762640000000005 meters 0.01423632359269973 Centerline is valid? [True, True] Translation: X:32.76, Y:-1.62, Z:-1.29 [[ 9.93395997e-01 1.10799935e-01 2.97954237e-02 3.27555237e+01] [-1.10744478e-01 9.93842714e-01 -3.51017208e-03 -1.62260713e+00] [-3.00008915e-02 1.87312246e-04 9.99549854e-01 -1.28551731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.792640000000006 meters 0.01580787637310049 Centerline is valid? [True, True] Translation: X:32.79, Y:-1.63, Z:-1.29 [[ 9.93635348e-01 1.08472999e-01 3.03710964e-02 3.27854850e+01] [-1.08414315e-01 9.94099361e-01 -3.57721796e-03 -1.63425263e+00] [-3.05799191e-02 2.61788615e-04 9.99532291e-01 -1.28612606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.82264 meters 0.016966261231790833 Centerline is valid? [True, True] Translation: X:32.82, Y:-1.64, Z:-1.29 [[ 9.93770436e-01 1.07320434e-01 3.00440412e-02 3.28157161e+01] [-1.07262341e-01 9.94224439e-01 -3.54331340e-03 -1.64243286e+00] [-3.02507900e-02 2.98645921e-04 9.99542296e-01 -1.28806148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.85264 meters 0.017737273986533464 Centerline is valid? [True, True] Translation: X:32.85, Y:-1.65, Z:-1.29 [[ 9.93862416e-01 1.06674313e-01 2.92931543e-02 3.28472813e+01] [-1.06618684e-01 9.94293967e-01 -3.45893554e-03 -1.64909968e+00] [-2.94949862e-02 3.14508480e-04 9.99564879e-01 -1.29002738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.88264 meters 0.024630261558601308 Centerline is valid? [True, True] Translation: X:32.88, Y:-1.65, Z:-1.29 [[ 9.93951366e-01 1.06105820e-01 2.83238011e-02 3.28785245e+01] [-1.06053455e-01 9.94354791e-01 -3.34891644e-03 -1.65445787e+00] [-2.85192468e-02 3.24823114e-04 9.99593191e-01 -1.29455407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.91264 meters 0.018170484093329095 Centerline is valid? [True, True] Translation: X:32.91, Y:-1.66, Z:-1.29 [[ 9.93873417e-01 1.06755683e-01 2.86156603e-02 3.29087167e+01] [-1.06702358e-01 9.94285233e-01 -3.38840052e-03 -1.66188613e+00] [-2.88138595e-02 3.14282761e-04 9.99584745e-01 -1.29331083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.942640000000004 meters 0.017629034075484926 Centerline is valid? [True, True] Translation: X:32.94, Y:-1.67, Z:-1.30 [[ 9.93771424e-01 1.07745057e-01 2.84492553e-02 3.29404181e+01] [-1.07692637e-01 9.94178515e-01 -3.37284389e-03 -1.66726299e+00] [-2.86470456e-02 2.88060540e-04 9.99589548e-01 -1.29528217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.972640000000006 meters 0.015899407408079685 Centerline is valid? [True, True] Translation: X:32.97, Y:-1.67, Z:-1.30 [[ 9.93487156e-01 1.10658005e-01 2.71675523e-02 3.29713891e+01] [-1.10611122e-01 9.93858524e-01 -3.22709338e-03 -1.66951986e+00] [-2.73578071e-02 2.01042390e-04 9.99625685e-01 -1.29794689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.00264 meters 0.015201457873101919 Centerline is valid? [True, True] Translation: X:33.00, Y:-1.67, Z:-1.30 [[ 9.93296202e-01 1.12339630e-01 2.72481656e-02 3.30021411e+01] [-1.12293083e-01 9.93669856e-01 -3.23731068e-03 -1.67181988e+00] [-2.74393591e-02 1.55827873e-04 9.99623458e-01 -1.29967905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.03264 meters 0.013916045658395855 Centerline is valid? [True, True] Translation: X:33.03, Y:-1.67, Z:-1.30 [[ 9.93116726e-01 1.13881016e-01 2.73912970e-02 3.30335772e+01] [-1.13834547e-01 9.93494389e-01 -3.25494632e-03 -1.67341675e+00] [-2.75837764e-02 1.14465738e-04 9.99619489e-01 -1.29888270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06264 meters 0.013368998953019583 Centerline is valid? [True, True] Translation: X:33.06, Y:-1.67, Z:-1.30 [[ 9.92807898e-01 1.16355692e-01 2.81750174e-02 3.30628579e+01] [-1.16307499e-01 9.93207607e-01 -3.34887418e-03 -1.67365240e+00] [-2.83733022e-02 4.78229212e-05 9.99597396e-01 -1.30059178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.09264 meters 0.01312838618830456 Centerline is valid? [True, True] Translation: X:33.09, Y:-1.68, Z:-1.30 [[ 9.92745626e-01 1.16747167e-01 2.87440613e-02 3.30920205e+01] [-1.16697146e-01 9.93161667e-01 -3.41740182e-03 -1.67717757e+00] [-2.89464719e-02 3.82607955e-05 9.99580962e-01 -1.30127946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.122640000000004 meters 0.013114607795361059 Centerline is valid? [True, True] Translation: X:33.12, Y:-1.68, Z:-1.30 [[ 9.92770063e-01 1.16449887e-01 2.91036916e-02 3.31222703e+01] [-1.16398493e-01 9.93196567e-01 -3.45967319e-03 -1.68303455e+00] [-2.93085651e-02 4.70341346e-05 9.99570411e-01 -1.30285241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.152640000000005 meters 0.013904184763906655 Centerline is valid? [True, True] Translation: X:33.15, Y:-1.69, Z:-1.31 [[ 9.92979325e-01 1.14722506e-01 2.88237150e-02 3.31522528e+01] [-1.14671424e-01 9.93397573e-01 -3.42445498e-03 -1.69451697e+00] [-2.90262706e-02 9.51565428e-05 9.99578645e-01 -1.30543094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.18264 meters 0.014425553801716447 Centerline is valid? [True, True] Translation: X:33.18, Y:-1.70, Z:-1.31 [[ 9.93086795e-01 1.13753727e-01 2.89604249e-02 3.31827453e+01] [-1.13701622e-01 9.93508970e-01 -3.44501731e-03 -1.70131324e+00] [-2.91643255e-02 1.28353921e-04 9.99574622e-01 -1.30736003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.21264 meters 0.015275601056317175 Centerline is valid? [True, True] Translation: X:33.21, Y:-1.71, Z:-1.31 [[ 9.93229045e-01 1.12519860e-01 2.89023261e-02 3.32135753e+01] [-1.12467318e-01 9.93649462e-01 -3.44231858e-03 -1.70809799e+00] [-2.91061100e-02 1.68443703e-04 9.99576313e-01 -1.30869801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.24264 meters 0.016048872354253233 Centerline is valid? [True, True] Translation: X:33.24, Y:-1.71, Z:-1.31 [[ 9.93335808e-01 1.11541135e-01 2.90266769e-02 3.32449250e+01] [-1.11487603e-01 9.93759797e-01 -3.46122036e-03 -1.71494796e+00] [-2.92316130e-02 2.02039503e-04 9.99572645e-01 -1.30965978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.27264 meters 0.015634153933014903 Centerline is valid? [True, True] Translation: X:33.28, Y:-1.72, Z:-1.31 [[ 9.93532934e-01 1.09729526e-01 2.91845981e-02 3.32765967e+01] [-1.09674500e-01 9.93961449e-01 -3.48441972e-03 -1.72330454e+00] [-2.93907091e-02 2.61079562e-04 9.99567966e-01 -1.30669832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.302640000000004 meters 0.017355801051073184 Centerline is valid? [True, True] Translation: X:33.31, Y:-1.73, Z:-1.31 [[ 9.93574056e-01 1.09285928e-01 2.94479488e-02 3.33080946e+01] [-1.09229562e-01 9.94010315e-01 -3.52081463e-03 -1.73260286e+00] [-2.96563404e-02 2.81603526e-04 9.99560114e-01 -1.30964225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.332640000000005 meters 0.018132775786734574 Centerline is valid? [True, True] Translation: X:33.34, Y:-1.74, Z:-1.31 [[ 9.93622290e-01 1.08719403e-01 2.99138169e-02 3.33394324e+01] [-1.08660809e-01 9.94072430e-01 -3.58224981e-03 -1.74120882e+00] [-3.01259607e-02 3.08943712e-04 9.99546062e-01 -1.31087206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.36264 meters 0.019626641722823367 Centerline is valid? [True, True] Translation: X:33.37, Y:-1.75, Z:-1.31 [[ 9.93783890e-01 1.07302832e-01 2.96594305e-02 3.33706116e+01] [-1.07244447e-01 9.94226321e-01 -3.55694157e-03 -1.75404827e+00] [-2.98698563e-02 3.54022028e-04 9.99553734e-01 -1.31315941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.39264 meters 0.020161134982877915 Centerline is valid? [True, True] Translation: X:33.40, Y:-1.76, Z:-1.32 [[ 9.93815062e-01 1.07146004e-01 2.91779999e-02 3.34022229e+01] [-1.07089298e-01 9.94243233e-01 -3.50375127e-03 -1.76121849e+00] [-2.93854419e-02 3.57429273e-04 9.99568091e-01 -1.31535246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.42264 meters 0.01916540475095649 Centerline is valid? [True, True] Translation: X:33.43, Y:-1.77, Z:-1.32 [[ 9.93798511e-01 1.07409538e-01 2.87699522e-02 3.34345384e+01] [-1.07354400e-01 9.94214800e-01 -3.45881536e-03 -1.76558226e+00] [-2.89750221e-02 3.48784603e-04 9.99580075e-01 -1.31593608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.45264 meters 0.018292013290665165 Centerline is valid? [True, True] Translation: X:33.47, Y:-1.77, Z:-1.32 [[ 9.93715635e-01 1.08307516e-01 2.82616020e-02 3.34666226e+01] [-1.08254475e-01 9.94117386e-01 -3.40462246e-03 -1.77211553e+00] [-2.84640961e-02 3.23781693e-04 9.99594763e-01 -1.31768545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.48264 meters 0.01775720699733209 Centerline is valid? [True, True] Translation: X:33.50, Y:-1.78, Z:-1.32 [[ 9.93658600e-01 1.08879129e-01 2.80699342e-02 3.34989274e+01] [-1.08827039e-01 9.94054949e-01 -3.38132888e-03 -1.77878739e+00] [-2.82712132e-02 3.05118684e-04 9.99600243e-01 -1.31944596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.512640000000005 meters 0.01782820514772403 Centerline is valid? [True, True] Translation: X:33.53, Y:-1.79, Z:-1.32 [[ 9.93596179e-01 1.09435443e-01 2.81161353e-02 3.35302442e+01] [-1.09383246e-01 9.93993861e-01 -3.39248487e-03 -1.78656552e+00] [-2.83185240e-02 2.95325855e-04 9.99598907e-01 -1.32121768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.542640000000006 meters 0.01759549715720807 Centerline is valid? [True, True] Translation: X:33.56, Y:-1.80, Z:-1.32 [[ 9.93426160e-01 1.10524900e-01 2.98112449e-02 3.35601177e+01] [-1.10466522e-01 9.93873314e-01 -3.60317962e-03 -1.79619673e+00] [-3.00268418e-02 2.86348348e-04 9.99549052e-01 -1.32083372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.57264 meters 0.01641560637530063 Centerline is valid? [True, True] Translation: X:33.59, Y:-1.80, Z:-1.32 [[ 9.93345850e-01 1.11160596e-01 3.01221676e-02 3.35915049e+01] [-1.11101148e-01 9.93802418e-01 -3.64529272e-03 -1.80112865e+00] [-3.03406959e-02 2.74428983e-04 9.99539577e-01 -1.32062193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.60264 meters 0.015182048737069386 Centerline is valid? [True, True] Translation: X:33.62, Y:-1.81, Z:-1.32 [[ 9.93257151e-01 1.12055029e-01 2.97304869e-02 3.36241896e+01] [-1.11997387e-01 9.93701972e-01 -3.60227468e-03 -1.80654282e+00] [-2.99468965e-02 2.48248240e-04 9.99551460e-01 -1.32111038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.63264 meters 0.014312366342295178 Centerline is valid? [True, True] Translation: X:33.66, Y:-1.81, Z:-1.32 [[ 9.93068244e-01 1.13830239e-01 2.92940142e-02 3.36555497e+01] [-1.13774874e-01 9.93500195e-01 -3.55532955e-03 -1.81432616e+00] [-2.95083129e-02 1.97762091e-04 9.99564515e-01 -1.32367508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.66264 meters 0.014163524476226496 Centerline is valid? [True, True] Translation: X:33.69, Y:-1.82, Z:-1.33 [[ 9.92939603e-01 1.14977874e-01 2.91724712e-02 3.36870684e+01] [-1.14923321e-01 9.93368039e-01 -3.54539980e-03 -1.81949192e+00] [-2.93866430e-02 1.67770594e-04 9.99568105e-01 -1.32612837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.692640000000004 meters 0.024291950505428903 Centerline is valid? [True, True] Translation: X:33.72, Y:-1.82, Z:-1.33 [[ 9.92822480e-01 1.16088831e-01 2.87559814e-02 3.37198261e+01] [-1.16036147e-01 9.93238825e-01 -3.49975777e-03 -1.82382250e+00] [-2.89678400e-02 1.37904917e-04 9.99580335e-01 -1.32854514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.722640000000006 meters 0.013139682731523996 Centerline is valid? [True, True] Translation: X:33.75, Y:-1.83, Z:-1.33 [[ 9.92576170e-01 1.18284242e-01 2.83087299e-02 3.37506312e+01] [-1.18233922e-01 9.92979774e-01 -3.45074170e-03 -1.83250082e+00] [-2.85181646e-02 7.80718192e-05 9.99593271e-01 -1.33052971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.75264 meters 0.012857429693869243 Centerline is valid? [True, True] Translation: X:33.78, Y:-1.84, Z:-1.33 [[ 9.92439185e-01 1.19533962e-01 2.78584931e-02 3.37831903e+01] [-1.19485575e-01 9.92830111e-01 -3.40112387e-03 -1.83759259e+00] [-2.80653006e-02 4.67205316e-05 9.99606091e-01 -1.33157315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.78264 meters 0.01248629481438715 Centerline is valid? [True, True] Translation: X:33.82, Y:-1.84, Z:-1.33 [[ 9.92274975e-01 1.20891244e-01 2.78510351e-02 3.38162040e+01] [-1.20843267e-01 9.92665758e-01 -3.40557451e-03 -1.84207115e+00] [-2.80584730e-02 1.36562979e-05 9.99606283e-01 -1.33191860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.81264 meters 0.013342289739913613 Centerline is valid? [True, True] Translation: X:33.85, Y:-1.85, Z:-1.34 [[ 9.91911945e-01 1.23722755e-01 2.83438244e-02 3.38477848e+01] [-1.23674049e-01 9.92316822e-01 -3.47179328e-03 -1.84672405e+00] [-2.85555936e-02 -6.16823119e-05 9.99592204e-01 -1.33603385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.84264 meters 0.01286210070698991 Centerline is valid? [True, True] Translation: X:33.88, Y:-1.85, Z:-1.33 [[ 9.91747329e-01 1.25014891e-01 2.84343701e-02 3.38803270e+01] [-1.24966255e-01 9.92154861e-01 -3.48807874e-03 -1.85224884e+00] [-2.86473603e-02 -9.40439913e-05 9.99589576e-01 -1.33458749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.872640000000004 meters 0.013402799308647838 Centerline is valid? [True, True] Translation: X:33.91, Y:-1.86, Z:-1.34 [[ 9.91583416e-01 1.26229748e-01 2.87815794e-02 3.39121218e+01] [-1.26180261e-01 9.92001026e-01 -3.53650121e-03 -1.85745074e+00] [-2.89977679e-02 -1.24931230e-04 9.99579469e-01 -1.33646661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.902640000000005 meters 0.013579321182405324 Centerline is valid? [True, True] Translation: X:33.94, Y:-1.86, Z:-1.34 [[ 9.91475214e-01 1.27048627e-01 2.89058227e-02 3.39449358e+01] [-1.26998910e-01 9.91896479e-01 -3.55688523e-03 -1.86310847e+00] [-2.91234811e-02 -1.44444423e-04 9.99575811e-01 -1.33793289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.93264 meters 0.013394087510625789 Centerline is valid? [True, True] Translation: X:33.98, Y:-1.87, Z:-1.34 [[ 9.91411663e-01 1.27575606e-01 2.87641968e-02 3.39775890e+01] [-1.27526441e-01 9.91828837e-01 -3.54481037e-03 -1.86919979e+00] [-2.89813912e-02 -1.53829307e-04 9.99579939e-01 -1.33830808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.96264 meters 0.013395330604897792 Centerline is valid? [True, True] Translation: X:34.01, Y:-1.88, Z:-1.34 [[ 9.91362673e-01 1.27982841e-01 2.86433615e-02 3.40094199e+01] [-1.27934097e-01 9.91776369e-01 -3.53551841e-03 -1.87681670e+00] [-2.88602948e-02 -1.59481612e-04 9.99583442e-01 -1.33955760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.99264 meters 0.0138508034727859 Centerline is valid? [True, True] Translation: X:34.04, Y:-1.88, Z:-1.34 [[ 9.91360640e-01 1.28004435e-01 2.86172362e-02 3.40410850e+01] [-1.27955620e-01 9.91773583e-01 -3.53814537e-03 -1.88355035e+00] [-2.88347172e-02 -1.54158146e-04 9.99584181e-01 -1.34289596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.02264 meters 0.01364813884955811 Centerline is valid? [True, True] Translation: X:34.07, Y:-1.89, Z:-1.34 [[ 9.91396928e-01 1.27751126e-01 2.84917535e-02 3.40733549e+01] [-1.27702486e-01 9.91806246e-01 -3.52775013e-03 -1.89196366e+00] [-2.87089731e-02 -1.41067123e-04 9.99587803e-01 -1.34421295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.052640000000004 meters 0.012899014088315156 Centerline is valid? [True, True] Translation: X:34.10, Y:-1.90, Z:-1.34 [[ 9.91529310e-01 1.26816111e-01 2.80589089e-02 3.41049134e+01] [-1.26768417e-01 9.91926238e-01 -3.47935838e-03 -1.90331354e+00] [-2.82736067e-02 -1.07097641e-04 9.99600216e-01 -1.34449146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.082640000000005 meters 0.013113835722348791 Centerline is valid? [True, True] Translation: X:34.14, Y:-1.91, Z:-1.35 [[ 9.91562553e-01 1.26473288e-01 2.84290443e-02 3.41354424e+01] [-1.26423982e-01 9.91970009e-01 -3.53239194e-03 -1.90925396e+00] [-2.86475126e-02 -9.15254250e-05 9.99589572e-01 -1.34739409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.11264 meters 0.013113835722348791 Centerline is valid? [True, True] Translation: X:34.17, Y:-1.91, Z:-1.35 [[ 9.91538870e-01 1.26658867e-01 2.84288571e-02 3.41676573e+01] [-1.26609594e-01 9.91946330e-01 -3.53389909e-03 -1.91346449e+00] [-2.86475001e-02 -9.53677417e-05 9.99589572e-01 -1.34876830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.14264 meters 0.012504319230579937 Centerline is valid? [True, True] Translation: X:34.20, Y:-1.92, Z:-1.35 [[ 9.91526191e-01 1.26674647e-01 2.87983726e-02 3.41998346e+01] [-1.26623932e-01 9.91944316e-01 -3.58529523e-03 -1.92025756e+00] [-2.90205480e-02 -9.16490650e-05 9.99578811e-01 -1.34770200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.17264 meters 0.012553355754078467 Centerline is valid? [True, True] Translation: X:34.23, Y:-1.93, Z:-1.35 [[ 9.91393327e-01 1.27562077e-01 2.94480619e-02 3.42316653e+01] [-1.27509250e-01 9.91830582e-01 -3.67254169e-03 -1.92658473e+00] [-2.96759654e-02 -1.13966964e-04 9.99559565e-01 -1.34728837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.20264 meters 0.013820705557666294 Centerline is valid? [True, True] Translation: X:34.26, Y:-1.93, Z:-1.35 [[ 9.91269407e-01 1.28536771e-01 2.93813084e-02 3.42636022e+01] [-1.28484465e-01 9.91704734e-01 -3.66916685e-03 -1.92990267e+00] [-2.96092055e-02 -1.37908837e-04 9.99561542e-01 -1.35183389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.23264 meters 0.01448238308659265 Centerline is valid? [True, True] Translation: X:34.30, Y:-1.93, Z:-1.35 [[ 9.90894886e-01 1.31277884e-01 2.98905142e-02 3.42954127e+01] [-1.31224817e-01 9.91345585e-01 -3.73866166e-03 -1.93261721e+00] [-3.01226329e-02 -2.17756526e-04 9.99546187e-01 -1.35036125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.262640000000005 meters 0.016056283549812398 Centerline is valid? [True, True] Translation: X:34.33, Y:-1.93, Z:-1.35 [[ 9.90634590e-01 1.33313019e-01 2.95084402e-02 3.43262729e+01] [-1.33262054e-01 9.91073945e-01 -3.69588213e-03 -1.93454089e+00] [-2.97377554e-02 -2.71086672e-04 9.99557698e-01 -1.35298324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.292640000000006 meters 0.016431079385318362 Centerline is valid? [True, True] Translation: X:34.36, Y:-1.94, Z:-1.35 [[ 9.90409013e-01 1.35198289e-01 2.84852530e-02 3.43577950e+01] [-1.35151465e-01 9.90818513e-01 -3.57161906e-03 -1.93889403e+00] [-2.87065928e-02 -3.12459962e-04 9.99587832e-01 -1.35371783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.32264 meters 0.01991226750281263 Centerline is valid? [True, True] Translation: X:34.39, Y:-1.94, Z:-1.36 [[ 9.90045306e-01 1.37874292e-01 2.83014306e-02 3.43886642e+01] [-1.37829017e-01 9.90449662e-01 -3.55368126e-03 -1.93968062e+00] [-2.85211036e-02 -3.82452911e-04 9.99593117e-01 -1.35750029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.35264 meters 0.02080783287318739 Centerline is valid? [True, True] Translation: X:34.42, Y:-1.94, Z:-1.36 [[ 9.89938348e-01 1.38642882e-01 2.82881271e-02 3.44195162e+01] [-1.38597805e-01 9.90342361e-01 -3.55757475e-03 -1.94193623e+00] [-2.85081630e-02 -3.98892646e-04 9.99593480e-01 -1.35882882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.38264 meters 0.01944563523260653 Centerline is valid? [True, True] Translation: X:34.45, Y:-1.95, Z:-1.36 [[ 9.89950138e-01 1.38560235e-01 2.82804636e-02 3.44524660e+01] [-1.38515116e-01 9.90353929e-01 -3.55777222e-03 -1.94711308e+00] [-2.85006340e-02 -3.95254583e-04 9.99593696e-01 -1.35867859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.41264 meters 0.01927587108047035 Centerline is valid? [True, True] Translation: X:34.48, Y:-1.95, Z:-1.36 [[ 9.90040435e-01 1.37754607e-01 2.90448776e-02 3.44834645e+01] [-1.37706482e-01 9.90466318e-01 -3.66033052e-03 -1.95134315e+00] [-2.92722003e-02 -3.75792669e-04 9.99571407e-01 -1.36031845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.442640000000004 meters 0.015346810636226428 Centerline is valid? [True, True] Translation: X:34.51, Y:-1.96, Z:-1.36 [[ 9.90527442e-01 1.33773481e-01 3.09845518e-02 3.45137392e+01] [-1.33716550e-01 9.91011899e-01 -3.91159750e-03 -1.96268457e+00] [-3.12293275e-02 -2.68602703e-04 9.99512210e-01 -1.35765295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.472640000000006 meters 0.01337048242949151 Centerline is valid? [True, True] Translation: X:34.55, Y:-1.97, Z:-1.36 [[ 9.90805239e-01 1.31537497e-01 3.16680613e-02 3.45457282e+01] [-1.31476871e-01 9.91311175e-01 -3.99828570e-03 -1.97065562e+00] [-3.19188276e-02 -2.02095199e-04 9.99490444e-01 -1.35667433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.50264 meters 0.012042719408804596 Centerline is valid? [True, True] Translation: X:34.58, Y:-1.98, Z:-1.36 [[ 9.91033472e-01 1.29725961e-01 3.19973720e-02 3.45772356e+01] [-1.29663096e-01 9.91549875e-01 -4.04070655e-03 -1.97835752e+00] [-3.22511748e-02 -1.44402877e-04 9.99479785e-01 -1.35670752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.53264 meters 0.01135707016419952 Centerline is valid? [True, True] Translation: X:34.61, Y:-1.99, Z:-1.36 [[ 9.91387256e-01 1.27013352e-01 3.19204734e-02 3.46071412e+01] [-1.26949200e-01 9.91901006e-01 -4.03669924e-03 -1.98843994e+00] [-3.21746644e-02 -5.03463689e-05 9.99482260e-01 -1.35858226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56264 meters 0.011433020269410047 Centerline is valid? [True, True] Translation: X:34.64, Y:-2.00, Z:-1.36 [[ 9.91529495e-01 1.25971001e-01 3.16317515e-02 3.46385543e+01] [-1.25907319e-01 9.92033924e-01 -4.00502466e-03 -1.99517933e+00] [-3.18842876e-02 -1.15689389e-05 9.99491567e-01 -1.36122788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.59264 meters 0.0116181170804414 Centerline is valid? [True, True] Translation: X:34.67, Y:-2.00, Z:-1.36 [[ 9.91614875e-01 1.25407339e-01 3.11919704e-02 3.46705870e+01] [-1.25344963e-01 9.92105337e-01 -3.95487111e-03 -2.00127755e+00] [-3.14416901e-02 1.19526526e-05 9.99505588e-01 -1.36320948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.622640000000004 meters 0.01232283186001242 Centerline is valid? [True, True] Translation: X:34.70, Y:-2.01, Z:-1.37 [[ 9.91718778e-01 1.24944305e-01 2.97116995e-02 3.47006686e+01] [-1.24887329e-01 9.92163756e-01 -3.77299208e-03 -2.00885291e+00] [-2.99502853e-02 3.11323093e-05 9.99551389e-01 -1.36805906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.652640000000005 meters 0.012172487628844415 Centerline is valid? [True, True] Translation: X:34.73, Y:-2.01, Z:-1.37 [[ 9.91679024e-01 1.25308873e-01 2.95025554e-02 3.47328702e+01] [-1.25252736e-01 9.92117778e-01 -3.75049889e-03 -2.01458252e+00] [-2.97399805e-02 2.40152956e-05 9.99557669e-01 -1.36915891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.68264 meters 0.01208500338986663 Centerline is valid? [True, True] Translation: X:34.77, Y:-2.02, Z:-1.37 [[ 9.91613933e-01 1.25891119e-01 2.92101643e-02 3.47658711e+01] [-1.25836178e-01 9.92044064e-01 -3.71891849e-03 -2.01989707e+00] [-2.94459489e-02 1.20359566e-05 9.99566374e-01 -1.37051489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.71264 meters 0.012793082337036516 Centerline is valid? [True, True] Translation: X:34.80, Y:-2.02, Z:-1.38 [[ 9.91407886e-01 1.27761630e-01 2.80601153e-02 3.47964117e+01] [-1.27711490e-01 9.91804902e-01 -3.57919927e-03 -2.02469135e+00] [-2.82874443e-02 -3.51527683e-05 9.99599830e-01 -1.37528027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.74264 meters 0.012750950299013932 Centerline is valid? [True, True] Translation: X:34.83, Y:-2.03, Z:-1.38 [[ 9.91250217e-01 1.28948910e-01 2.81990250e-02 3.48286261e+01] [-1.28898715e-01 9.91651236e-01 -3.59823562e-03 -2.02964314e+00] [-2.84275866e-02 -6.80662353e-05 9.99595852e-01 -1.37640575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.77264 meters 0.012772267503537167 Centerline is valid? [True, True] Translation: X:34.86, Y:-2.03, Z:-1.38 [[ 9.91019468e-01 1.30706500e-01 2.82174618e-02 3.48618889e+01] [-1.30656799e-01 9.91421100e-01 -3.60593361e-03 -2.03367288e+00] [-2.84467060e-02 -1.13252831e-04 9.99595304e-01 -1.37594695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.802640000000004 meters 0.01578863084121921 Centerline is valid? [True, True] Translation: X:34.89, Y:-2.03, Z:-1.38 [[ 9.90348547e-01 1.35755431e-01 2.79323880e-02 3.48937421e+01] [-1.35708564e-01 9.90742348e-01 -3.57559527e-03 -2.03161222e+00] [-2.81592061e-02 -2.49578680e-04 9.99603420e-01 -1.37896405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.832640000000005 meters 0.017274734456060422 Centerline is valid? [True, True] Translation: X:34.93, Y:-2.03, Z:-1.38 [[ 9.89955255e-01 1.38600100e-01 2.79034856e-02 3.49254023e+01] [-1.38554331e-01 9.90348376e-01 -3.57643559e-03 -2.03346486e+00] [-2.81298660e-02 -3.25637585e-04 9.99604224e-01 -1.37956545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.86264 meters 0.02058340375882229 Centerline is valid? [True, True] Translation: X:34.96, Y:-2.03, Z:-1.38 [[ 9.89542266e-01 1.41471745e-01 2.81398209e-02 3.49570282e+01] [-1.41426228e-01 9.89942211e-01 -3.61131884e-03 -2.03324864e+00] [-2.83676961e-02 -4.06156113e-04 9.99597473e-01 -1.38171062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.89264 meters 0.024938746252171004 Centerline is valid? [True, True] Translation: X:34.99, Y:-2.03, Z:-1.38 [[ 9.88813318e-01 1.46592064e-01 2.75497623e-02 3.49883016e+01] [-1.46550244e-01 9.89196887e-01 -3.54197734e-03 -2.03089810e+00] [-2.77713648e-02 -5.35070008e-04 9.99614158e-01 -1.38368732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.92264 meters 0.0257935146503838 Centerline is valid? [True, True] Translation: X:35.02, Y:-2.03, Z:-1.38 [[ 9.88471120e-01 1.48985558e-01 2.69842201e-02 3.50201028e+01] [-1.48946380e-01 9.88839195e-01 -3.46734674e-03 -2.03314339e+00] [-2.71996390e-02 -5.91829790e-04 9.99629846e-01 -1.38464924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.95264 meters 0.03204119491309989 Centerline is valid? [True, True] Translation: X:35.05, Y:-2.03, Z:-1.39 [[ 9.88159703e-01 1.51067594e-01 2.68138747e-02 3.50516951e+01] [-1.51029559e-01 9.88523228e-01 -3.44976582e-03 -2.02822798e+00] [-2.70272858e-02 -6.40768113e-04 9.99634491e-01 -1.39005566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.98264 meters 0.032631236918711164 Centerline is valid? [True, True] Translation: X:35.08, Y:-2.03, Z:-1.39 [[ 9.87905875e-01 1.52662927e-01 2.71295596e-02 3.50836413e+01] [-1.52624470e-01 9.88278077e-01 -3.49482038e-03 -2.03045131e+00] [-2.73450785e-02 -6.88081076e-04 9.99625817e-01 -1.38981596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.012640000000005 meters 0.03274530374508332 Centerline is valid? [True, True] Translation: X:35.12, Y:-2.03, Z:-1.39 [[ 9.87588017e-01 1.54560554e-01 2.79453808e-02 3.51156761e+01] [-1.54520377e-01 9.87983026e-01 -3.60457761e-03 -2.03172260e+00] [-2.81666874e-02 -7.58293124e-04 9.99602953e-01 -1.38854109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.042640000000006 meters 0.03383244874734505 Centerline is valid? [True, True] Translation: X:35.15, Y:-2.03, Z:-1.39 [[ 9.87473129e-01 1.55334198e-01 2.77147463e-02 3.51462523e+01] [-1.55294825e-01 9.87861679e-01 -3.58058072e-03 -2.03378959e+00] [-2.79345224e-02 -7.68229442e-04 9.99609460e-01 -1.39036453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.07264 meters 0.033972811157927336 Centerline is valid? [True, True] Translation: X:35.18, Y:-2.04, Z:-1.39 [[ 9.87419730e-01 1.55742223e-01 2.73246551e-02 3.51779652e+01] [-1.55704080e-01 9.87797434e-01 -3.53118316e-03 -2.03733740e+00] [-2.75411785e-02 -7.67800357e-04 9.99620375e-01 -1.39173870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.10264 meters 0.032909208436515056 Centerline is valid? [True, True] Translation: X:35.21, Y:-2.04, Z:-1.39 [[ 9.87525118e-01 1.54901608e-01 2.82777995e-02 3.52101267e+01] [-1.54860272e-01 9.87929606e-01 -3.65929971e-03 -2.04132844e+00] [-2.85033068e-02 -7.65457341e-04 9.99593405e-01 -1.39172114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.13264 meters 0.031384938873412586 Centerline is valid? [True, True] Translation: X:35.24, Y:-2.05, Z:-1.39 [[ 9.87699633e-01 1.53679851e-01 2.88433459e-02 3.52418740e+01] [-1.53636180e-01 9.88120416e-01 -3.73741177e-03 -2.04657161e+00] [-2.90750639e-02 -7.39941261e-04 9.99576957e-01 -1.39235301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.16264 meters 0.03013538014254744 Centerline is valid? [True, True] Translation: X:35.27, Y:-2.05, Z:-1.39 [[ 9.87925191e-01 1.52201992e-01 2.89546447e-02 3.52728752e+01] [-1.52157203e-01 9.88349165e-01 -3.75682716e-03 -2.05153018e+00] [-2.91890955e-02 -6.94193556e-04 9.99573667e-01 -1.39340824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.192640000000004 meters 0.02379711156387515 Centerline is valid? [True, True] Translation: X:35.30, Y:-2.06, Z:-1.39 [[ 9.88565470e-01 1.47685251e-01 3.04528797e-02 3.53026424e+01] [-1.47633356e-01 9.89034239e-01 -3.95797821e-03 -2.06102289e+00] [-3.07034757e-02 -5.83140249e-04 9.99528367e-01 -1.39122199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.222640000000006 meters 0.021775059398766606 Centerline is valid? [True, True] Translation: X:35.33, Y:-2.07, Z:-1.39 [[ 9.88827946e-01 1.45731234e-01 3.13320878e-02 3.53343397e+01] [-1.45675375e-01 9.89324071e-01 -4.07044840e-03 -2.06753485e+00] [-3.15907801e-02 -5.39340497e-04 9.99500741e-01 -1.39193373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.25264 meters 0.02683902812879574 Centerline is valid? [True, True] Translation: X:35.37, Y:-2.08, Z:-1.39 [[ 9.89113201e-01 1.43736820e-01 3.15404964e-02 3.53657291e+01] [-1.43679031e-01 9.89615836e-01 -4.10290343e-03 -2.07524738e+00] [-3.18027130e-02 -4.73472016e-04 9.99494054e-01 -1.39348053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.28264 meters 0.016991337941948795 Centerline is valid? [True, True] Translation: X:35.40, Y:-2.08, Z:-1.40 [[ 9.89682273e-01 1.39861452e-01 3.11090461e-02 3.53964762e+01] [-1.39803151e-01 9.90171025e-01 -4.05211354e-03 -2.08437400e+00] [-3.13700106e-02 -3.38837724e-04 9.99507783e-01 -1.39549004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.31264 meters 0.014730021342902891 Centerline is valid? [True, True] Translation: X:35.43, Y:-2.09, Z:-1.40 [[ 9.89943899e-01 1.38051665e-01 3.08676831e-02 3.54277416e+01] [-1.37993220e-01 9.90424991e-01 -4.02598088e-03 -2.09165390e+00] [-3.11279181e-02 -2.74035761e-04 9.99515371e-01 -1.39588646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.34264 meters 0.026056406757431747 Centerline is valid? [True, True] Translation: X:35.46, Y:-2.10, Z:-1.40 [[ 9.90162257e-01 1.36517063e-01 3.06886856e-02 3.54596529e+01] [-1.36458395e-01 9.90637695e-01 -4.00786995e-03 -2.09634344e+00] [-3.09485114e-02 -2.19287217e-04 9.99520956e-01 -1.39968202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.372640000000004 meters 0.015508500981932858 Centerline is valid? [True, True] Translation: X:35.49, Y:-2.10, Z:-1.40 [[ 9.90464873e-01 1.34499363e-01 2.98204213e-02 3.54907981e+01] [-1.34442910e-01 9.90913669e-01 -3.89926874e-03 -2.10384875e+00] [-3.00739123e-02 -1.47055495e-04 9.99547667e-01 -1.40169064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.402640000000005 meters 0.012988850493339461 Centerline is valid? [True, True] Translation: X:35.52, Y:-2.11, Z:-1.40 [[ 9.90522385e-01 1.34081969e-01 2.97897655e-02 3.55225538e+01] [-1.34025278e-01 9.90970236e-01 -3.90075649e-03 -2.10909068e+00] [-3.00437920e-02 -1.28794964e-04 9.99548575e-01 -1.40330023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.43264 meters 0.012481213661510449 Centerline is valid? [True, True] Translation: X:35.55, Y:-2.11, Z:-1.40 [[ 9.90540727e-01 1.33882937e-01 3.00737065e-02 3.55549820e+01] [-1.33824903e-01 9.90997147e-01 -3.94336944e-03 -2.11356593e+00] [-3.03309072e-02 -1.18542820e-04 9.99539905e-01 -1.40286193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.46264 meters 0.012313417395017382 Centerline is valid? [True, True] Translation: X:35.59, Y:-2.12, Z:-1.40 [[ 9.90527628e-01 1.34164353e-01 2.92394471e-02 3.55871050e+01] [-1.34109448e-01 9.90959087e-01 -3.83972772e-03 -2.11678281e+00] [-2.94902504e-02 -1.17929707e-04 9.99565061e-01 -1.40375452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.49264 meters 0.013334658978092521 Centerline is valid? [True, True] Translation: X:35.62, Y:-2.12, Z:-1.41 [[ 9.90438392e-01 1.34945752e-01 2.86607042e-02 3.56183801e+01] [-1.34893178e-01 9.90852979e-01 -3.76886733e-03 -2.11996307e+00] [-2.89071368e-02 -1.33302574e-04 9.99582093e-01 -1.40804650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.52264 meters 0.013886609200575951 Centerline is valid? [True, True] Translation: X:35.65, Y:-2.12, Z:-1.41 [[ 9.90303038e-01 1.35977692e-01 2.84597869e-02 3.56496921e+01] [-1.35926151e-01 9.90711887e-01 -3.74689192e-03 -2.12343619e+00] [-2.87049429e-02 -1.57870842e-04 9.99587916e-01 -1.40967246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.552640000000004 meters 0.024659137658266893 Centerline is valid? [True, True] Translation: X:35.68, Y:-2.13, Z:-1.41 [[ 9.90170167e-01 1.36930074e-01 2.85165880e-02 3.56822844e+01] [-1.36878580e-01 9.90580699e-01 -3.75928296e-03 -2.12635178e+00] [-2.87627406e-02 -1.80980242e-04 9.99586250e-01 -1.41081843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.582640000000005 meters 0.029014199595893207 Centerline is valid? [True, True] Translation: X:35.71, Y:-2.13, Z:-1.41 [[ 9.89961595e-01 1.38244906e-01 2.94004306e-02 3.57146199e+01] [-1.38190564e-01 9.90398050e-01 -3.88205253e-03 -2.12823950e+00] [-2.96548031e-02 -2.19779183e-04 9.99560175e-01 -1.41190298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.612640000000006 meters 0.027587760132707546 Centerline is valid? [True, True] Translation: X:35.75, Y:-2.13, Z:-1.41 [[ 9.89870251e-01 1.38702631e-01 3.03061957e-02 3.57460823e+01] [-1.38644921e-01 9.90334047e-01 -4.00762066e-03 -2.13372882e+00] [-3.05691250e-02 -2.34775624e-04 9.99532628e-01 -1.40982799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.64264 meters 0.01475464016976105 Centerline is valid? [True, True] Translation: X:35.78, Y:-2.14, Z:-1.41 [[ 9.89785054e-01 1.39170505e-01 3.09373135e-02 3.57778886e+01] [-1.39110423e-01 9.90268402e-01 -4.09652591e-03 -2.13791499e+00] [-3.12063596e-02 -2.49022655e-04 9.99512932e-01 -1.40950886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.67264 meters 0.015976461629310212 Centerline is valid? [True, True] Translation: X:35.81, Y:-2.14, Z:-1.41 [[ 9.89647586e-01 1.40371658e-01 2.98906753e-02 3.58099308e+01] [-1.40315954e-01 9.90098845e-01 -3.96350070e-03 -2.13936125e+00] [-3.01510863e-02 -2.71669720e-04 9.99545316e-01 -1.41254654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.70264 meters 0.017023745616277165 Centerline is valid? [True, True] Translation: X:35.84, Y:-2.14, Z:-1.42 [[ 9.89495442e-01 1.41619124e-01 2.90309062e-02 3.58415627e+01] [-1.41566976e-01 9.89921177e-01 -3.85424676e-03 -2.14082105e+00] [-2.92841439e-02 -2.96057987e-04 9.99571084e-01 -1.41542926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.73264 meters 0.027480143741654944 Centerline is valid? [True, True] Translation: X:35.87, Y:-2.14, Z:-1.42 [[ 9.89002354e-01 1.45014794e-01 2.90697826e-02 3.58743359e+01] [-1.44963846e-01 9.89429409e-01 -3.86372119e-03 -2.13759024e+00] [-2.93227945e-02 -3.92838121e-04 9.99569917e-01 -1.41881903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.762640000000005 meters 0.02153797847397671 Centerline is valid? [True, True] Translation: X:35.91, Y:-2.14, Z:-1.42 [[ 9.88721889e-01 1.47007527e-01 2.85974218e-02 3.59057906e+01] [-1.46958914e-01 9.89135276e-01 -3.80577064e-03 -2.13917621e+00] [-2.88461957e-02 -4.39797325e-04 9.99583765e-01 -1.41931225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.792640000000006 meters 0.037004432771979456 Centerline is valid? [True, True] Translation: X:35.94, Y:-2.14, Z:-1.42 [[ 9.88451309e-01 1.48861154e-01 2.83613688e-02 3.59379280e+01] [-1.48813984e-01 9.88857988e-01 -3.77852666e-03 -2.13895703e+00] [-2.86078420e-02 -4.85678659e-04 9.99590594e-01 -1.42289185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.82264 meters 0.02340689711791734 Centerline is valid? [True, True] Translation: X:35.97, Y:-2.14, Z:-1.42 [[ 9.88257595e-01 1.50282491e-01 2.76061330e-02 3.59698068e+01] [-1.50238235e-01 9.88642966e-01 -3.68216568e-03 -2.14374989e+00] [-2.78459742e-02 -5.08568505e-04 9.99612096e-01 -1.42240424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.85264 meters 0.025495805995773276 Centerline is valid? [True, True] Translation: X:36.00, Y:-2.14, Z:-1.43 [[ 9.88048994e-01 1.51727699e-01 2.71641486e-02 3.60011098e+01] [-1.51685265e-01 9.88422186e-01 -3.62794162e-03 -2.14325941e+00] [-2.74001064e-02 -5.35817021e-04 9.99624403e-01 -1.42542562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.88264 meters 0.024629808296583705 Centerline is valid? [True, True] Translation: X:36.03, Y:-2.15, Z:-1.43 [[ 9.88077573e-01 1.51557570e-01 2.70742234e-02 3.60342161e+01] [-1.51515251e-01 9.88448292e-01 -3.61965347e-03 -2.14773091e+00] [-2.73100558e-02 -5.25659343e-04 9.99626873e-01 -1.42621151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.91264 meters 0.02162206893828313 Centerline is valid? [True, True] Translation: X:36.06, Y:-2.15, Z:-1.43 [[ 9.88592627e-01 1.47995031e-01 2.79658556e-02 3.60636309e+01] [-1.47948225e-01 9.88988010e-01 -3.74692865e-03 -2.15440919e+00] [-2.82124227e-02 -4.33312665e-04 9.99601856e-01 -1.42627899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.942640000000004 meters 0.020890535186914264 Centerline is valid? [True, True] Translation: X:36.09, Y:-2.16, Z:-1.43 [[ 9.88914507e-01 1.45738387e-01 2.84327202e-02 3.60941192e+01] [-1.45689104e-01 9.89323092e-01 -3.80841509e-03 -2.16082197e+00] [-2.86841789e-02 -3.76140595e-04 9.99588454e-01 -1.42901566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.972640000000006 meters 0.029232129599143536 Centerline is valid? [True, True] Translation: X:36.13, Y:-2.17, Z:-1.43 [[ 9.89355751e-01 1.42665242e-01 2.86675188e-02 3.61253798e+01] [-1.42613684e-01 9.89770957e-01 -3.84565079e-03 -2.17197897e+00] [-2.89229182e-02 -2.83663732e-04 9.99581605e-01 -1.42927211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.00264 meters 0.029232129599143536 Centerline is valid? [True, True] Translation: X:36.16, Y:-2.18, Z:-1.43 [[ 9.89328585e-01 1.42853507e-01 2.86675239e-02 3.61575548e+01] [-1.42802028e-01 9.89743801e-01 -3.84561436e-03 -2.17649865e+00] [-2.89228636e-02 -2.89204340e-04 9.99581605e-01 -1.43064636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.03264 meters 0.013344991390835377 Centerline is valid? [True, True] Translation: X:36.19, Y:-2.19, Z:-1.43 [[ 9.90209575e-01 1.36680414e-01 2.83453926e-02 3.61866071e+01] [-1.36627386e-01 9.90615190e-01 -3.80831153e-03 -2.19401388e+00] [-2.85998981e-02 -1.01730364e-04 9.99590934e-01 -1.43160699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06264 meters 0.03007975318089654 Centerline is valid? [True, True] Translation: X:36.22, Y:-2.20, Z:-1.43 [[ 9.90590314e-01 1.33767909e-01 2.89305327e-02 3.62178228e+01] [-1.33711297e-01 9.91012687e-01 -3.89136994e-03 -2.20432699e+00] [-2.91910654e-02 -1.35856667e-05 9.99573850e-01 -1.43248909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.09264 meters 0.02250069425244961 Centerline is valid? [True, True] Translation: X:36.25, Y:-2.21, Z:-1.43 [[ 9.90861101e-01 1.31665285e-01 2.93006925e-02 3.62498723e+01] [-1.31606152e-01 9.91294230e-01 -3.94600359e-03 -2.21455733e+00] [-2.95651591e-02 5.37900742e-05 9.99562854e-01 -1.43232441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.122640000000004 meters 0.01303619134324565 Centerline is valid? [True, True] Translation: X:36.28, Y:-2.23, Z:-1.43 [[ 9.91176709e-01 1.29250362e-01 2.93781335e-02 3.62809873e+01] [-1.29189680e-01 9.91611984e-01 -3.96233978e-03 -2.22893081e+00] [-2.96438431e-02 1.32027242e-04 9.99560516e-01 -1.43108864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.152640000000005 meters 0.013839725391767662 Centerline is valid? [True, True] Translation: X:36.31, Y:-2.24, Z:-1.43 [[ 9.91207802e-01 1.29041676e-01 2.92461843e-02 3.63118600e+01] [-1.28981268e-01 9.91639161e-01 -3.95059519e-03 -2.23716418e+00] [-2.95114531e-02 1.43650828e-04 9.99564432e-01 -1.43385111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.18264 meters 0.01323789204058702 Centerline is valid? [True, True] Translation: X:36.34, Y:-2.24, Z:-1.43 [[ 9.91124642e-01 1.29693892e-01 2.91794308e-02 3.63440280e+01] [-1.29633886e-01 9.91554072e-01 -3.94688811e-03 -2.24251344e+00] [-2.94448707e-02 1.29215064e-04 9.99566397e-01 -1.43364259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.21264 meters 0.0123075770019222 Centerline is valid? [True, True] Translation: X:36.38, Y:-2.25, Z:-1.43 [[ 9.90794313e-01 1.32259989e-01 2.88777619e-02 3.63770072e+01] [-1.32202142e-01 9.91215058e-01 -3.91173712e-03 -2.24699764e+00] [-2.91414388e-02 5.80249146e-05 9.99575296e-01 -1.43492295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.24264 meters 0.012135989891350691 Centerline is valid? [True, True] Translation: X:36.41, Y:-2.25, Z:-1.44 [[ 9.90533737e-01 1.34210308e-01 2.88185532e-02 3.64082365e+01] [-1.34153347e-01 9.90952871e-01 -3.90975150e-03 -2.25108216e+00] [-2.90825570e-02 6.63538499e-06 9.99577013e-01 -1.43713313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.27264 meters 0.021168811910013498 Centerline is valid? [True, True] Translation: X:36.44, Y:-2.25, Z:-1.44 [[ 9.90256163e-01 1.36237710e-01 2.88447251e-02 3.64398904e+01] [-1.36181344e-01 9.90676175e-01 -3.91883571e-03 -2.25410991e+00] [-2.91096752e-02 -4.74622288e-05 9.99576222e-01 -1.44209881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.302640000000004 meters 0.012686662175701545 Centerline is valid? [True, True] Translation: X:36.47, Y:-2.26, Z:-1.44 [[ 9.89988564e-01 1.38282718e-01 2.82936778e-02 3.64717764e+01] [-1.38229167e-01 9.90392791e-01 -3.84933148e-03 -2.25958534e+00] [-2.85541506e-02 -1.00217375e-04 9.99592242e-01 -1.44054593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.332640000000005 meters 0.0256980403163864 Centerline is valid? [True, True] Translation: X:36.50, Y:-2.26, Z:-1.45 [[ 9.89475683e-01 1.42051287e-01 2.75554974e-02 3.65033909e+01] [-1.42001821e-01 9.89859279e-01 -3.75373560e-03 -2.25999258e+00] [-2.78092877e-02 -1.98700700e-04 9.99613227e-01 -1.44647482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.362640000000006 meters 0.016454609201241654 Centerline is valid? [True, True] Translation: X:36.53, Y:-2.26, Z:-1.45 [[ 9.89240267e-01 1.43841819e-01 2.67062691e-02 3.65345878e+01] [-1.43795894e-01 9.89600664e-01 -3.64223309e-03 -2.26356271e+00] [-2.69524471e-02 -2.37208219e-04 9.99636689e-01 -1.44827843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.39264 meters 0.018623773949328917 Centerline is valid? [True, True] Translation: X:36.57, Y:-2.26, Z:-1.45 [[ 9.88757330e-01 1.47261834e-01 2.59402112e-02 3.65671932e+01] [-1.47219587e-01 9.89097493e-01 -3.54142074e-03 -2.26476799e+00] [-2.61789140e-02 -3.17301471e-04 9.99657223e-01 -1.45010771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.42264 meters 0.01996113001525025 Centerline is valid? [True, True] Translation: X:36.60, Y:-2.27, Z:-1.45 [[ 9.88464236e-01 1.49214506e-01 2.59515860e-02 3.65989867e+01] [-1.49172779e-01 9.88804783e-01 -3.54740582e-03 -2.26671656e+00] [-2.61903768e-02 -3.64786409e-04 9.99656907e-01 -1.45080761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.45264 meters 0.02166525649292417 Centerline is valid? [True, True] Translation: X:36.63, Y:-2.27, Z:-1.45 [[ 9.88204128e-01 1.50902924e-01 2.60942315e-02 3.66305605e+01] [-1.50861200e-01 9.88548503e-01 -3.57160910e-03 -2.26834026e+00] [-2.63343798e-02 -4.07128230e-04 9.99653107e-01 -1.45219865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.48264 meters 0.031670757376855485 Centerline is valid? [True, True] Translation: X:36.66, Y:-2.27, Z:-1.46 [[ 9.87716675e-01 1.54040015e-01 2.62191529e-02 3.66621962e+01] [-1.53998885e-01 9.88064489e-01 -3.59287938e-03 -2.26665519e+00] [-2.64596611e-02 -4.88973435e-04 9.99649762e-01 -1.45510894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.512640000000005 meters 0.024183296338267705 Centerline is valid? [True, True] Translation: X:36.69, Y:-2.27, Z:-1.45 [[ 9.87547408e-01 1.55099903e-01 2.63464940e-02 3.66935803e+01] [-1.55058646e-01 9.87898656e-01 -3.61421669e-03 -2.27237353e+00] [-2.65882306e-02 -5.16041355e-04 9.99646337e-01 -1.45297545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.542640000000006 meters 0.025977760747362705 Centerline is valid? [True, True] Translation: X:36.72, Y:-2.27, Z:-1.45 [[ 9.87438736e-01 1.55639782e-01 2.72213355e-02 3.67248250e+01] [-1.55595803e-01 9.87813729e-01 -3.73936477e-03 -2.27375109e+00] [-2.74716029e-02 -5.43131929e-04 9.99622437e-01 -1.45428013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.57264 meters 0.025017097408410478 Centerline is valid? [True, True] Translation: X:36.76, Y:-2.28, Z:-1.45 [[ 9.87420913e-01 1.55731938e-01 2.73405332e-02 3.67572342e+01] [-1.55687501e-01 9.87799204e-01 -3.75964104e-03 -2.27979891e+00] [-2.75924532e-02 -5.44231095e-04 9.99619108e-01 -1.45422208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.60264 meters 0.023946500940577806 Centerline is valid? [True, True] Translation: X:36.79, Y:-2.29, Z:-1.46 [[ 9.87664761e-01 1.54253036e-01 2.69132124e-02 3.67874984e+01] [-1.54209275e-01 9.88031255e-01 -3.70651147e-03 -2.28622659e+00] [-2.71628356e-02 -4.89476202e-04 9.99630902e-01 -1.45669900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.63264 meters 0.021798849031404176 Centerline is valid? [True, True] Translation: X:36.82, Y:-2.29, Z:-1.46 [[ 9.87865516e-01 1.53014703e-01 2.66124562e-02 3.68188010e+01] [-1.52971362e-01 9.88223811e-01 -3.66893609e-03 -2.29316674e+00] [-2.68604640e-02 -4.46528216e-04 9.99639093e-01 -1.45752475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.66264 meters 0.019470741599589253 Centerline is valid? [True, True] Translation: X:36.85, Y:-2.30, Z:-1.46 [[ 9.88330459e-01 1.49787443e-01 2.76880037e-02 3.68488603e+01] [-1.49739061e-01 9.88718154e-01 -3.82437940e-03 -2.30154732e+00] [-2.79484759e-02 -3.66225019e-04 9.99609298e-01 -1.45808720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.692640000000004 meters 0.017720496315459383 Centerline is valid? [True, True] Translation: X:36.88, Y:-2.31, Z:-1.46 [[ 9.88593666e-01 1.47964656e-01 2.80895634e-02 3.68800084e+01] [-1.47914161e-01 9.88992597e-01 -3.87856846e-03 -2.30996075e+00] [-2.83542613e-02 -3.20515978e-04 9.99597886e-01 -1.45893825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.722640000000006 meters 0.02999557758829219 Centerline is valid? [True, True] Translation: X:36.91, Y:-2.32, Z:-1.46 [[ 9.88889106e-01 1.45979717e-01 2.80759462e-02 3.69116637e+01] [-1.45928337e-01 9.89287549e-01 -3.88138176e-03 -2.31755313e+00] [-2.83417870e-02 -2.58820006e-04 9.99598257e-01 -1.46073978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.75264 meters 0.01442241918437097 Centerline is valid? [True, True] Translation: X:36.94, Y:-2.33, Z:-1.46 [[ 9.89194884e-01 1.43881919e-01 2.81331585e-02 3.69434671e+01] [-1.43829300e-01 9.89594844e-01 -3.89566012e-03 -2.32651082e+00] [-2.84009437e-02 -1.92805446e-04 9.99596593e-01 -1.46082079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.78264 meters 0.013542172380182578 Centerline is valid? [True, True] Translation: X:36.97, Y:-2.33, Z:-1.46 [[ 9.89630485e-01 1.40843538e-01 2.81886649e-02 3.69736600e+01] [-1.40789443e-01 9.90031862e-01 -3.90459896e-03 -2.33438056e+00] [-2.84576139e-02 -1.04556254e-04 9.99594995e-01 -1.46344985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.81264 meters 0.01339075383024463 Centerline is valid? [True, True] Translation: X:37.01, Y:-2.34, Z:-1.47 [[ 9.89777381e-01 1.39849134e-01 2.79813562e-02 3.70052134e+01] [-1.39795388e-01 9.90172820e-01 -3.87751472e-03 -2.34098214e+00] [-2.82486455e-02 -7.37881853e-05 9.99600925e-01 -1.46574033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.84264 meters 0.012723715952960558 Centerline is valid? [True, True] Translation: X:37.04, Y:-2.35, Z:-1.46 [[ 9.89859479e-01 1.39250342e-01 2.80633947e-02 3.70376256e+01] [-1.39195907e-01 9.90257209e-01 -3.89357896e-03 -2.34764621e+00] [-2.83321611e-02 -5.22136305e-05 9.99598562e-01 -1.46465041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.872640000000004 meters 0.028355764399242853 Centerline is valid? [True, True] Translation: X:37.07, Y:-2.35, Z:-1.47 [[ 9.89945128e-01 1.38640158e-01 2.80633177e-02 3.70690283e+01] [-1.38585314e-01 9.90342822e-01 -3.89934578e-03 -2.35142072e+00] [-2.83329112e-02 -2.90253522e-05 9.99598542e-01 -1.47095078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.902640000000005 meters 0.012960730287046062 Centerline is valid? [True, True] Translation: X:37.10, Y:-2.36, Z:-1.47 [[ 9.89995898e-01 1.38478330e-01 2.70531657e-02 3.71007396e+01] [-1.38427169e-01 9.90365464e-01 -3.76391066e-03 -2.35746099e+00] [-2.73137411e-02 -1.86370355e-05 9.99626910e-01 -1.46859326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.93264 meters 0.01369443094525835 Centerline is valid? [True, True] Translation: X:37.13, Y:-2.36, Z:-1.47 [[ 9.90080064e-01 1.38066266e-01 2.60609324e-02 3.71317469e+01] [-1.38018528e-01 9.90422994e-01 -3.63039542e-03 -2.36264092e+00] [-2.63125818e-02 -2.50939962e-06 9.99653764e-01 -1.47339753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.96264 meters 0.013849768887195496 Centerline is valid? [True, True] Translation: X:37.16, Y:-2.37, Z:-1.48 [[ 9.90108003e-01 1.37896714e-01 2.58966758e-02 3.71640752e+01] [-1.37849422e-01 9.90446615e-01 -3.61117511e-03 -2.36791785e+00] [-2.61472440e-02 5.61159392e-06 9.99658102e-01 -1.47570393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.99264 meters 0.013901474042016746 Centerline is valid? [True, True] Translation: X:37.20, Y:-2.37, Z:-1.48 [[ 9.90164761e-01 1.37468943e-01 2.60006770e-02 3.71958996e+01] [-1.37420984e-01 9.90506077e-01 -3.63097018e-03 -2.37396343e+00] [-2.62529743e-02 2.22201044e-05 9.99655331e-01 -1.47705932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.02264 meters 0.013513239439090817 Centerline is valid? [True, True] Translation: X:37.23, Y:-2.38, Z:-1.48 [[ 9.90229253e-01 1.36970004e-01 2.61771879e-02 3.72279336e+01] [-1.36921100e-01 9.90575195e-01 -3.66008013e-03 -2.38046892e+00] [-2.64317942e-02 4.01090645e-05 9.99650618e-01 -1.47542571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.052640000000004 meters 0.013767054216665348 Centerline is valid? [True, True] Translation: X:37.26, Y:-2.39, Z:-1.47 [[ 9.90435108e-01 1.35120913e-01 2.79398716e-02 3.72577226e+01] [-1.35064272e-01 9.90829112e-01 -3.91328852e-03 -2.39018513e+00] [-2.82124053e-02 1.02179910e-04 9.99601946e-01 -1.47492582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.082640000000005 meters 0.013801019118949728 Centerline is valid? [True, True] Translation: X:37.29, Y:-2.40, Z:-1.47 [[ 9.90598554e-01 1.33888776e-01 2.80766813e-02 3.72896602e+01] [-1.33830972e-01 9.90996355e-01 -3.93643584e-03 -2.39755258e+00] [-2.83509334e-02 1.41898107e-04 9.99598021e-01 -1.47414876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.112640000000006 meters 0.015215342352590417 Centerline is valid? [True, True] Translation: X:37.32, Y:-2.41, Z:-1.48 [[ 9.90816769e-01 1.32360264e-01 2.76204696e-02 3.73193641e+01] [-1.32303548e-01 9.91201657e-01 -3.87898253e-03 -2.40617600e+00] [-2.78908784e-02 1.89074818e-04 9.99610956e-01 -1.47714983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.14264 meters 0.0271856261851048 Centerline is valid? [True, True] Translation: X:37.35, Y:-2.42, Z:-1.48 [[ 9.91266111e-01 1.28883998e-01 2.79358586e-02 3.73486876e+01] [-1.28824493e-01 9.91659633e-01 -3.92702467e-03 -2.41984731e+00] [-2.82089939e-02 2.93903660e-04 9.99602004e-01 -1.48160537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.17264 meters 0.01929341891384322 Centerline is valid? [True, True] Translation: X:37.38, Y:-2.43, Z:-1.48 [[ 9.91556349e-01 1.26691647e-01 2.76628485e-02 3.73803962e+01] [-1.26632328e-01 9.91942085e-01 -3.89283546e-03 -2.42840113e+00] [-2.79331334e-02 3.56954794e-04 9.99609730e-01 -1.47931662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.20264 meters 0.023657126075185757 Centerline is valid? [True, True] Translation: X:37.41, Y:-2.44, Z:-1.48 [[ 9.91822494e-01 1.24590294e-01 2.76658320e-02 3.74095661e+01] [-1.24529977e-01 9.92208184e-01 -3.89929072e-03 -2.44082058e+00] [-2.79360787e-02 4.22178824e-04 9.99609622e-01 -1.48394047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.23264 meters 0.023760484333405732 Centerline is valid? [True, True] Translation: X:37.44, Y:-2.45, Z:-1.48 [[ 9.92092461e-01 1.22450959e-01 2.75374423e-02 3.74408784e+01] [-1.22390338e-01 9.92474448e-01 -3.88258407e-03 -2.44848129e+00] [-2.78056340e-02 4.81565526e-04 9.99613233e-01 -1.48274459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.262640000000005 meters 0.025686527497013896 Centerline is valid? [True, True] Translation: X:37.47, Y:-2.46, Z:-1.48 [[ 9.92541763e-01 1.18637823e-01 2.80341857e-02 3.74718946e+01] [-1.18573286e-01 9.92937410e-01 -3.95924600e-03 -2.46161805e+00] [-2.83059081e-02 6.05611474e-04 9.99599124e-01 -1.48120422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.292640000000006 meters 0.03213091375637952 Centerline is valid? [True, True] Translation: X:37.50, Y:-2.47, Z:-1.48 [[ 9.92620958e-01 1.17643441e-01 2.93880150e-02 3.75019854e+01] [-1.17572087e-01 9.93055678e-01 -4.15032109e-03 -2.47346496e+00] [-2.96721932e-02 6.64485438e-04 9.99559463e-01 -1.48379884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.32264 meters 0.03065660916530664 Centerline is valid? [True, True] Translation: X:37.53, Y:-2.48, Z:-1.48 [[ 9.92702363e-01 1.16836920e-01 2.98521703e-02 3.75318499e+01] [-1.16762743e-01 9.93150863e-01 -4.22204203e-03 -2.48392564e+00] [-3.01409991e-02 7.05609805e-04 9.99545408e-01 -1.48283303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.35264 meters 0.029800308685954388 Centerline is valid? [True, True] Translation: X:37.56, Y:-2.50, Z:-1.48 [[ 9.92661029e-01 1.17131024e-01 3.00733328e-02 3.75631693e+01] [-1.17055748e-01 9.93116219e-01 -4.25759875e-03 -2.49709857e+00] [-3.03650114e-02 7.06095890e-04 9.99538627e-01 -1.48367151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.38264 meters 0.03102461169754189 Centerline is valid? [True, True] Translation: X:37.59, Y:-2.51, Z:-1.49 [[ 9.92548995e-01 1.18073670e-01 3.00848990e-02 3.75933953e+01] [-1.17998557e-01 9.93004602e-01 -4.26619975e-03 -2.50782450e+00] [-3.03781691e-02 6.84437588e-04 9.99538243e-01 -1.48614315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.41264 meters 0.026555636107274128 Centerline is valid? [True, True] Translation: X:37.63, Y:-2.51, Z:-1.48 [[ 9.92369292e-01 1.19527613e-01 3.02710822e-02 3.76257876e+01] [-1.19452181e-01 9.92830667e-01 -4.29465126e-03 -2.51049955e+00] [-3.05673881e-02 6.45933240e-04 9.99532499e-01 -1.48475937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.442640000000004 meters 0.022423580248261514 Centerline is valid? [True, True] Translation: X:37.66, Y:-2.51, Z:-1.49 [[ 9.91810053e-01 1.24217641e-01 2.97119041e-02 3.76562401e+01] [-1.24146867e-01 9.92254871e-01 -4.22213941e-03 -2.51392339e+00] [-3.00062458e-02 4.98920487e-04 9.99549587e-01 -1.48704311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.472640000000006 meters 0.020302395947545043 Centerline is valid? [True, True] Translation: X:37.69, Y:-2.52, Z:-1.49 [[ 9.91494482e-01 1.26961041e-01 2.86284202e-02 3.76884456e+01] [-1.26896474e-01 9.91907623e-01 -4.06835805e-03 -2.51815574e+00] [-2.89132712e-02 4.00908968e-04 9.99581844e-01 -1.49064576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.50264 meters 0.03343993068546513 Centerline is valid? [True, True] Translation: X:37.72, Y:-2.52, Z:-1.49 [[ 9.91088454e-01 1.30294539e-01 2.76949371e-02 3.77200848e+01] [-1.30235415e-01 9.91475288e-01 -3.93572054e-03 -2.52141752e+00] [-2.79716486e-02 2.93785547e-04 9.99608674e-01 -1.49425114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.53264 meters 0.01951533847963755 Centerline is valid? [True, True] Translation: X:37.75, Y:-2.53, Z:-1.50 [[ 9.90400345e-01 1.35886750e-01 2.53366828e-02 3.77508715e+01] [-1.35838992e-01 9.90724369e-01 -3.60463305e-03 -2.52700707e+00] [-2.55914910e-02 1.28320350e-04 9.99672476e-01 -1.50077209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56264 meters 0.014691949116644782 Centerline is valid? [True, True] Translation: X:37.78, Y:-2.53, Z:-1.50 [[ 9.90031943e-01 1.38668974e-01 2.46509147e-02 3.77837873e+01] [-1.38624548e-01 9.90338787e-01 -3.51033921e-03 -2.53216355e+00] [-2.48995321e-02 5.81260429e-05 9.99689957e-01 -1.50171038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.59264 meters 0.013899546039768519 Centerline is valid? [True, True] Translation: X:37.82, Y:-2.54, Z:-1.50 [[ 9.89629764e-01 1.41468638e-01 2.48908426e-02 3.78156135e+01] [-1.41424096e-01 9.89942738e-01 -3.54973749e-03 -2.53696315e+00] [-2.51426854e-02 -7.23905608e-06 9.99683873e-01 -1.50157473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.622640000000004 meters 0.024886038121943906 Centerline is valid? [True, True] Translation: X:37.85, Y:-2.54, Z:-1.50 [[ 9.88790702e-01 1.47062969e-01 2.57959616e-02 3.78474872e+01] [-1.47016912e-01 9.89127120e-01 -3.68335348e-03 -2.54024713e+00] [-2.60571701e-02 -1.50376950e-04 9.99660443e-01 -1.50163256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.652640000000005 meters 0.016605732428604483 Centerline is valid? [True, True] Translation: X:37.88, Y:-2.54, Z:-1.50 [[ 9.88446222e-01 1.49294842e-01 2.61747316e-02 3.78781078e+01] [-1.49248036e-01 9.88792702e-01 -3.74377937e-03 -2.54348960e+00] [-2.64403106e-02 -2.06002725e-04 9.99650373e-01 -1.50392238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.68264 meters 0.018229807864711848 Centerline is valid? [True, True] Translation: X:37.91, Y:-2.55, Z:-1.51 [[ 9.88077146e-01 1.51649529e-01 2.65701644e-02 3.79090176e+01] [-1.51602103e-01 9.88434291e-01 -3.80204552e-03 -2.54691930e+00] [-2.68394400e-02 -2.71378524e-04 9.99639721e-01 -1.50513431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.71264 meters 0.020493691319158076 Centerline is valid? [True, True] Translation: X:37.94, Y:-2.55, Z:-1.50 [[ 9.87516891e-01 1.55126041e-01 2.73185212e-02 3.79412618e+01] [-1.55077123e-01 9.87894616e-01 -3.91319205e-03 -2.55193594e+00] [-2.75948580e-02 -3.72134430e-04 9.99619120e-01 -1.50462286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.74264 meters 0.021186538071583435 Centerline is valid? [True, True] Translation: X:37.97, Y:-2.56, Z:-1.50 [[ 9.87247862e-01 1.56812101e-01 2.74157742e-02 3.79727898e+01] [-1.56763361e-01 9.87628367e-01 -3.93156884e-03 -2.55752890e+00] [-2.76931139e-02 -4.16355972e-04 9.99616385e-01 -1.50483413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.77264 meters 0.022017863058847828 Centerline is valid? [True, True] Translation: X:38.00, Y:-2.56, Z:-1.51 [[ 9.86989598e-01 1.58471716e-01 2.71707261e-02 3.80045596e+01] [-1.58424350e-01 9.87363413e-01 -3.90084153e-03 -2.56323613e+00] [-2.74455539e-02 -4.54414591e-04 9.99623197e-01 -1.50572507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.802640000000004 meters 0.024286048126684424 Centerline is valid? [True, True] Translation: X:38.04, Y:-2.57, Z:-1.51 [[ 9.86731927e-01 1.60077239e-01 2.71179337e-02 3.80357847e+01] [-1.60030533e-01 9.87104368e-01 -3.89801651e-03 -2.56661315e+00] [-2.73922145e-02 -4.93400037e-04 9.99624641e-01 -1.50815112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.832640000000005 meters 0.02591843300062194 Centerline is valid? [True, True] Translation: X:38.07, Y:-2.57, Z:-1.51 [[ 9.86224770e-01 1.63066914e-01 2.77467963e-02 3.80675780e+01] [-1.63019078e-01 9.86614838e-01 -3.99269330e-03 -2.57197155e+00] [-2.80264771e-02 -5.85564125e-04 9.99607010e-01 -1.50703806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.862640000000006 meters 0.026829287289787625 Centerline is valid? [True, True] Translation: X:38.10, Y:-2.58, Z:-1.51 [[ 9.85979435e-01 1.64537612e-01 2.77835826e-02 3.80990873e+01] [-1.64490101e-01 9.86370613e-01 -4.00267759e-03 -2.57618606e+00] [-2.80635004e-02 -6.23566509e-04 9.99605948e-01 -1.50753060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.89264 meters 0.02863478319164338 Centerline is valid? [True, True] Translation: X:38.13, Y:-2.58, Z:-1.51 [[ 9.85693449e-01 1.66191351e-01 2.80866542e-02 3.81298333e+01] [-1.66143327e-01 9.86093293e-01 -4.05131804e-03 -2.57861590e+00] [-2.83693554e-02 -6.73052518e-04 9.99597282e-01 -1.50876385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.92264 meters 0.03169654075754467 Centerline is valid? [True, True] Translation: X:38.16, Y:-2.58, Z:-1.51 [[ 9.85156645e-01 1.69181249e-01 2.90532327e-02 3.81625938e+01] [-1.69130981e-01 9.85584648e-01 -4.19684933e-03 -2.57893350e+00] [-2.93444483e-02 -7.79247742e-04 9.99569055e-01 -1.50886598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.95264 meters 0.03169654075754467 Centerline is valid? [True, True] Translation: X:38.19, Y:-2.58, Z:-1.51 [[ 9.85124999e-01 1.69365411e-01 2.90532951e-02 3.81947125e+01] [-1.69315236e-01 9.85553013e-01 -4.19641901e-03 -2.58376010e+00] [-2.93442907e-02 -7.85168226e-04 9.99569055e-01 -1.51023996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.98264 meters 0.03245769326310118 Centerline is valid? [True, True] Translation: X:38.23, Y:-2.59, Z:-1.51 [[ 9.84890993e-01 1.70773210e-01 2.87444526e-02 3.82261110e+01] [-1.70724524e-01 9.85310028e-01 -4.15766525e-03 -2.58761647e+00] [-2.90322152e-02 -8.12535931e-04 9.99578146e-01 -1.51136142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.012640000000005 meters 0.03259699772229887 Centerline is valid? [True, True] Translation: X:38.26, Y:-2.59, Z:-1.51 [[ 9.84709682e-01 1.71861281e-01 2.84700130e-02 3.82580035e+01] [-1.71813854e-01 9.85120808e-01 -4.12218072e-03 -2.59194986e+00] [-2.87548455e-02 -8.32391386e-04 9.99586147e-01 -1.51284079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.042640000000006 meters 0.03333320190087868 Centerline is valid? [True, True] Translation: X:38.29, Y:-2.59, Z:-1.51 [[ 9.84477319e-01 1.73195013e-01 2.84235244e-02 3.82902808e+01] [-1.73148157e-01 9.84887171e-01 -4.12028446e-03 -2.59432194e+00] [-2.87075772e-02 -8.65154265e-04 9.99587478e-01 -1.51428396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.07264 meters 0.03656260869471088 Centerline is valid? [True, True] Translation: X:38.32, Y:-2.59, Z:-1.52 [[ 9.84456663e-01 1.73314250e-01 2.84121242e-02 3.83222629e+01] [-1.73267323e-01 9.84866197e-01 -4.12415938e-03 -2.59388750e+00] [-2.86969163e-02 -8.62836503e-04 9.99587786e-01 -1.51759237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.10264 meters 0.03431878009225504 Centerline is valid? [True, True] Translation: X:38.35, Y:-2.60, Z:-1.52 [[ 9.84509354e-01 1.73077677e-01 2.80258864e-02 3.83535508e+01] [-1.73031844e-01 9.84907818e-01 -4.07079041e-03 -2.60082673e+00] [-2.83074775e-02 -8.41639577e-04 9.99598909e-01 -1.51792301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.13264 meters 0.03208785088353265 Centerline is valid? [True, True] Translation: X:38.38, Y:-2.61, Z:-1.52 [[ 9.84575440e-01 1.72663411e-01 2.82586131e-02 3.83848426e+01] [-1.72616508e-01 9.84980535e-01 -4.10934701e-03 -2.60779233e+00] [-2.85437177e-02 -8.31940987e-04 9.99592199e-01 -1.51804020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.16264 meters 0.0327558004583083 Centerline is valid? [True, True] Translation: X:38.42, Y:-2.61, Z:-1.52 [[ 9.84654179e-01 1.72192385e-01 2.83888985e-02 3.84163343e+01] [-1.72144706e-01 9.85063001e-01 -4.13341547e-03 -2.60977719e+00] [-2.86765962e-02 -8.17013772e-04 9.99588408e-01 -1.51965865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.192640000000004 meters 0.03079856794833726 Centerline is valid? [True, True] Translation: X:38.45, Y:-2.61, Z:-1.52 [[ 9.84928557e-01 1.70582862e-01 2.85871579e-02 3.84489209e+01] [-1.70533666e-01 9.85343034e-01 -4.16823068e-03 -2.61318053e+00] [-2.88791856e-02 -7.69663404e-04 9.99582613e-01 -1.52005467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.222640000000006 meters 0.029881033737812056 Centerline is valid? [True, True] Translation: X:38.48, Y:-2.62, Z:-1.52 [[ 9.85133287e-01 1.69309930e-01 2.90956015e-02 3.84803309e+01] [-1.69258400e-01 9.85562577e-01 -4.24280654e-03 -2.61782605e+00] [-2.93938852e-02 -7.44944999e-04 9.99567629e-01 -1.52080683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.25264 meters 0.028820215453059777 Centerline is valid? [True, True] Translation: X:38.51, Y:-2.62, Z:-1.52 [[ 9.85542439e-01 1.66686782e-01 3.03581457e-02 3.85108078e+01] [-1.66629216e-01 9.86009656e-01 -4.43413507e-03 -2.62068193e+00] [-3.06725365e-02 -6.88525732e-04 9.99529250e-01 -1.52075197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.28264 meters 0.026683507156525208 Centerline is valid? [True, True] Translation: X:38.54, Y:-2.63, Z:-1.52 [[ 9.85741440e-01 1.65475411e-01 3.05237992e-02 3.85429953e+01] [-1.65416640e-01 9.86213699e-01 -4.45816941e-03 -2.62603037e+00] [-3.08407064e-02 -6.54541962e-04 9.99524098e-01 -1.52169078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.31264 meters 0.03269929170504712 Centerline is valid? [True, True] Translation: X:38.57, Y:-2.63, Z:-1.52 [[ 9.85874894e-01 1.64692539e-01 3.04476921e-02 3.85749632e+01] [-1.64633669e-01 9.86344754e-01 -4.44763375e-03 -2.63025770e+00] [-3.07644134e-02 -6.27904817e-04 9.99526466e-01 -1.52405812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.34264 meters 0.02354274725039056 Centerline is valid? [True, True] Translation: X:38.61, Y:-2.64, Z:-1.52 [[ 9.86103458e-01 1.63305079e-01 3.05191922e-02 3.86064021e+01] [-1.63245112e-01 9.86575447e-01 -4.46315487e-03 -2.63624223e+00] [-3.08383416e-02 -5.80976511e-04 9.99524216e-01 -1.52410012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.372640000000004 meters 0.021276765700120458 Centerline is valid? [True, True] Translation: X:38.64, Y:-2.64, Z:-1.53 [[ 9.86405103e-01 1.61608297e-01 2.97948173e-02 3.86386102e+01] [-1.61550224e-01 9.86854851e-01 -4.36206097e-03 -2.64029489e+00] [-3.01081052e-02 -5.10600209e-04 9.99546518e-01 -1.52627737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.402640000000005 meters 0.021845693809682994 Centerline is valid? [True, True] Translation: X:38.67, Y:-2.64, Z:-1.53 [[ 9.86489190e-01 1.61199796e-01 2.92182146e-02 3.86700298e+01] [-1.61143629e-01 9.86921675e-01 -4.28241911e-03 -2.64271352e+00] [-2.95264144e-02 -4.83768972e-04 9.99563883e-01 -1.52972739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.43264 meters 0.02163354486839522 Centerline is valid? [True, True] Translation: X:38.70, Y:-2.64, Z:-1.53 [[ 9.86515922e-01 1.61084108e-01 2.89524612e-02 3.87027743e+01] [-1.61028757e-01 9.86940570e-01 -4.24867326e-03 -2.64448169e+00] [-2.92587523e-02 -4.70795006e-04 9.99571760e-01 -1.53095007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.46264 meters 0.022201090783962013 Centerline is valid? [True, True] Translation: X:38.74, Y:-2.65, Z:-1.53 [[ 9.86405541e-01 1.61758534e-01 2.89531592e-02 3.87357892e+01] [-1.61703307e-01 9.86830249e-01 -4.25434086e-03 -2.64570416e+00] [-2.92600292e-02 -4.85316187e-04 9.99571716e-01 -1.53239293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.49264 meters 0.02391681435053735 Centerline is valid? [True, True] Translation: X:38.77, Y:-2.64, Z:-1.53 [[ 9.86273268e-01 1.62592898e-01 2.87852292e-02 3.87670557e+01] [-1.62538492e-01 9.86693113e-01 -4.23560440e-03 -2.64472834e+00] [-2.90908666e-02 -5.01244356e-04 9.99576646e-01 -1.53492960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.52264 meters 0.02523232613010619 Centerline is valid? [True, True] Translation: X:38.80, Y:-2.64, Z:-1.54 [[ 9.86046206e-01 1.64188007e-01 2.74804901e-02 3.87991878e+01] [-1.64138930e-01 9.86428927e-01 -4.04760730e-03 -2.64239826e+00] [-2.77721189e-02 -5.19490423e-04 9.99614145e-01 -1.53894291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.552640000000004 meters 0.024612506728576126 Centerline is valid? [True, True] Translation: X:38.83, Y:-2.65, Z:-1.54 [[ 9.85963148e-01 1.64904042e-01 2.61405311e-02 3.88314562e+01] [-1.64859797e-01 9.86309483e-01 -3.85363662e-03 -2.64528361e+00] [-2.64181340e-02 -5.09978959e-04 9.99650850e-01 -1.54140420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.582640000000005 meters 0.03148148249802167 Centerline is valid? [True, True] Translation: X:38.86, Y:-2.65, Z:-1.54 [[ 9.85781433e-01 1.66039968e-01 2.58010676e-02 3.88634509e+01] [-1.65997141e-01 9.86118882e-01 -3.80789153e-03 -2.64647588e+00] [-2.60751821e-02 -5.29154677e-04 9.99659845e-01 -1.54455542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.612640000000006 meters 0.024609942589145596 Centerline is valid? [True, True] Translation: X:38.90, Y:-2.65, Z:-1.54 [[ 9.85697025e-01 1.66557859e-01 2.56876201e-02 3.88955374e+01] [-1.66515471e-01 9.86031537e-01 -3.79550138e-03 -2.64926952e+00] [-2.59609742e-02 -5.36171731e-04 9.99662813e-01 -1.54392364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.64264 meters 0.02690704423089709 Centerline is valid? [True, True] Translation: X:38.93, Y:-2.65, Z:-1.54 [[ 9.85503997e-01 1.67517551e-01 2.68280283e-02 3.89283244e+01] [-1.67471538e-01 9.85868922e-01 -3.96887389e-03 -2.64517871e+00] [-2.71137753e-02 -5.81590078e-04 9.99632185e-01 -1.54471578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.67264 meters 0.026156233542916307 Centerline is valid? [True, True] Translation: X:38.96, Y:-2.65, Z:-1.55 [[ 9.85445561e-01 1.67842762e-01 2.69416816e-02 3.89612571e+01] [-1.67796345e-01 9.85813604e-01 -3.99065760e-03 -2.64801516e+00] [-2.72292792e-02 -5.88139877e-04 9.99629041e-01 -1.54508656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.70264 meters 0.02897042300454504 Centerline is valid? [True, True] Translation: X:38.99, Y:-2.65, Z:-1.55 [[ 9.85426503e-01 1.67905902e-01 2.72436327e-02 3.89927573e+01] [-1.67858297e-01 9.85802850e-01 -4.04138809e-03 -2.64647252e+00] [-2.75354237e-02 -5.90578851e-04 9.99620654e-01 -1.54846705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.73264 meters 0.024212363601922925 Centerline is valid? [True, True] Translation: X:39.02, Y:-2.65, Z:-1.54 [[ 9.85584226e-01 1.66734214e-01 2.86955683e-02 3.90243916e+01] [-1.66680765e-01 9.86001705e-01 -4.26151758e-03 -2.65289450e+00] [-2.90044200e-02 -5.82914769e-04 9.99579113e-01 -1.54442035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.762640000000005 meters 0.02454556314148521 Centerline is valid? [True, True] Translation: X:39.06, Y:-2.66, Z:-1.55 [[ 9.85673581e-01 1.66089695e-01 2.93565229e-02 3.90559437e+01] [-1.66033308e-01 9.86110484e-01 -4.36510469e-03 -2.65510936e+00] [-2.96737739e-02 -5.71592234e-04 9.99559473e-01 -1.54549025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.792640000000006 meters 0.02312863522794596 Centerline is valid? [True, True] Translation: X:39.09, Y:-2.66, Z:-1.55 [[ 9.85752109e-01 1.65551064e-01 2.97594458e-02 3.90883482e+01] [-1.65492691e-01 9.86201062e-01 -4.43108442e-03 -2.65940967e+00] [-3.00823678e-02 -5.57019959e-04 9.99547268e-01 -1.54530059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.82264 meters 0.023535626548675685 Centerline is valid? [True, True] Translation: X:39.12, Y:-2.66, Z:-1.55 [[ 9.85852465e-01 1.64856662e-01 3.02852929e-02 3.91201763e+01] [-1.64795833e-01 9.86317386e-01 -4.51088164e-03 -2.65942447e+00] [-3.06145598e-02 -5.43826290e-04 9.99531117e-01 -1.54696029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.85264 meters 0.021640857387437335 Centerline is valid? [True, True] Translation: X:39.15, Y:-2.67, Z:-1.55 [[ 9.85902480e-01 1.64524240e-01 3.04643268e-02 3.91517203e+01] [-1.64462465e-01 9.86372895e-01 -4.53971339e-03 -2.66518526e+00] [-3.07960791e-02 -5.34523578e-04 9.99525545e-01 -1.54666062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.88264 meters 0.021442284901726345 Centerline is valid? [True, True] Translation: X:39.18, Y:-2.67, Z:-1.55 [[ 9.85913499e-01 1.64478511e-01 3.03544270e-02 3.91847007e+01] [-1.64417006e-01 9.86380526e-01 -4.52831345e-03 -2.66851996e+00] [-3.06858260e-02 -5.26258657e-04 9.99528941e-01 -1.54814163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.91264 meters 0.02253191613040713 Centerline is valid? [True, True] Translation: X:39.22, Y:-2.67, Z:-1.55 [[ 9.85993525e-01 1.64026896e-01 3.01984573e-02 3.92157211e+01] [-1.63965591e-01 9.86455739e-01 -4.51220751e-03 -2.66868936e+00] [-3.05295649e-02 -5.02500507e-04 9.99533738e-01 -1.55126949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.942640000000004 meters 0.021406122176594794 Centerline is valid? [True, True] Translation: X:39.25, Y:-2.67, Z:-1.56 [[ 9.86211509e-01 1.62933869e-01 2.89726273e-02 3.92484870e+01] [-1.62876926e-01 9.86636890e-01 -4.33051784e-03 -2.67050188e+00] [-2.92910509e-02 -4.48165930e-04 9.99570825e-01 -1.55508226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.972640000000006 meters 0.0199948278187964 Centerline is valid? [True, True] Translation: X:39.28, Y:-2.68, Z:-1.56 [[ 9.86313821e-01 1.62420096e-01 2.83682680e-02 3.92812074e+01] [-1.62365143e-01 9.86721611e-01 -4.24537539e-03 -2.67627558e+00] [-2.86811174e-02 -4.18745468e-04 9.99588524e-01 -1.55673270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.00264 meters 0.0207011763596168 Centerline is valid? [True, True] Translation: X:39.31, Y:-2.68, Z:-1.56 [[ 9.86366751e-01 1.62178341e-01 2.79073299e-02 3.93130840e+01] [-1.62124905e-01 9.86761383e-01 -4.18198413e-03 -2.67914732e+00] [-2.82161026e-02 -3.99503102e-04 9.99601767e-01 -1.56004060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.03264 meters 0.02005954228257311 Centerline is valid? [True, True] Translation: X:39.34, Y:-2.68, Z:-1.56 [[ 9.86520121e-01 1.61206794e-01 2.81144053e-02 3.93447804e+01] [-1.61152012e-01 9.86920581e-01 -4.21849531e-03 -2.68095228e+00] [-2.84267353e-02 -3.69062494e-04 9.99595811e-01 -1.56217638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06264 meters 0.019309251197315205 Centerline is valid? [True, True] Translation: X:39.38, Y:-2.69, Z:-1.56 [[ 9.86587921e-01 1.60773784e-01 2.82146027e-02 3.93771883e+01] [-1.60718257e-01 9.86991219e-01 -4.23974719e-03 -2.68527746e+00] [-2.85292053e-02 -3.51718400e-04 9.99592898e-01 -1.56242121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.09264 meters 0.01767438699864225 Centerline is valid? [True, True] Translation: X:39.41, Y:-2.69, Z:-1.56 [[ 9.86623533e-01 1.60416404e-01 2.89927793e-02 3.94086598e+01] [-1.60357606e-01 9.87049368e-01 -4.35701514e-03 -2.69004552e+00] [-2.93162412e-02 -3.50479024e-04 9.99570125e-01 -1.56084854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.122640000000004 meters 0.018216764542931585 Centerline is valid? [True, True] Translation: X:39.44, Y:-2.69, Z:-1.56 [[ 9.86630726e-01 1.60390609e-01 2.88905487e-02 3.94402452e+01] [-1.60332072e-01 9.87053562e-01 -4.34652444e-03 -2.69405145e+00] [-2.92136608e-02 -3.43666985e-04 9.99573131e-01 -1.56314197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.152640000000005 meters 0.017458631690271897 Centerline is valid? [True, True] Translation: X:39.47, Y:-2.70, Z:-1.56 [[ 9.86685120e-01 1.60058626e-01 2.88740484e-02 3.94723223e+01] [-1.59999860e-01 9.87107455e-01 -4.34929282e-03 -2.70011428e+00] [-2.91979303e-02 -3.28461197e-04 9.99573596e-01 -1.56447786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.182640000000006 meters 0.016849086543831323 Centerline is valid? [True, True] Translation: X:39.50, Y:-2.71, Z:-1.57 [[ 9.86738688e-01 1.59763644e-01 2.86764748e-02 3.95046147e+01] [-1.59705393e-01 9.87155247e-01 -4.32511805e-03 -2.70597056e+00] [-2.89991291e-02 -3.12026360e-04 9.99579388e-01 -1.56609786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.21264 meters 0.01687838061117816 Centerline is valid? [True, True] Translation: X:39.54, Y:-2.71, Z:-1.57 [[ 9.86950501e-01 1.58517078e-01 2.83027253e-02 3.95352481e+01] [-1.58459649e-01 9.87356200e-01 -4.27482917e-03 -2.71038562e+00] [-2.86225047e-02 -2.65795122e-04 9.99590257e-01 -1.57052610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24264 meters 0.015385971001527136 Centerline is valid? [True, True] Translation: X:39.57, Y:-2.72, Z:-1.57 [[ 9.87025605e-01 1.58151862e-01 2.77208226e-02 3.95676340e+01] [-1.58096522e-01 9.87414770e-01 -4.19065630e-03 -2.71801970e+00] [-2.80347098e-02 -2.46280588e-04 9.99606920e-01 -1.57041261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.27264 meters 0.01630074916907336 Centerline is valid? [True, True] Translation: X:39.60, Y:-2.72, Z:-1.58 [[ 9.87127200e-01 1.57570885e-01 2.74099694e-02 3.95989742e+01] [-1.57516397e-01 9.87507654e-01 -4.14938607e-03 -2.72298509e+00] [-2.77213770e-02 -2.21547785e-04 9.99615664e-01 -1.57527274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.302640000000004 meters 0.01773990311944175 Centerline is valid? [True, True] Translation: X:39.63, Y:-2.73, Z:-1.58 [[ 9.87261269e-01 1.56680110e-01 2.76862767e-02 3.96306760e+01] [-1.56624008e-01 9.87649384e-01 -4.19695625e-03 -2.73048353e+00] [-2.80019137e-02 -1.92843256e-04 9.99607851e-01 -1.57700970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.332640000000005 meters 0.01504373874478181 Centerline is valid? [True, True] Translation: X:39.66, Y:-2.74, Z:-1.58 [[ 9.87202323e-01 1.57043265e-01 2.77306105e-02 3.96629977e+01] [-1.56987008e-01 9.87591704e-01 -4.20786739e-03 -2.73572758e+00] [-2.80473381e-02 -1.99329111e-04 9.99606576e-01 -1.57623442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.362640000000006 meters 0.015984417131694687 Centerline is valid? [True, True] Translation: X:39.69, Y:-2.74, Z:-1.58 [[ 9.87022409e-01 1.58109746e-01 2.80726412e-02 3.96945118e+01] [-1.58052333e-01 9.87421519e-01 -4.26647135e-03 -2.73850412e+00] [-2.83941007e-02 -2.25843608e-04 9.99596781e-01 -1.57848099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.39264 meters 0.02165928093050221 Centerline is valid? [True, True] Translation: X:39.73, Y:-2.74, Z:-1.58 [[ 9.86309237e-01 1.62512476e-01 2.79961624e-02 3.97269304e+01] [-1.62457070e-01 9.86706427e-01 -4.25755360e-03 -2.73956572e+00] [-2.83158989e-02 -3.48910078e-04 9.99598964e-01 -1.57738619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.42264 meters 0.03133619886856028 Centerline is valid? [True, True] Translation: X:39.76, Y:-2.74, Z:-1.58 [[ 9.85790308e-01 1.65653271e-01 2.78650944e-02 3.97582925e+01] [-1.65599465e-01 9.86183963e-01 -4.24369032e-03 -2.73962909e+00] [-2.81830903e-02 -4.31055943e-04 9.99602685e-01 -1.57931057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.45264 meters 0.027635302072432297 Centerline is valid? [True, True] Translation: X:39.79, Y:-2.73, Z:-1.58 [[ 9.84491024e-01 1.73090223e-01 2.85866819e-02 3.97913847e+01] [-1.73036620e-01 9.84905753e-01 -4.35718269e-03 -2.73159536e+00] [-2.89093732e-02 -6.56935557e-04 9.99581821e-01 -1.57870676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.48264 meters 0.03269279716277977 Centerline is valid? [True, True] Translation: X:39.82, Y:-2.73, Z:-1.58 [[ 9.83739964e-01 1.77181949e-01 2.93639151e-02 3.98225382e+01] [-1.77127202e-01 9.84177789e-01 -4.47595642e-03 -2.72666419e+00] [-2.96923717e-02 -7.97970914e-04 9.99558766e-01 -1.57959210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.512640000000005 meters 0.036725130177765894 Centerline is valid? [True, True] Translation: X:39.85, Y:-2.72, Z:-1.58 [[ 9.83113338e-01 1.80628638e-01 2.93506229e-02 3.98547831e+01] [-1.80575407e-01 9.83550958e-01 -4.47616942e-03 -2.72358548e+00] [-2.96763577e-02 -8.99418827e-04 9.99559155e-01 -1.58099469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.542640000000006 meters 0.03927305473254347 Centerline is valid? [True, True] Translation: X:39.89, Y:-2.72, Z:-1.58 [[ 9.82507327e-01 1.83887534e-01 2.94062308e-02 3.98856814e+01] [-1.83835528e-01 9.82946783e-01 -4.48565118e-03 -2.72281900e+00] [-2.97296152e-02 -9.98724814e-04 9.99557478e-01 -1.58222228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.57264 meters 0.04386577377111689 Centerline is valid? [True, True] Translation: X:39.92, Y:-2.72, Z:-1.58 [[ 9.81772667e-01 1.87775434e-01 2.93737540e-02 3.99174052e+01] [-1.87725279e-01 9.82211353e-01 -4.48069715e-03 -2.71748386e+00] [-2.96925995e-02 -1.11517019e-03 9.99558455e-01 -1.58335134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.60264 meters 0.040653119737472244 Centerline is valid? [True, True] Translation: X:39.95, Y:-2.72, Z:-1.58 [[ 9.81696385e-01 1.88176941e-01 2.93538242e-02 3.99476410e+01] [-1.88127034e-01 9.82134497e-01 -4.47765703e-03 -2.72427010e+00] [-2.96719951e-02 -1.12654816e-03 9.99559055e-01 -1.58337309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.63264 meters 0.04073850886638634 Centerline is valid? [True, True] Translation: X:39.98, Y:-2.73, Z:-1.59 [[ 9.81816206e-01 1.87560544e-01 2.92913053e-02 3.99766031e+01] [-1.87510566e-01 9.82252422e-01 -4.46843235e-03 -2.72703422e+00] [-2.96095572e-02 -1.10524995e-03 9.99560930e-01 -1.58512464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.66264 meters 0.040631870193370175 Centerline is valid? [True, True] Translation: X:40.01, Y:-2.73, Z:-1.59 [[ 9.82487465e-01 1.83922305e-01 2.98490628e-02 4.00062160e+01] [-1.83868755e-01 9.82940260e-01 -4.55260184e-03 -2.72859113e+00] [-3.01771706e-02 -1.01543579e-03 9.99544050e-01 -1.58692500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.692640000000004 meters 0.040896224604170084 Centerline is valid? [True, True] Translation: X:40.04, Y:-2.73, Z:-1.59 [[ 9.82929612e-01 1.81531521e-01 2.99279778e-02 4.00359268e+01] [-1.81476592e-01 9.83384673e-01 -4.56426224e-03 -2.73379308e+00] [-3.02592721e-02 -9.44878891e-04 9.99541637e-01 -1.58816787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.722640000000006 meters 0.036301430119641785 Centerline is valid? [True, True] Translation: X:40.06, Y:-2.74, Z:-1.59 [[ 9.83380555e-01 1.78983979e-01 3.04535514e-02 4.00646495e+01] [-1.78925890e-01 9.83851593e-01 -4.64418110e-03 -2.73746956e+00] [-3.07930091e-02 -8.81931407e-04 9.99525394e-01 -1.58924658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.75264 meters 0.04235923806470968 Centerline is valid? [True, True] Translation: X:40.09, Y:-2.75, Z:-1.59 [[ 9.83779818e-01 1.76869122e-01 2.99096019e-02 4.00945692e+01] [-1.76812147e-01 9.84234053e-01 -4.56011207e-03 -2.74651437e+00] [-3.02445917e-02 -8.02234694e-04 9.99542206e-01 -1.59017012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.78264 meters 0.027256769431246008 Centerline is valid? [True, True] Translation: X:40.13, Y:-2.75, Z:-1.59 [[ 9.84320517e-01 1.73854632e-01 2.97940651e-02 4.01251152e+01] [-1.73796710e-01 9.84771074e-01 -4.54270668e-03 -2.75428858e+00] [-3.01301041e-02 -7.06631097e-04 9.99545736e-01 -1.59077241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.81264 meters 0.027826940254907378 Centerline is valid? [True, True] Translation: X:40.16, Y:-2.76, Z:-1.59 [[ 9.84445579e-01 1.73127972e-01 2.98932817e-02 4.01557886e+01] [-1.73069305e-01 9.84899099e-01 -4.55859260e-03 -2.75701113e+00] [-3.02310861e-02 -6.85923163e-04 9.99542701e-01 -1.59313108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.84264 meters 0.027826940254907378 Centerline is valid? [True, True] Translation: X:40.19, Y:-2.76, Z:-1.59 [[ 9.84445576e-01 1.73128015e-01 2.98931260e-02 4.01854289e+01] [-1.73069317e-01 9.84899092e-01 -4.55961390e-03 -2.76153158e+00] [-3.02311095e-02 -6.84891160e-04 9.99542701e-01 -1.59439924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.872640000000004 meters 0.02768246329552462 Centerline is valid? [True, True] Translation: X:40.22, Y:-2.76, Z:-1.60 [[ 9.84517843e-01 1.72731894e-01 2.98045390e-02 4.02160427e+01] [-1.72673362e-01 9.84968651e-01 -4.54610169e-03 -2.76405407e+00] [-3.01417933e-02 -6.70731734e-04 9.99545408e-01 -1.59618909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.902640000000005 meters 0.028269266563402336 Centerline is valid? [True, True] Translation: X:40.25, Y:-2.76, Z:-1.60 [[ 9.84595079e-01 1.72298542e-01 2.97614266e-02 4.02460509e+01] [-1.72239977e-01 9.85044558e-01 -4.53967182e-03 -2.76478861e+00] [-3.00985102e-02 -6.56368912e-04 9.99546722e-01 -1.59824670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.932640000000006 meters 0.03729027481584705 Centerline is valid? [True, True] Translation: X:40.28, Y:-2.76, Z:-1.60 [[ 9.84657829e-01 1.72143566e-01 2.85578911e-02 4.02765141e+01] [-1.72089587e-01 9.85071673e-01 -4.35576156e-03 -2.76364839e+00] [-2.88813859e-02 -6.25580978e-04 9.99582650e-01 -1.60102172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.96264 meters 0.03569760652047668 Centerline is valid? [True, True] Translation: X:40.31, Y:-2.76, Z:-1.60 [[ 9.84717754e-01 1.71796588e-01 2.85810723e-02 4.03056050e+01] [-1.71742376e-01 9.85132252e-01 -4.35926808e-03 -2.76430539e+00] [-2.89050435e-02 -6.15932595e-04 9.99581972e-01 -1.60268992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.99264 meters 0.0272822251134865 Centerline is valid? [True, True] Translation: X:40.34, Y:-2.76, Z:-1.60 [[ 9.84884994e-01 1.70596263e-01 2.99743980e-02 4.03351829e+01] [-1.70536120e-01 9.85340826e-01 -4.57048831e-03 -2.76459115e+00] [-3.03147063e-02 -6.10312179e-04 9.99540217e-01 -1.60240479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.02264 meters 0.026159922597464906 Centerline is valid? [True, True] Translation: X:40.36, Y:-2.77, Z:-1.60 [[ 9.85072417e-01 1.69489169e-01 3.00957691e-02 4.03646642e+01] [-1.69428043e-01 9.85531880e-01 -4.58828232e-03 -2.76986974e+00] [-3.04380041e-02 -5.79276909e-04 9.99536489e-01 -1.60264737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.052640000000004 meters 0.024055517833600056 Centerline is valid? [True, True] Translation: X:40.39, Y:-2.77, Z:-1.60 [[ 9.85338893e-01 1.67809984e-01 3.07745961e-02 4.03933285e+01] [-1.67745270e-01 9.85819212e-01 -4.69112975e-03 -2.77310855e+00] [-3.11254064e-02 -5.39940325e-04 9.99515341e-01 -1.60368475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.082640000000005 meters 0.022163277072768283 Centerline is valid? [True, True] Translation: X:40.42, Y:-2.78, Z:-1.60 [[ 9.85648845e-01 1.65890444e-01 3.12524419e-02 4.04219992e+01] [-1.65822785e-01 9.86144068e-01 -4.76253975e-03 -2.77861910e+00] [-3.16094700e-02 -4.88175150e-04 9.99500177e-01 -1.60461426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.112640000000006 meters 0.018266880714061195 Centerline is valid? [True, True] Translation: X:40.45, Y:-2.79, Z:-1.61 [[ 9.86390380e-01 1.61431543e-01 3.12069849e-02 4.04506231e+01] [-1.61361864e-01 9.86883852e-01 -4.75511894e-03 -2.78648227e+00] [-3.15652957e-02 -3.45213662e-04 9.99501632e-01 -1.60665620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.14264 meters 0.015634791394775926 Centerline is valid? [True, True] Translation: X:40.48, Y:-2.79, Z:-1.61 [[ 9.86757066e-01 1.59251929e-01 3.08109640e-02 4.04807899e+01] [-1.59182954e-01 9.87237939e-01 -4.69450613e-03 -2.79426410e+00] [-3.11653617e-02 -2.72243152e-04 9.99514205e-01 -1.60730213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.17264 meters 0.014863520623832727 Centerline is valid? [True, True] Translation: X:40.51, Y:-2.80, Z:-1.61 [[ 9.87058933e-01 1.57476856e-01 3.02605846e-02 4.05113015e+01] [-1.57409492e-01 9.87522655e-01 -4.61053821e-03 -2.80021774e+00] [-3.06090659e-02 -2.12430328e-04 9.99531410e-01 -1.61070815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.20264 meters 0.012783357014237686 Centerline is valid? [True, True] Translation: X:40.54, Y:-2.81, Z:-1.61 [[ 9.87584569e-01 1.54068718e-01 3.06520688e-02 4.05427455e+01] [-1.53997888e-01 9.88060129e-01 -4.67241908e-03 -2.80991741e+00] [-3.10059607e-02 -1.05944870e-04 9.99519194e-01 -1.61207025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.23264 meters 0.012029628073014382 Centerline is valid? [True, True] Translation: X:40.57, Y:-2.82, Z:-1.61 [[ 9.87801627e-01 1.52641029e-01 3.08003573e-02 4.05749136e+01] [-1.52568666e-01 9.88281697e-01 -4.69990080e-03 -2.81696951e+00] [-3.11568271e-02 -5.65997813e-05 9.99514507e-01 -1.61185299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.262640000000005 meters 0.012251009793385711 Centerline is valid? [True, True] Translation: X:40.61, Y:-2.82, Z:-1.61 [[ 9.87956615e-01 1.51620411e-01 3.08703475e-02 4.06060232e+01] [-1.51547020e-01 9.88438795e-01 -4.71697564e-03 -2.82253807e+00] [-3.12286388e-02 -1.81418986e-05 9.99512267e-01 -1.61480181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.292640000000006 meters 0.020677774308177327 Centerline is valid? [True, True] Translation: X:40.64, Y:-2.83, Z:-1.62 [[ 9.88107150e-01 1.50712303e-01 3.04969232e-02 4.06383367e+01] [-1.50640074e-01 9.88577666e-01 -4.66548293e-03 -2.82738703e+00] [-3.08517228e-02 1.59382783e-05 9.99523972e-01 -1.61583147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.32264 meters 0.011919120416661407 Centerline is valid? [True, True] Translation: X:40.67, Y:-2.83, Z:-1.62 [[ 9.88035852e-01 1.51047109e-01 3.11436440e-02 4.06702076e+01] [-1.50971747e-01 9.88526565e-01 -4.77084480e-03 -2.83222434e+00] [-3.15069417e-02 1.19553672e-05 9.99503533e-01 -1.61601409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.35264 meters 0.014814080658850037 Centerline is valid? [True, True] Translation: X:40.70, Y:-2.84, Z:-1.62 [[ 9.87947925e-01 1.51666029e-01 3.09243005e-02 4.07020367e+01] [-1.51591864e-01 9.88431796e-01 -4.74245830e-03 -2.83703636e+00] [-3.12858317e-02 -2.57052478e-06 9.99510479e-01 -1.61897887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.38264 meters 0.012373635956906841 Centerline is valid? [True, True] Translation: X:40.73, Y:-2.84, Z:-1.62 [[ 9.87630954e-01 1.53714894e-01 3.09326791e-02 4.07344448e+01] [-1.53641505e-01 9.88115240e-01 -4.74976302e-03 -2.83835544e+00] [-3.12951609e-02 -6.15303945e-05 9.99510185e-01 -1.61987132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.41264 meters 0.01248740955316602 Centerline is valid? [True, True] Translation: X:40.77, Y:-2.84, Z:-1.62 [[ 9.87406057e-01 1.55141004e-01 3.09926867e-02 4.07663505e+01] [-1.55067872e-01 9.87892331e-01 -4.76409119e-03 -2.84037098e+00] [-3.13565434e-02 -1.01877475e-04 9.99508257e-01 -1.62020265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.442640000000004 meters 0.013220398248115732 Centerline is valid? [True, True] Translation: X:40.80, Y:-2.84, Z:-1.62 [[ 9.87210804e-01 1.56379150e-01 3.09901496e-02 4.07969695e+01] [-1.56306418e-01 9.87697091e-01 -4.77077054e-03 -2.84147047e+00] [-3.13549297e-02 -1.34203044e-04 9.99508304e-01 -1.62260100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.472640000000006 meters 0.014305121885290437 Centerline is valid? [True, True] Translation: X:40.83, Y:-2.84, Z:-1.62 [[ 9.86857957e-01 1.58615638e-01 3.08618166e-02 4.08276611e+01] [-1.58544584e-01 9.87340386e-01 -4.75152442e-03 -2.84019038e+00] [-3.12247840e-02 -2.03894185e-04 9.99512367e-01 -1.62301451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.50264 meters 0.014469806439173437 Centerline is valid? [True, True] Translation: X:40.86, Y:-2.84, Z:-1.62 [[ 9.86784308e-01 1.59032132e-01 3.10726737e-02 4.08584230e+01] [-1.58960310e-01 9.87273383e-01 -4.78398825e-03 -2.84329765e+00] [-3.14380316e-02 -2.18557319e-04 9.99505679e-01 -1.62352855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.53264 meters 0.014618284565353528 Centerline is valid? [True, True] Translation: X:40.89, Y:-2.85, Z:-1.62 [[ 9.86769187e-01 1.59075555e-01 3.13295223e-02 4.08873425e+01] [-1.59002567e-01 9.87266387e-01 -4.82340072e-03 -2.84674827e+00] [-3.16978694e-02 -2.21891254e-04 9.99497472e-01 -1.62434338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56264 meters 0.013541709381632898 Centerline is valid? [True, True] Translation: X:40.92, Y:-2.85, Z:-1.62 [[ 9.86980821e-01 1.57571072e-01 3.22523820e-02 4.09158465e+01] [-1.57492895e-01 9.87507633e-01 -4.96614051e-03 -2.85296961e+00] [-3.26319935e-02 -1.78035577e-04 9.99467419e-01 -1.62485969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.59264 meters 0.012438515056417307 Centerline is valid? [True, True] Translation: X:40.95, Y:-2.86, Z:-1.62 [[ 9.87148959e-01 1.56457967e-01 3.25244130e-02 4.09476224e+01] [-1.56377931e-01 9.87684607e-01 -5.00590104e-03 -2.86069436e+00] [-3.29070752e-02 -1.44530423e-04 9.99458405e-01 -1.62460963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.622640000000004 meters 0.011775084365706437 Centerline is valid? [True, True] Translation: X:40.98, Y:-2.87, Z:-1.63 [[ 9.87381538e-01 1.54987734e-01 3.25038588e-02 4.09796369e+01] [-1.54906823e-01 9.87916390e-01 -5.00819131e-03 -2.86834807e+00] [-3.28873031e-02 -9.00738643e-05 9.99459062e-01 -1.62560512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.652640000000005 meters 0.011565240699602273 Centerline is valid? [True, True] Translation: X:41.01, Y:-2.88, Z:-1.63 [[ 9.87662076e-01 1.53180752e-01 3.25465840e-02 4.10110552e+01] [-1.53098426e-01 9.88198187e-01 -5.02148450e-03 -2.87608412e+00] [-3.29316701e-02 -2.33009631e-05 9.99457605e-01 -1.62707656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.682640000000006 meters 0.01214452348314251 Centerline is valid? [True, True] Translation: X:41.04, Y:-2.89, Z:-1.63 [[ 9.88247070e-01 1.49262074e-01 3.29933512e-02 4.10424619e+01] [-1.49175080e-01 9.88797664e-01 -5.09663868e-03 -2.88777280e+00] [-3.33844835e-02 1.14952448e-04 9.99442576e-01 -1.62771597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.71264 meters 0.013208971651384276 Centerline is valid? [True, True] Translation: X:41.07, Y:-2.90, Z:-1.63 [[ 9.88525371e-01 1.47352299e-01 3.32399061e-02 4.10737836e+01] [-1.47262691e-01 9.89084053e-01 -5.14149989e-03 -2.89716275e+00] [-3.36346729e-02 1.87505054e-04 9.99434177e-01 -1.62894227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74264 meters 0.014295766916265171 Centerline is valid? [True, True] Translation: X:41.10, Y:-2.91, Z:-1.63 [[ 9.88832012e-01 1.45331362e-01 3.30158786e-02 4.11045982e+01] [-1.45241626e-01 9.89383003e-01 -5.11298845e-03 -2.90647825e+00] [-3.34084267e-02 2.60606759e-04 9.99441749e-01 -1.63024339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.77264 meters 0.032250104337648335 Centerline is valid? [True, True] Translation: X:41.13, Y:-2.92, Z:-1.63 [[ 9.89144739e-01 1.43475245e-01 3.17417650e-02 4.11346950e+01] [-1.43391174e-01 9.89653856e-01 -4.92107516e-03 -2.91751554e+00] [-3.21194126e-02 3.16166644e-04 9.99483989e-01 -1.63403961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.802640000000004 meters 0.02486704589437934 Centerline is valid? [True, True] Translation: X:41.17, Y:-2.93, Z:-1.64 [[ 9.89584446e-01 1.40625735e-01 3.07738049e-02 4.11652096e+01] [-1.40545194e-01 9.90062747e-01 -4.77560625e-03 -2.93023484e+00] [-3.11395709e-02 4.00755307e-04 9.99514966e-01 -1.63609921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.832640000000005 meters 0.024777215973436784 Centerline is valid? [True, True] Translation: X:41.20, Y:-2.94, Z:-1.64 [[ 9.89691336e-01 1.39912096e-01 3.05886261e-02 4.11955917e+01] [-1.39831990e-01 9.90163837e-01 -4.75305550e-03 -2.93984796e+00] [-3.09527613e-02 4.26789400e-04 9.99520757e-01 -1.63935180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.862640000000006 meters 0.021365367001987944 Centerline is valid? [True, True] Translation: X:41.23, Y:-2.95, Z:-1.64 [[ 9.89757161e-01 1.39426617e-01 3.06754075e-02 4.12261216e+01] [-1.39345752e-01 9.90232306e-01 -4.76879125e-03 -2.94850151e+00] [-3.10406759e-02 4.45457562e-04 9.99518023e-01 -1.64110541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.89264 meters 0.019428809264997734 Centerline is valid? [True, True] Translation: X:41.26, Y:-2.96, Z:-1.64 [[ 9.89721973e-01 1.39812753e-01 3.00468110e-02 4.12579433e+01] [-1.39735225e-01 9.90177868e-01 -4.67506755e-03 -2.95665823e+00] [-3.04053213e-02 4.28419172e-04 9.99537560e-01 -1.64070528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.92264 meters 0.02487706996573349 Centerline is valid? [True, True] Translation: X:41.29, Y:-2.96, Z:-1.64 [[ 9.89626281e-01 1.40562261e-01 2.96997476e-02 4.12901782e+01] [-1.40486678e-01 9.90071758e-01 -4.62685079e-03 -2.96326051e+00] [-3.00552420e-02 4.06434252e-04 9.99548157e-01 -1.64146204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.95264 meters 0.01828562060846729 Centerline is valid? [True, True] Translation: X:41.32, Y:-2.97, Z:-1.64 [[ 9.89448621e-01 1.41737428e-01 3.00321102e-02 4.13207482e+01] [-1.41660478e-01 9.89904216e-01 -4.68539706e-03 -2.97146620e+00] [-3.03930086e-02 3.81596569e-04 9.99537953e-01 -1.64263320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.98264 meters 0.017182824753987646 Centerline is valid? [True, True] Translation: X:41.35, Y:-2.98, Z:-1.64 [[ 9.89246209e-01 1.43106099e-01 3.02089805e-02 4.13519382e+01] [-1.43028726e-01 9.89707292e-01 -4.71797550e-03 -2.97798390e+00] [-3.05732194e-02 3.46487382e-04 9.99532470e-01 -1.64279775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.012640000000005 meters 0.014556887465400294 Centerline is valid? [True, True] Translation: X:41.38, Y:-2.98, Z:-1.64 [[ 9.88586030e-01 1.47646771e-01 2.99681841e-02 4.13830562e+01] [-1.47572552e-01 9.89040134e-01 -4.68560207e-03 -2.98331132e+00] [-3.03315508e-02 2.09639345e-04 9.99539871e-01 -1.64492433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.042640000000006 meters 0.013784836379051318 Centerline is valid? [True, True] Translation: X:41.41, Y:-2.99, Z:-1.65 [[ 9.88184200e-01 1.50325127e-01 2.99055829e-02 4.14133685e+01] [-1.50252280e-01 9.88636606e-01 -4.68119164e-03 -2.98753657e+00] [-3.02694547e-02 1.32497594e-04 9.99541766e-01 -1.64823808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.07264 meters 0.01272430763813899 Centerline is valid? [True, True] Translation: X:41.45, Y:-2.99, Z:-1.65 [[ 9.87678239e-01 1.53611079e-01 2.99220965e-02 4.14456992e+01] [-1.53539515e-01 9.88131386e-01 -4.68851825e-03 -2.98954200e+00] [-3.02871711e-02 3.65232694e-05 9.99541238e-01 -1.64927396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.10264 meters 0.012500958909168506 Centerline is valid? [True, True] Translation: X:41.48, Y:-2.99, Z:-1.65 [[ 9.87092052e-01 1.57303577e-01 3.00809745e-02 4.14788685e+01] [-1.57232822e-01 9.87550292e-01 -4.71808681e-03 -2.99097778e+00] [-3.04486471e-02 -7.25305275e-05 9.99536330e-01 -1.64861496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.13264 meters 0.017726693191092942 Centerline is valid? [True, True] Translation: X:41.51, Y:-2.99, Z:-1.65 [[ 9.85673572e-01 1.65848767e-01 3.06886935e-02 4.15115235e+01] [-1.65779049e-01 9.86151141e-01 -4.82013596e-03 -2.98566258e+00] [-3.10631037e-02 -3.36461788e-04 9.99517369e-01 -1.64927381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.16264 meters 0.020851601595786962 Centerline is valid? [True, True] Translation: X:41.54, Y:-2.99, Z:-1.65 [[ 9.84881463e-01 1.70503694e-01 3.06103585e-02 4.15434046e+01] [-1.70436423e-01 9.85356922e-01 -4.81279279e-03 -2.98661493e+00] [-3.09827276e-02 -4.77089602e-04 9.99519806e-01 -1.64924837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.192640000000004 meters 0.025746005416114565 Centerline is valid? [True, True] Translation: X:41.57, Y:-2.98, Z:-1.65 [[ 9.84053631e-01 1.75147705e-01 3.10118040e-02 4.15740511e+01] [-1.75080748e-01 9.84541970e-01 -4.88268421e-03 -2.98475602e+00] [-3.13876135e-02 -6.24746699e-04 9.99507092e-01 -1.64995090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.222640000000006 meters 0.03237059286420438 Centerline is valid? [True, True] Translation: X:41.61, Y:-2.98, Z:-1.65 [[ 9.82608958e-01 1.83094333e-01 3.09208813e-02 4.16056764e+01] [-1.83031693e-01 9.83094959e-01 -4.86838173e-03 -2.97839088e+00] [-3.12895356e-02 -8.75785753e-04 9.99509979e-01 -1.64995241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.25264 meters 0.04149715628455952 Centerline is valid? [True, True] Translation: X:41.64, Y:-2.97, Z:-1.65 [[ 9.81956356e-01 1.86540801e-01 3.10522803e-02 4.16361347e+01] [-1.86479336e-01 9.82446716e-01 -4.88945485e-03 -2.96846324e+00] [-3.14192936e-02 -9.89377324e-04 9.99505802e-01 -1.65344249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.28264 meters 0.04050828709522303 Centerline is valid? [True, True] Translation: X:41.67, Y:-2.97, Z:-1.65 [[ 9.81437088e-01 1.89247668e-01 3.10895884e-02 4.16655719e+01] [-1.89187456e-01 9.81928794e-01 -4.89388549e-03 -2.97121634e+00] [-3.14539185e-02 -1.07871942e-03 9.99504621e-01 -1.65314061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.31264 meters 0.04963654960413453 Centerline is valid? [True, True] Translation: X:41.70, Y:-2.97, Z:-1.66 [[ 9.81026278e-01 1.91299839e-01 3.14930575e-02 4.16950638e+01] [-1.91239129e-01 9.81530960e-01 -4.95674694e-03 -2.96975584e+00] [-3.18596359e-02 -1.16000589e-03 9.99491680e-01 -1.65528860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.34264 meters 0.04238723920525829 Centerline is valid? [True, True] Translation: X:41.72, Y:-2.97, Z:-1.66 [[ 9.80888906e-01 1.92174537e-01 3.04286380e-02 4.17241840e+01] [-1.92118310e-01 9.81360090e-01 -4.78831810e-03 -2.96998429e+00] [-3.07816438e-02 -1.14909040e-03 9.99525472e-01 -1.65648040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.372640000000004 meters 0.044885036819797455 Centerline is valid? [True, True] Translation: X:41.75, Y:-2.97, Z:-1.66 [[ 9.80941742e-01 1.91911860e-01 3.03831629e-02 4.17529912e+01] [-1.91855716e-01 9.81411503e-01 -4.77981446e-03 -2.96833836e+00] [-3.07356886e-02 -1.14046396e-03 9.99526896e-01 -1.65919393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.402640000000005 meters 0.04607732102846589 Centerline is valid? [True, True] Translation: X:41.78, Y:-2.97, Z:-1.66 [[ 9.81049720e-01 1.91339999e-01 3.05033062e-02 4.17817774e+01] [-1.91283200e-01 9.81523168e-01 -4.79657561e-03 -2.97436055e+00] [-3.08574786e-02 -1.12909088e-03 9.99523157e-01 -1.65988772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.432640000000006 meters 0.04144333577026718 Centerline is valid? [True, True] Translation: X:41.81, Y:-2.97, Z:-1.66 [[ 9.81675013e-01 1.88106916e-01 3.04951993e-02 4.18109948e+01] [-1.88048628e-01 9.82148019e-01 -4.79404054e-03 -2.97286427e+00] [-3.08525917e-02 -1.02839058e-03 9.99523416e-01 -1.66158665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.46264 meters 0.03676640101791494 Centerline is valid? [True, True] Translation: X:41.84, Y:-2.98, Z:-1.66 [[ 9.82082138e-01 1.85885504e-01 3.10040769e-02 4.18397145e+01] [-1.85824169e-01 9.82570928e-01 -4.87339598e-03 -2.98002720e+00] [-3.13695983e-02 -9.75231686e-04 9.99507377e-01 -1.66111483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.49264 meters 0.03514138899991286 Centerline is valid? [True, True] Translation: X:41.87, Y:-2.98, Z:-1.66 [[ 9.82550556e-01 1.83371325e-01 3.11345660e-02 4.18682201e+01] [-1.83308243e-01 9.83043309e-01 -4.89290758e-03 -2.98403717e+00] [-3.15038458e-02 -8.99693515e-04 9.99503226e-01 -1.66213870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.52264 meters 0.03037293807873361 Centerline is valid? [True, True] Translation: X:41.90, Y:-2.99, Z:-1.66 [[ 9.83481679e-01 1.78363051e-01 3.08287042e-02 4.18971610e+01] [-1.78298796e-01 9.83964473e-01 -4.84309521e-03 -2.98745586e+00] [-3.11981789e-02 -7.33625445e-04 9.99512949e-01 -1.66475110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.552640000000004 meters 0.02573484256280402 Centerline is valid? [True, True] Translation: X:41.93, Y:-3.00, Z:-1.66 [[ 9.83951120e-01 1.75809880e-01 3.05135990e-02 4.19260168e+01] [-1.75745727e-01 9.84423927e-01 -4.79286692e-03 -2.99521273e+00] [-3.08809503e-02 -6.46687866e-04 9.99522861e-01 -1.66460833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.582640000000005 meters 0.023835407016182374 Centerline is valid? [True, True] Translation: X:41.95, Y:-2.99, Z:-1.67 [[ 9.84633264e-01 1.71969653e-01 3.03936632e-02 4.19548768e+01] [-1.71904192e-01 9.85102108e-01 -4.77341256e-03 -2.99464603e+00] [-3.07617438e-02 -5.24737338e-04 9.99526608e-01 -1.66769311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.612640000000006 meters 0.020600555853056354 Centerline is valid? [True, True] Translation: X:41.98, Y:-3.00, Z:-1.67 [[ 9.84949235e-01 1.70304671e-01 2.95181906e-02 4.19834222e+01] [-1.70242207e-01 9.85391347e-01 -4.63502424e-03 -2.99972385e+00] [-2.98763359e-02 -4.59978343e-04 9.99553497e-01 -1.66749782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.64264 meters 0.0209729058935569 Centerline is valid? [True, True] Translation: X:42.01, Y:-3.00, Z:-1.67 [[ 9.85168602e-01 1.68984580e-01 2.97831562e-02 4.20113252e+01] [-1.68920428e-01 9.85618603e-01 -4.67524529e-03 -3.00009778e+00] [-3.01448772e-02 -4.25078637e-04 9.99545450e-01 -1.67056726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.67264 meters 0.03267688879626841 Centerline is valid? [True, True] Translation: X:42.04, Y:-3.00, Z:-1.67 [[ 9.85345830e-01 1.67910652e-01 2.99934534e-02 4.20391962e+01] [-1.67845153e-01 9.85802138e-01 -4.70629176e-03 -3.00251322e+00] [-3.03578470e-02 -3.96930819e-04 9.99539016e-01 -1.67251965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.70264 meters 0.030694970360463373 Centerline is valid? [True, True] Translation: X:42.07, Y:-3.00, Z:-1.68 [[ 9.85821335e-01 1.65302412e-01 2.88341468e-02 4.20676805e+01] [-1.65240816e-01 9.86242880e-01 -4.52258982e-03 -3.00412883e+00] [-2.91850670e-02 -3.06112422e-04 9.99573978e-01 -1.67571277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.73264 meters 0.01631795608903213 Centerline is valid? [True, True] Translation: X:42.10, Y:-3.01, Z:-1.68 [[ 9.86151651e-01 1.63472548e-01 2.79579688e-02 4.20964479e+01] [-1.63413939e-01 9.86547853e-01 -4.38391060e-03 -3.00939566e+00] [-2.82985231e-02 -2.45521127e-04 9.99599486e-01 -1.67683023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.762640000000005 meters 0.01631795608903213 Centerline is valid? [True, True] Translation: X:42.12, Y:-3.01, Z:-1.68 [[ 9.86159617e-01 1.63424445e-01 2.79581824e-02 4.21244258e+01] [-1.63365856e-01 9.86555822e-01 -4.38254740e-03 -3.01369125e+00] [-2.82985230e-02 -2.45521127e-04 9.99599486e-01 -1.67802753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.792640000000006 meters 0.015294317133980098 Centerline is valid? [True, True] Translation: X:42.15, Y:-3.02, Z:-1.68 [[ 9.86464124e-01 1.61674066e-01 2.73866443e-02 4.21525845e+01] [-1.61617210e-01 9.86844192e-01 -4.29163637e-03 -3.01788515e+00] [-2.77201972e-02 -1.92607717e-04 9.99615703e-01 -1.67993849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.82264 meters 0.014551011112935008 Centerline is valid? [True, True] Translation: X:42.18, Y:-3.02, Z:-1.68 [[ 9.86732066e-01 1.60071310e-01 2.71478324e-02 4.21812950e+01] [-1.60014872e-01 9.87105442e-01 -4.25286213e-03 -3.02184454e+00] [-2.74785343e-02 -1.47621486e-04 9.99622383e-01 -1.68194592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.85264 meters 0.014006999155735143 Centerline is valid? [True, True] Translation: X:42.21, Y:-3.02, Z:-1.69 [[ 9.87373807e-01 1.56196078e-01 2.63770803e-02 4.22086337e+01] [-1.56141445e-01 9.87726067e-01 -4.13104063e-03 -3.02486420e+00] [-2.66985821e-02 -3.96741251e-05 9.99643529e-01 -1.68541377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.88264 meters 0.013370126729703535 Centerline is valid? [True, True] Translation: X:42.24, Y:-3.03, Z:-1.68 [[ 9.87712467e-01 1.53958002e-01 2.68517426e-02 4.22369766e+01] [-1.53900609e-01 9.88077392e-01 -4.20348796e-03 -3.03022080e+00] [-2.71787604e-02 1.93379064e-05 9.99630589e-01 -1.68477331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.91264 meters 0.0138163975290996 Centerline is valid? [True, True] Translation: X:42.26, Y:-3.04, Z:-1.69 [[ 9.88113583e-01 1.51310360e-01 2.71426189e-02 4.22648224e+01] [-1.51250760e-01 9.88486301e-01 -4.24746506e-03 -3.03677175e+00] [-2.74727924e-02 9.16361819e-05 9.99622547e-01 -1.68567429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.942640000000004 meters 0.0335680198312041 Centerline is valid? [True, True] Translation: X:42.29, Y:-3.05, Z:-1.69 [[ 9.88709394e-01 1.47140194e-01 2.83460479e-02 4.22928283e+01] [-1.47073527e-01 9.89115624e-01 -4.43401740e-03 -3.04756946e+00] [-2.86899410e-02 2.15001412e-04 9.99588336e-01 -1.68613800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.972640000000006 meters 0.016817227186713312 Centerline is valid? [True, True] Translation: X:42.32, Y:-3.05, Z:-1.69 [[ 9.89009734e-01 1.45121183e-01 2.82769971e-02 4.23226453e+01] [-1.45054003e-01 9.89413850e-01 -4.42367570e-03 -3.05424651e+00] [-2.86196216e-02 2.73366722e-04 9.99590337e-01 -1.68573885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.00264 meters 0.0234633260906385 Centerline is valid? [True, True] Translation: X:42.35, Y:-3.06, Z:-1.69 [[ 9.89132458e-01 1.44154353e-01 2.89223575e-02 4.23527244e+01] [-1.44083657e-01 9.89555167e-01 -4.52463639e-03 -3.05910154e+00] [-2.92725143e-02 3.08225695e-04 9.99571421e-01 -1.68578802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.03264 meters 0.02501884704163353 Centerline is valid? [True, True] Translation: X:42.38, Y:-3.07, Z:-1.69 [[ 9.89316816e-01 1.42782107e-01 2.94195014e-02 4.23826317e+01] [-1.42708372e-01 9.89754083e-01 -4.60172773e-03 -3.06606771e+00] [-2.97751160e-02 3.54157461e-04 9.99556560e-01 -1.68753243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06264 meters 0.018970002087036027 Centerline is valid? [True, True] Translation: X:42.41, Y:-3.07, Z:-1.69 [[ 9.89338478e-01 1.42678155e-01 2.91945129e-02 4.24127121e+01] [-1.42605431e-01 9.89769072e-01 -4.56882834e-03 -3.07070697e+00] [-2.95476979e-02 3.56821578e-04 9.99563308e-01 -1.68867833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.09264 meters 0.03468960677939551 Centerline is valid? [True, True] Translation: X:42.44, Y:-3.07, Z:-1.69 [[ 9.89237233e-01 1.43291810e-01 2.96168007e-02 4.24438221e+01] [-1.43217246e-01 9.89680423e-01 -4.63476360e-03 -3.07286148e+00] [-2.99752915e-02 3.43244072e-04 9.99550581e-01 -1.68801207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.122640000000004 meters 0.016762491216369895 Centerline is valid? [True, True] Translation: X:42.47, Y:-3.08, Z:-1.69 [[ 9.89137248e-01 1.43971224e-01 2.96612689e-02 4.24743180e+01] [-1.43896726e-01 9.89581822e-01 -4.64224346e-03 -3.07632869e+00] [-3.00206020e-02 3.23656440e-04 9.99549228e-01 -1.68832465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.152640000000005 meters 0.015640213156033932 Centerline is valid? [True, True] Translation: X:42.50, Y:-3.08, Z:-1.69 [[ 9.88844821e-01 1.46002534e-01 2.94818523e-02 4.25036116e+01] [-1.45929833e-01 9.89284182e-01 -4.61431540e-03 -3.08050945e+00] [-2.98396319e-02 2.60560110e-04 9.99554665e-01 -1.69066166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.182640000000006 meters 0.015658638755768447 Centerline is valid? [True, True] Translation: X:42.53, Y:-3.09, Z:-1.69 [[ 9.88688306e-01 1.47180434e-01 2.88678585e-02 4.25323263e+01] [-1.47111250e-01 9.89109636e-01 -4.51755517e-03 -3.08511293e+00] [-2.92183727e-02 2.19667216e-04 9.99573028e-01 -1.69383974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.21264 meters 0.026310751659400593 Centerline is valid? [True, True] Translation: X:42.56, Y:-3.09, Z:-1.69 [[ 9.88464354e-01 1.48623287e-01 2.91434404e-02 4.25626540e+01] [-1.48553389e-01 9.88893870e-01 -4.56118698e-03 -3.08775967e+00] [-2.94976681e-02 1.79213912e-04 9.99564833e-01 -1.69386965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24264 meters 0.013912140906012489 Centerline is valid? [True, True] Translation: X:42.59, Y:-3.09, Z:-1.69 [[ 9.88348621e-01 1.49416749e-01 2.90110104e-02 4.25925658e+01] [-1.49347825e-01 9.88774297e-01 -4.54046060e-03 -3.09170129e+00] [-2.93637623e-02 1.54826658e-04 9.99568780e-01 -1.69476332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.27264 meters 0.013592035120755372 Centerline is valid? [True, True] Translation: X:42.62, Y:-3.10, Z:-1.70 [[ 9.88115396e-01 1.50758995e-01 2.99948144e-02 4.26213665e+01] [-1.50685930e-01 9.88570539e-01 -4.69457882e-03 -3.09828528e+00] [-3.03597399e-02 1.18989105e-04 9.99539030e-01 -1.69633517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.302640000000004 meters 0.013542605576664098 Centerline is valid? [True, True] Translation: X:42.65, Y:-3.10, Z:-1.70 [[ 9.88107773e-01 1.50880666e-01 2.96319842e-02 4.26506014e+01] [-1.50809420e-01 9.88551977e-01 -4.63757381e-03 -3.10447950e+00] [-2.99924768e-02 1.13640375e-04 9.99550118e-01 -1.69762217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.332640000000005 meters 0.012918799672756553 Centerline is valid? [True, True] Translation: X:42.68, Y:-3.11, Z:-1.70 [[ 9.88017655e-01 1.51511603e-01 2.94168051e-02 4.26804497e+01] [-1.51441698e-01 9.88455475e-01 -4.60290181e-03 -3.11142534e+00] [-2.97745951e-02 9.28173461e-05 9.99556634e-01 -1.69715967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.362640000000006 meters 0.01903157419583733 Centerline is valid? [True, True] Translation: X:42.71, Y:-3.12, Z:-1.70 [[ 9.87862024e-01 1.52429233e-01 2.98989972e-02 4.27093610e+01] [-1.52357432e-01 9.88314385e-01 -4.67849963e-03 -3.11654185e+00] [-3.02627492e-02 6.63776784e-05 9.99541976e-01 -1.69999962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.39264 meters 0.012469225456990779 Centerline is valid? [True, True] Translation: X:42.74, Y:-3.12, Z:-1.70 [[ 9.87715881e-01 1.53399420e-01 2.97650228e-02 4.27396122e+01] [-1.53328717e-01 9.88164266e-01 -4.65701545e-03 -3.12116036e+00] [-3.01271154e-02 3.59753539e-05 9.99546075e-01 -1.69856436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.42264 meters 0.012513670726053291 Centerline is valid? [True, True] Translation: X:42.77, Y:-3.13, Z:-1.70 [[ 9.87533328e-01 1.54521553e-01 3.00169257e-02 4.27684971e+01] [-1.54450162e-01 9.87989418e-01 -4.69657644e-03 -3.12688137e+00] [-3.03821273e-02 1.90672199e-06 9.99538357e-01 -1.70032946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.45264 meters 0.013076689410426405 Centerline is valid? [True, True] Translation: X:42.80, Y:-3.13, Z:-1.70 [[ 9.87001286e-01 1.57767954e-01 3.06224391e-02 4.27972521e+01] [-1.57695219e-01 9.87476209e-01 -4.79118933e-03 -3.13047093e+00] [-3.09948262e-02 -1.00102201e-04 9.99519540e-01 -1.70067573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.48264 meters 0.013248615032302149 Centerline is valid? [True, True] Translation: X:42.83, Y:-3.13, Z:-1.70 [[ 9.86720056e-01 1.59392854e-01 3.12641973e-02 4.28265418e+01] [-1.59317893e-01 9.87215222e-01 -4.89028912e-03 -3.13347917e+00] [-3.16439686e-02 -1.55599694e-04 9.99499192e-01 -1.69977002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.512640000000005 meters 0.014312929316119126 Centerline is valid? [True, True] Translation: X:42.86, Y:-3.14, Z:-1.70 [[ 9.86438212e-01 1.61075927e-01 3.15309228e-02 4.28555396e+01] [-1.61000562e-01 9.86941995e-01 -4.93133560e-03 -3.13577580e+00] [-3.19135113e-02 -2.12038425e-04 9.99490612e-01 -1.70099921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.542640000000006 meters 0.015180211333455366 Centerline is valid? [True, True] Translation: X:42.88, Y:-3.14, Z:-1.70 [[ 9.86140234e-01 1.62854247e-01 3.17164392e-02 4.28849472e+01] [-1.62778954e-01 9.86650100e-01 -4.95902716e-03 -3.13896860e+00] [-3.21006265e-02 -2.72472597e-04 9.99484605e-01 -1.70219129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.57264 meters 0.018328326037659635 Centerline is valid? [True, True] Translation: X:42.91, Y:-3.14, Z:-1.70 [[ 9.85525799e-01 1.66478260e-01 3.19982659e-02 4.29134727e+01] [-1.66403546e-01 9.86045046e-01 -5.00264492e-03 -3.13780276e+00] [-3.23845632e-02 -3.94389284e-04 9.99475405e-01 -1.70326965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.60264 meters 0.019425057299211426 Centerline is valid? [True, True] Translation: X:42.94, Y:-3.14, Z:-1.70 [[ 9.85263627e-01 1.68027258e-01 3.19753930e-02 4.29426009e+01] [-1.67953534e-01 9.85782248e-01 -4.99696173e-03 -3.13965344e+00] [-3.23604006e-02 -4.47055618e-04 9.99476165e-01 -1.70452732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.63264 meters 0.03098100274999358 Centerline is valid? [True, True] Translation: X:42.97, Y:-3.14, Z:-1.71 [[ 9.84752275e-01 1.71057639e-01 3.16581943e-02 4.29713395e+01] [-1.70986985e-01 9.85260874e-01 -4.94582905e-03 -3.13977848e+00] [-3.20376020e-02 -5.42722794e-04 9.99486517e-01 -1.70761176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.66264 meters 0.024240806449762033 Centerline is valid? [True, True] Translation: X:43.00, Y:-3.14, Z:-1.71 [[ 9.84644393e-01 1.71805282e-01 3.09574562e-02 4.29994407e+01] [-1.71738135e-01 9.85130771e-01 -4.83497286e-03 -3.13979590e+00] [-3.13278166e-02 -5.55846882e-04 9.99509009e-01 -1.71029558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.692640000000004 meters 0.02766569011975731 Centerline is valid? [True, True] Translation: X:43.03, Y:-3.14, Z:-1.71 [[ 9.84488473e-01 1.72713545e-01 3.08622267e-02 4.30284647e+01] [-1.72647321e-01 9.84971923e-01 -4.81804072e-03 -3.14263504e+00] [-3.12305676e-02 -5.84975203e-04 9.99512036e-01 -1.71104550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.722640000000006 meters 0.025002093391548817 Centerline is valid? [True, True] Translation: X:43.06, Y:-3.14, Z:-1.71 [[ 9.84480416e-01 1.72894862e-01 3.00944870e-02 4.30568922e+01] [-1.72832016e-01 9.84940117e-01 -4.69686871e-03 -3.14258326e+00] [-3.04533320e-02 -5.77315615e-04 9.99536023e-01 -1.71374563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.75264000000001 meters 0.02335609070178347 Centerline is valid? [True, True] Translation: X:43.09, Y:-3.15, Z:-1.71 [[ 9.84664617e-01 1.71889711e-01 2.98248021e-02 4.30854579e+01] [-1.71827586e-01 9.85116050e-01 -4.65280254e-03 -3.14602767e+00] [-3.01806601e-02 -5.43273706e-04 9.99544312e-01 -1.71495667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.78264 meters 0.023140034807069335 Centerline is valid? [True, True] Translation: X:43.11, Y:-3.15, Z:-1.72 [[ 9.84935543e-01 1.70293772e-01 3.00334273e-02 4.31129723e+01] [-1.70230075e-01 9.85393212e-01 -4.68397675e-03 -3.14975912e+00] [-3.03923875e-02 -4.99177399e-04 9.99537920e-01 -1.71684379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.81264 meters 0.020942330055135724 Centerline is valid? [True, True] Translation: X:43.14, Y:-3.16, Z:-1.72 [[ 9.85345265e-01 1.67878059e-01 3.01938019e-02 4.31409440e+01] [-1.67812610e-01 9.85807676e-01 -4.70690027e-03 -3.15595524e+00] [-3.05554670e-02 -4.28978807e-04 9.99532981e-01 -1.71787683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.84264 meters 0.015391745061069688 Centerline is valid? [True, True] Translation: X:43.17, Y:-3.17, Z:-1.72 [[ 9.86368379e-01 1.61522914e-01 3.14288071e-02 4.31686181e+01] [-1.61448830e-01 9.86868932e-01 -4.89756806e-03 -3.16771979e+00] [-3.18071827e-02 -2.43337872e-04 9.99493994e-01 -1.71709766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.872640000000004 meters 0.01273149140797537 Centerline is valid? [True, True] Translation: X:43.20, Y:-3.18, Z:-1.72 [[ 9.86922360e-01 1.57960223e-01 3.21375649e-02 4.31972196e+01] [-1.57880896e-01 9.87445467e-01 -5.00722515e-03 -3.17839282e+00] [-3.25250352e-02 -1.32165084e-04 9.99470912e-01 -1.71593685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.902640000000005 meters 0.011876878162620988 Centerline is valid? [True, True] Translation: X:43.23, Y:-3.19, Z:-1.72 [[ 9.87512872e-01 1.54135391e-01 3.25669841e-02 4.32258633e+01] [-1.54051879e-01 9.88049736e-01 -5.07318420e-03 -3.18859878e+00] [-3.29597572e-02 -7.17040370e-06 9.99456680e-01 -1.71691812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.932640000000006 meters 0.013675125129830379 Centerline is valid? [True, True] Translation: X:43.26, Y:-3.20, Z:-1.72 [[ 9.88499601e-01 1.47462722e-01 3.35154357e-02 4.32553516e+01] [-1.47370461e-01 9.89067590e-01 -5.22019297e-03 -3.20324036e+00] [-3.39188150e-02 2.20973469e-04 9.99424567e-01 -1.71654232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.96264 meters 0.015689901386435636 Centerline is valid? [True, True] Translation: X:43.28, Y:-3.21, Z:-1.72 [[ 9.88894220e-01 1.44668497e-01 3.40477198e-02 4.32848550e+01] [-1.44571612e-01 9.89480127e-01 -5.30348386e-03 -3.21341118e+00] [-3.44567892e-02 3.22250792e-04 9.99406137e-01 -1.71752271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.99264 meters 0.016808706911127444 Centerline is valid? [True, True] Translation: X:43.32, Y:-3.22, Z:-1.72 [[ 9.89229061e-01 1.42364299e-01 3.40333947e-02 4.33155415e+01] [-1.42266052e-01 9.89814246e-01 -5.30356732e-03 -3.22231986e+00] [-3.44417775e-02 4.04646214e-04 9.99406624e-01 -1.71821105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.02264 meters 0.02066360267731183 Centerline is valid? [True, True] Translation: X:43.34, Y:-3.24, Z:-1.72 [[ 9.89713177e-01 1.39037380e-01 3.37110457e-02 4.33448562e+01] [-1.38938850e-01 9.90286996e-01 -5.25935272e-03 -3.23663366e+00] [-3.41148568e-02 5.21476754e-04 9.99417783e-01 -1.72087584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.052640000000004 meters 0.020766452938098808 Centerline is valid? [True, True] Translation: X:43.38, Y:-3.24, Z:-1.72 [[ 9.89823971e-01 1.38387483e-01 3.31271984e-02 4.33762913e+01] [-1.38291900e-01 9.90378017e-01 -5.17048780e-03 -3.24309838e+00] [-3.35239798e-02 5.36649580e-04 9.99437769e-01 -1.72280786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.082640000000005 meters 0.022274513208856952 Centerline is valid? [True, True] Translation: X:43.41, Y:-3.25, Z:-1.73 [[ 9.89846551e-01 1.38368679e-01 3.25255856e-02 4.34066700e+01] [-1.38276342e-01 9.90380646e-01 -5.08221164e-03 -3.25223337e+00] [-3.29159294e-02 5.33090659e-04 9.99457982e-01 -1.72659465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.112640000000006 meters 0.02124471444861184 Centerline is valid? [True, True] Translation: X:43.44, Y:-3.26, Z:-1.73 [[ 9.89827576e-01 1.38679732e-01 3.17695132e-02 4.34387690e+01] [-1.38591653e-01 9.90337148e-01 -4.96863457e-03 -3.25841259e+00] [-3.21515780e-02 5.15102169e-04 9.99482872e-01 -1.72856330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.14264 meters 0.021341273559352468 Centerline is valid? [True, True] Translation: X:43.47, Y:-3.27, Z:-1.73 [[ 9.89664097e-01 1.40049701e-01 3.08391871e-02 4.34690318e+01] [-1.39967176e-01 9.90144367e-01 -4.82937153e-03 -3.26829899e+00] [-3.12115994e-02 4.62981688e-04 9.99512692e-01 -1.73329605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.17264 meters 0.021373596691747616 Centerline is valid? [True, True] Translation: X:43.50, Y:-3.27, Z:-1.73 [[ 9.89470629e-01 1.41425918e-01 3.07666025e-02 4.35009535e+01] [-1.41344297e-01 9.89948752e-01 -4.82274796e-03 -3.27330878e+00] [-3.11394213e-02 4.23283634e-04 9.99514961e-01 -1.73430047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.20264 meters 0.023743296734145023 Centerline is valid? [True, True] Translation: X:43.53, Y:-3.28, Z:-1.74 [[ 9.89236899e-01 1.42972427e-01 3.11326494e-02 4.35313409e+01] [-1.42889424e-01 9.89726597e-01 -4.88628344e-03 -3.27920563e+00] [-3.15114149e-02 3.85165548e-04 9.99503318e-01 -1.73556296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.23264 meters 0.023767715513109338 Centerline is valid? [True, True] Translation: X:43.56, Y:-3.28, Z:-1.74 [[ 9.88913244e-01 1.45174944e-01 3.12222761e-02 4.35631284e+01] [-1.45092487e-01 9.89405950e-01 -4.90262454e-03 -3.28381183e+00] [-3.16032440e-02 3.18152638e-04 9.99500442e-01 -1.73613962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.262640000000005 meters 0.014447564012515738 Centerline is valid? [True, True] Translation: X:43.59, Y:-3.29, Z:-1.74 [[ 9.88263649e-01 1.49811935e-01 2.98553848e-02 4.35941495e+01] [-1.49738508e-01 9.88714497e-01 -4.69288704e-03 -3.28698528e+00] [-3.02215022e-02 1.67308914e-04 9.99543212e-01 -1.74043811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.292640000000006 meters 0.019398308302766832 Centerline is valid? [True, True] Translation: X:43.63, Y:-3.29, Z:-1.74 [[ 9.87866288e-01 1.52556790e-01 2.90967729e-02 4.36259834e+01] [-1.52488116e-01 9.88294702e-01 -4.57776379e-03 -3.28926077e+00] [-2.94545555e-02 8.53064257e-05 9.99566117e-01 -1.74068312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.32264 meters 0.012934144001879443 Centerline is valid? [True, True] Translation: X:43.66, Y:-3.29, Z:-1.74 [[ 9.87444613e-01 1.55320818e-01 2.87850493e-02 4.36571175e+01] [-1.55254631e-01 9.87864081e-01 -4.53390660e-03 -3.29221249e+00] [-2.91399264e-02 7.96945011e-06 9.99575342e-01 -1.74416432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.35264 meters 0.013269154318685973 Centerline is valid? [True, True] Translation: X:43.69, Y:-3.29, Z:-1.74 [[ 9.86677731e-01 1.59962975e-01 2.96462670e-02 4.36871596e+01] [-1.59894648e-01 9.87123007e-01 -4.67661986e-03 -3.29469783e+00] [-3.00125982e-02 -1.25962747e-04 9.99549513e-01 -1.74346933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.38264 meters 0.013930323598296785 Centerline is valid? [True, True] Translation: X:43.72, Y:-3.30, Z:-1.74 [[ 9.86348362e-01 1.61926892e-01 2.99431352e-02 4.37172310e+01] [-1.61858094e-01 9.86802739e-01 -4.72345004e-03 -3.29897819e+00] [-3.03128215e-02 -1.87571586e-04 9.99540443e-01 -1.74395445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.41264 meters 0.015105326071606804 Centerline is valid? [True, True] Translation: X:43.75, Y:-3.30, Z:-1.74 [[ 9.85988955e-01 1.64028016e-01 3.03412304e-02 4.37469496e+01] [-1.63958393e-01 9.86455647e-01 -4.78552884e-03 -3.30209228e+00] [-3.07152389e-02 -2.56220797e-04 9.99528143e-01 -1.74456781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.442640000000004 meters 0.016297280533836132 Centerline is valid? [True, True] Translation: X:43.78, Y:-3.31, Z:-1.75 [[ 9.85709030e-01 1.65602245e-01 3.08804768e-02 4.37763527e+01] [-1.65530808e-01 9.86192578e-01 -4.87339947e-03 -3.30529018e+00] [-3.12611429e-02 -3.07916405e-04 9.99511204e-01 -1.74589103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.472640000000006 meters 0.017865864077881183 Centerline is valid? [True, True] Translation: X:43.81, Y:-3.31, Z:-1.75 [[ 9.85398979e-01 1.67414421e-01 3.10042656e-02 4.38057919e+01] [-1.67343318e-01 9.85886544e-01 -4.89254220e-03 -3.30928438e+00] [-3.13857703e-02 -3.67250584e-04 9.99507278e-01 -1.74795441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.50264000000001 meters 0.03044553278684786 Centerline is valid? [True, True] Translation: X:43.84, Y:-3.32, Z:-1.75 [[ 9.85396018e-01 1.67431625e-01 3.10054686e-02 4.38356809e+01] [-1.67360542e-01 9.85883622e-01 -4.89221170e-03 -3.31606161e+00] [-3.13868946e-02 -3.68326080e-04 9.99507242e-01 -1.74945178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.53264 meters 0.01792362161297598 Centerline is valid? [True, True] Translation: X:43.86, Y:-3.32, Z:-1.75 [[ 9.85482803e-01 1.66915905e-01 3.10278054e-02 4.38649668e+01] [-1.66844468e-01 9.85971073e-01 -4.89560369e-03 -3.32467159e+00] [-3.14096727e-02 -3.52284458e-04 9.99506532e-01 -1.75189937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56264 meters 0.027728641851876238 Centerline is valid? [True, True] Translation: X:43.89, Y:-3.33, Z:-1.75 [[ 9.85575433e-01 1.66261359e-01 3.15947209e-02 4.38947951e+01] [-1.66186934e-01 9.86081663e-01 -4.98557783e-03 -3.33218368e+00] [-3.19838839e-02 -3.36966759e-04 9.99488328e-01 -1.75178628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.59264 meters 0.030935877022039922 Centerline is valid? [True, True] Translation: X:43.93, Y:-3.34, Z:-1.75 [[ 9.85599965e-01 1.65997910e-01 3.22087339e-02 4.39252533e+01] [-1.65920431e-01 9.86126048e-01 -5.08223011e-03 -3.33954420e+00] [-3.26055111e-02 -3.35041184e-04 9.99468243e-01 -1.75140420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.622640000000004 meters 0.025643422209259623 Centerline is valid? [True, True] Translation: X:43.96, Y:-3.35, Z:-1.75 [[ 9.85758235e-01 1.65078275e-01 3.20914974e-02 4.39569667e+01] [-1.65000858e-01 9.86280422e-01 -5.06415825e-03 -3.34817327e+00] [-3.24871981e-02 -3.03088903e-04 9.99472106e-01 -1.75235354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.652640000000005 meters 0.025643422209259623 Centerline is valid? [True, True] Translation: X:43.99, Y:-3.35, Z:-1.75 [[ 9.85729736e-01 1.65248394e-01 3.20913541e-02 4.39882143e+01] [-1.65171037e-01 9.86251932e-01 -5.06506688e-03 -3.35325060e+00] [-3.24871541e-02 -3.07775184e-04 9.99472106e-01 -1.75369250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.682640000000006 meters 0.016105877382972058 Centerline is valid? [True, True] Translation: X:44.02, Y:-3.36, Z:-1.76 [[ 9.85808247e-01 1.64825349e-01 3.18544286e-02 4.40190765e+01] [-1.64748733e-01 9.86322727e-01 -5.03313871e-03 -3.35926985e+00] [-3.22483357e-02 -2.86267110e-04 9.99479846e-01 -1.75741189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.71264 meters 0.014731852739987788 Centerline is valid? [True, True] Translation: X:44.05, Y:-3.37, Z:-1.76 [[ 9.85996005e-01 1.63810720e-01 3.12718069e-02 4.40501564e+01] [-1.63736194e-01 9.86491758e-01 -4.94670468e-03 -3.37119848e+00] [-3.16597030e-02 -2.42895587e-04 9.99498676e-01 -1.75881794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74264 meters 0.015140754728135052 Centerline is valid? [True, True] Translation: X:44.08, Y:-3.38, Z:-1.76 [[ 9.86022121e-01 1.63716968e-01 3.09375502e-02 4.40814024e+01] [-1.63643783e-01 9.86507324e-01 -4.90014582e-03 -3.37768330e+00] [-3.13223569e-02 -2.31085581e-04 9.99509308e-01 -1.76227696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.77264 meters 0.014830123065084124 Centerline is valid? [True, True] Translation: X:44.11, Y:-3.38, Z:-1.76 [[ 9.86009965e-01 1.63847553e-01 3.06321322e-02 4.41139918e+01] [-1.63775696e-01 9.86485645e-01 -4.85734023e-03 -3.38467177e+00] [-3.10140220e-02 -2.27412894e-04 9.99518924e-01 -1.76363440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.802640000000004 meters 0.015035764796776258 Centerline is valid? [True, True] Translation: X:44.15, Y:-3.39, Z:-1.77 [[ 9.85931885e-01 1.64341346e-01 3.04998365e-02 4.41468355e+01] [-1.64270158e-01 9.86403501e-01 -4.84240833e-03 -3.39082973e+00] [-3.08809534e-02 -2.35928192e-04 9.99523042e-01 -1.76548406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.832640000000005 meters 0.01580099276260411 Centerline is valid? [True, True] Translation: X:44.18, Y:-3.40, Z:-1.77 [[ 9.85804081e-01 1.65048310e-01 3.08118239e-02 4.41785915e+01] [-1.64975803e-01 9.86285451e-01 -4.89832571e-03 -3.39541424e+00] [-3.11977140e-02 -2.54415934e-04 9.99513200e-01 -1.76783785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.862640000000006 meters 0.015617987824448933 Centerline is valid? [True, True] Translation: X:44.21, Y:-3.40, Z:-1.77 [[ 9.85505426e-01 1.66570043e-01 3.21477365e-02 4.42106230e+01] [-1.66491719e-01 9.86029576e-01 -5.11686806e-03 -3.40241941e+00] [-3.25509359e-02 -3.09630683e-04 9.99470030e-01 -1.76585918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.89264 meters 0.01686838014465658 Centerline is valid? [True, True] Translation: X:44.24, Y:-3.41, Z:-1.77 [[ 9.85369900e-01 1.67380931e-01 3.20902364e-02 4.42425776e+01] [-1.67303101e-01 9.85892243e-01 -5.11435410e-03 -3.40696133e+00] [-3.24935606e-02 -3.29265488e-04 9.99471891e-01 -1.76861799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.92264 meters 0.02730799607046428 Centerline is valid? [True, True] Translation: X:44.28, Y:-3.41, Z:-1.77 [[ 9.85294671e-01 1.67870438e-01 3.18422392e-02 4.42750307e+01] [-1.67793874e-01 9.85809009e-01 -5.08070269e-03 -3.41455978e+00] [-3.22432660e-02 -3.36943366e-04 9.99479994e-01 -1.76884651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.95264 meters 0.016514671686754242 Centerline is valid? [True, True] Translation: X:44.31, Y:-3.42, Z:-1.77 [[ 9.85249167e-01 1.68161393e-01 3.17147329e-02 4.43072380e+01] [-1.68085387e-01 9.85759418e-01 -5.06670548e-03 -3.42194250e+00] [-3.21151209e-02 -3.38815804e-04 9.99484119e-01 -1.77094181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98264 meters 0.016188119313521612 Centerline is valid? [True, True] Translation: X:44.34, Y:-3.43, Z:-1.77 [[ 9.85228945e-01 1.68134407e-01 3.24768697e-02 4.43387475e+01] [-1.68054459e-01 9.85764022e-01 -5.19542651e-03 -3.42883827e+00] [-3.28880596e-02 -3.39198185e-04 9.99458984e-01 -1.77212230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.012640000000005 meters 0.028294513511060167 Centerline is valid? [True, True] Translation: X:44.37, Y:-3.44, Z:-1.77 [[ 9.85288796e-01 1.67823264e-01 3.22698109e-02 4.43707830e+01] [-1.67743991e-01 9.85817046e-01 -5.16763735e-03 -3.43676942e+00] [-3.26793794e-02 -3.21451695e-04 9.99465835e-01 -1.77188260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.042640000000006 meters 0.015029555306982953 Centerline is valid? [True, True] Translation: X:44.40, Y:-3.44, Z:-1.77 [[ 9.85383652e-01 1.67054769e-01 3.33430957e-02 4.44011146e+01] [-1.66969437e-01 9.85947572e-01 -5.34713596e-03 -3.44432841e+00] [-3.37678088e-02 -2.98297547e-04 9.99429660e-01 -1.77385328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.07264 meters 0.014594259769485451 Centerline is valid? [True, True] Translation: X:44.43, Y:-3.45, Z:-1.77 [[ 9.85465972e-01 1.66497782e-01 3.36943028e-02 4.44311375e+01] [-1.66410101e-01 9.86041790e-01 -5.40981224e-03 -3.45147622e+00] [-3.41247124e-02 -2.75886441e-04 9.99417544e-01 -1.77488569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.10264 meters 0.022305818082890828 Centerline is valid? [True, True] Translation: X:44.46, Y:-3.46, Z:-1.78 [[ 9.85540882e-01 1.66156873e-01 3.31822745e-02 4.44620123e+01] [-1.66071559e-01 9.86099299e-01 -5.33012384e-03 -3.45792459e+00] [-3.36066544e-02 -2.57577106e-04 9.99435104e-01 -1.77673572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.13264 meters 0.02222468808371525 Centerline is valid? [True, True] Translation: X:44.49, Y:-3.47, Z:-1.78 [[ 9.85560079e-01 1.66013627e-01 3.33287668e-02 4.44941711e+01] [-1.65927264e-01 9.86123428e-01 -5.35991921e-03 -3.46523914e+00] [-3.37560974e-02 -2.47628676e-04 9.99430070e-01 -1.77786633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.16264 meters 0.021963024669589763 Centerline is valid? [True, True] Translation: X:44.53, Y:-3.47, Z:-1.78 [[ 9.85511009e-01 1.66285018e-01 3.34266892e-02 4.45261841e+01] [-1.66198083e-01 9.86077700e-01 -5.38214820e-03 -3.47208939e+00] [-3.38562834e-02 -2.51285372e-04 9.99426680e-01 -1.77785571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.192640000000004 meters 0.028835684036952965 Centerline is valid? [True, True] Translation: X:44.56, Y:-3.48, Z:-1.78 [[ 9.85196821e-01 1.67955119e-01 3.43263985e-02 4.45579271e+01] [-1.67864184e-01 9.85794594e-01 -5.53474695e-03 -3.47643182e+00] [-3.47683672e-02 -3.09357759e-04 9.99395350e-01 -1.77686487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.222640000000006 meters 0.0156891205890551 Centerline is valid? [True, True] Translation: X:44.59, Y:-3.48, Z:-1.78 [[ 9.84957117e-01 1.69204377e-01 3.50621751e-02 4.45907815e+01] [-1.69110149e-01 9.85580921e-01 -5.65740011e-03 -3.48082652e+00] [-3.55138677e-02 -3.57073149e-04 9.99369120e-01 -1.77851947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.25264000000001 meters 0.017010183639616004 Centerline is valid? [True, True] Translation: X:44.62, Y:-3.48, Z:-1.78 [[ 9.84691437e-01 1.70940647e-01 3.40891352e-02 4.46221820e+01] [-1.70852361e-01 9.85281247e-01 -5.50780742e-03 -3.48418983e+00] [-3.45288938e-02 -4.00718439e-04 9.99403620e-01 -1.78183918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.28264 meters 0.01775390860067833 Centerline is valid? [True, True] Translation: X:44.65, Y:-3.49, Z:-1.79 [[ 9.84646578e-01 1.71359376e-01 3.32728298e-02 4.46530988e+01] [-1.71275421e-01 9.85208507e-01 -5.37849746e-03 -3.48944522e+00] [-3.37023309e-02 -4.02898829e-04 9.99431834e-01 -1.78510465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.31264 meters 0.01840855807181305 Centerline is valid? [True, True] Translation: X:44.68, Y:-3.50, Z:-1.79 [[ 9.84672321e-01 1.71324510e-01 3.26853514e-02 4.46848718e+01] [-1.71243310e-01 9.85214576e-01 -5.28848598e-03 -3.49508131e+00] [-3.31081319e-02 -3.89722015e-04 9.99451700e-01 -1.78916101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.34264 meters 0.016097428469296286 Centerline is valid? [True, True] Translation: X:44.72, Y:-3.50, Z:-1.79 [[ 9.84951789e-01 1.69733413e-01 3.25659552e-02 4.47160773e+01] [-1.69651736e-01 9.85489960e-01 -5.27523050e-03 -3.50373706e+00] [-3.29888048e-02 -3.29023113e-04 9.99455667e-01 -1.78972421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.372640000000004 meters 0.017267305168967496 Centerline is valid? [True, True] Translation: X:44.75, Y:-3.51, Z:-1.79 [[ 9.85123883e-01 1.68689180e-01 3.27855857e-02 4.47477002e+01] [-1.68605628e-01 9.85669253e-01 -5.31657815e-03 -3.51082977e+00] [-3.32125930e-02 -2.90346155e-04 9.99448267e-01 -1.79024728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.402640000000005 meters 0.021813756323935656 Centerline is valid? [True, True] Translation: X:44.78, Y:-3.52, Z:-1.79 [[ 9.85246112e-01 1.67856109e-01 3.33830016e-02 4.47792625e+01] [-1.67768803e-01 9.85811472e-01 -5.41943984e-03 -3.51852706e+00] [-3.38190321e-02 -2.61144197e-04 9.99427939e-01 -1.79053997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.432640000000006 meters 0.03497432260555855 Centerline is valid? [True, True] Translation: X:44.81, Y:-3.53, Z:-1.79 [[ 9.85349009e-01 1.67186504e-01 3.37046354e-02 4.48100546e+01] [-1.67096908e-01 9.85925260e-01 -5.47772538e-03 -3.52597473e+00] [-3.41460532e-02 -2.34469088e-04 9.99416826e-01 -1.79200677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.46264 meters 0.013690306799200119 Centerline is valid? [True, True] Translation: X:44.84, Y:-3.53, Z:-1.79 [[ 9.85385399e-01 1.66960898e-01 3.37590657e-02 4.48418368e+01] [-1.66870704e-01 9.85963493e-01 -5.49173083e-03 -3.53334545e+00] [-3.42021106e-02 -2.21927671e-04 9.99414912e-01 -1.79277855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.49264 meters 0.014313802499880826 Centerline is valid? [True, True] Translation: X:44.87, Y:-3.54, Z:-1.79 [[ 9.85192597e-01 1.68246741e-01 3.29936569e-02 4.48732651e+01] [-1.68161090e-01 9.85744881e-01 -5.37384929e-03 -3.53759921e+00] [-3.34274610e-02 -2.53972777e-04 9.99441114e-01 -1.79469995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.52264 meters 0.015526657549960044 Centerline is valid? [True, True] Translation: X:44.90, Y:-3.54, Z:-1.80 [[ 9.84931831e-01 1.69850334e-01 3.25599912e-02 4.49047142e+01] [-1.69767606e-01 9.85469824e-01 -5.30897318e-03 -3.54031186e+00] [-3.29886196e-02 -2.98655086e-04 9.99455683e-01 -1.79713924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.552640000000004 meters 0.017582690576613654 Centerline is valid? [True, True] Translation: X:44.94, Y:-3.54, Z:-1.80 [[ 9.84572655e-01 1.71979103e-01 3.22471078e-02 4.49362960e+01] [-1.71898929e-01 9.85100532e-01 -5.26315188e-03 -3.54128322e+00] [-3.26717952e-02 -3.61287868e-04 9.99466069e-01 -1.80001916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.582640000000005 meters 0.02158854131234553 Centerline is valid? [True, True] Translation: X:44.97, Y:-3.54, Z:-1.80 [[ 9.83679882e-01 1.77011611e-01 3.22611229e-02 4.49689773e+01] [-1.76933877e-01 9.84208624e-01 -5.27134974e-03 -3.53728647e+00] [-3.26847655e-02 -5.22764856e-04 9.99465574e-01 -1.80074531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.612640000000006 meters 0.02407463807449809 Centerline is valid? [True, True] Translation: X:45.00, Y:-3.54, Z:-1.80 [[ 9.83246683e-01 1.79366012e-01 3.24621895e-02 4.50000840e+01] [-1.79288475e-01 9.83782228e-01 -5.30760893e-03 -3.53739497e+00] [-3.28877297e-02 -6.01407580e-04 9.99458871e-01 -1.80157219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.64264 meters 0.024450649751077237 Centerline is valid? [True, True] Translation: X:45.03, Y:-3.54, Z:-1.80 [[ 9.82835937e-01 1.81560815e-01 3.26984906e-02 4.50321137e+01] [-1.81483377e-01 9.83379483e-01 -5.34568138e-03 -3.54081217e+00] [-3.31255911e-02 -6.80304736e-04 9.99450965e-01 -1.80134224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.67264 meters 0.029886789055741325 Centerline is valid? [True, True] Translation: X:45.06, Y:-3.53, Z:-1.80 [[ 9.82292484e-01 1.84472054e-01 3.27343317e-02 4.50635283e+01] [-1.84395835e-01 9.82837456e-01 -5.35834673e-03 -3.53407626e+00] [-3.31609925e-02 -7.72610701e-04 9.99449724e-01 -1.80386803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.70264 meters 0.030478719815734925 Centerline is valid? [True, True] Translation: X:45.09, Y:-3.54, Z:-1.80 [[ 9.82160967e-01 1.85101948e-01 3.31225534e-02 4.50934994e+01] [-1.85024172e-01 9.82718997e-01 -5.42475340e-03 -3.53589733e+00] [-3.35542949e-02 -8.00491965e-04 9.99436576e-01 -1.80484455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.73264 meters 0.02794106915534196 Centerline is valid? [True, True] Translation: X:45.12, Y:-3.54, Z:-1.80 [[ 9.82104169e-01 1.85314942e-01 3.36120953e-02 4.51236577e+01] [-1.85235008e-01 9.82678838e-01 -5.50392410e-03 -3.54269541e+00] [-3.40498541e-02 -8.20709943e-04 9.99419799e-01 -1.80420193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.762640000000005 meters 0.027143141721425162 Centerline is valid? [True, True] Translation: X:45.15, Y:-3.55, Z:-1.81 [[ 9.82364825e-01 1.83758762e-01 3.45263243e-02 4.51531648e+01] [-1.83673456e-01 9.82971056e-01 -5.65371682e-03 -3.54637016e+00] [-3.49772975e-02 -7.87556769e-04 9.99387797e-01 -1.80554448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.792640000000006 meters 0.024796707356966763 Centerline is valid? [True, True] Translation: X:45.18, Y:-3.55, Z:-1.81 [[ 9.82685659e-01 1.82134196e-01 3.40004570e-02 4.51835588e+01] [-1.82050521e-01 9.83273419e-01 -5.56690043e-03 -3.55330143e+00] [-3.44456685e-02 -7.19287696e-04 9.99406313e-01 -1.80689320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.82264 meters 0.0305361223787791 Centerline is valid? [True, True] Translation: X:45.21, Y:-3.56, Z:-1.81 [[ 9.83040631e-01 1.80290311e-01 3.35637056e-02 4.52142548e+01] [-1.80207691e-01 9.83613230e-01 -5.49560647e-03 -3.55836423e+00] [-3.40045095e-02 -6.46033455e-04 9.99421471e-01 -1.81047979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.85264 meters 0.019528067821981906 Centerline is valid? [True, True] Translation: X:45.24, Y:-3.57, Z:-1.81 [[ 9.83969463e-01 1.75233755e-01 3.31244015e-02 4.52446303e+01] [-1.75150289e-01 9.84526748e-01 -5.42752462e-03 -3.57004577e+00] [-3.35629449e-02 -4.61230013e-04 9.99436499e-01 -1.81319612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.88264 meters 0.01690410316247078 Centerline is valid? [True, True] Translation: X:45.28, Y:-3.58, Z:-1.82 [[ 9.84465291e-01 1.72512829e-01 3.26712995e-02 4.52760313e+01] [-1.72430101e-01 9.85007204e-01 -5.35423222e-03 -3.57953852e+00] [-3.31051391e-02 -3.62459694e-04 9.99451809e-01 -1.81531130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.91264 meters 0.014826990569795643 Centerline is valid? [True, True] Translation: X:45.31, Y:-3.59, Z:-1.82 [[ 9.84911166e-01 1.69990149e-01 3.24552789e-02 4.53071654e+01] [-1.69907110e-01 9.85445723e-01 -5.31978479e-03 -3.58896762e+00] [-3.28872268e-02 -2.74867216e-04 9.99459031e-01 -1.81706642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.942640000000004 meters 0.020898260998969923 Centerline is valid? [True, True] Translation: X:45.34, Y:-3.60, Z:-1.82 [[ 9.85603665e-01 1.66046733e-01 3.18417545e-02 4.53377728e+01] [-1.65964571e-01 9.86117875e-01 -5.22467001e-03 -3.60134919e+00] [-3.22672627e-02 -1.35149201e-04 9.99479267e-01 -1.81855707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.972640000000006 meters 0.01224917250621962 Centerline is valid? [True, True] Translation: X:45.37, Y:-3.61, Z:-1.82 [[ 9.85795826e-01 1.64788350e-01 3.24251247e-02 4.53686255e+01] [-1.64702272e-01 9.86328947e-01 -5.32633189e-03 -3.60842954e+00] [-3.28595565e-02 -8.98159661e-05 9.99459975e-01 -1.82020665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.00264000000001 meters 0.012020749542309594 Centerline is valid? [True, True] Translation: X:45.40, Y:-3.62, Z:-1.82 [[ 9.85969786e-01 1.63715526e-01 3.25700463e-02 4.53995382e+01] [-1.63627904e-01 9.86507589e-01 -5.35582365e-03 -3.61582192e+00] [-3.30074294e-02 -4.86881169e-05 9.99455105e-01 -1.82161159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.03264 meters 0.018760967301221 Centerline is valid? [True, True] Translation: X:45.43, Y:-3.62, Z:-1.82 [[ 9.86069590e-01 1.63145400e-01 3.24089719e-02 4.54321821e+01] [-1.63058228e-01 9.86602036e-01 -5.33260039e-03 -3.62349920e+00] [-3.28447469e-02 -2.62344450e-05 9.99460465e-01 -1.82291973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06264 meters 0.02767514620540754 Centerline is valid? [True, True] Translation: X:45.46, Y:-3.63, Z:-1.82 [[ 9.86032278e-01 1.63298773e-01 3.27697693e-02 4.54649205e+01] [-1.63209521e-01 9.86576662e-01 -5.39836939e-03 -3.63047135e+00] [-3.32114367e-02 -2.53718771e-05 9.99448348e-01 -1.82321594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.09264 meters 0.011855476679402384 Centerline is valid? [True, True] Translation: X:45.50, Y:-3.63, Z:-1.82 [[ 9.85841364e-01 1.64360708e-01 3.32018585e-02 4.54967927e+01] [-1.64269461e-01 9.86400301e-01 -5.47625975e-03 -3.63485548e+00] [-3.36504052e-02 -5.53280328e-05 9.99433663e-01 -1.82432676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.122640000000004 meters 0.012011550632347849 Centerline is valid? [True, True] Translation: X:45.53, Y:-3.64, Z:-1.82 [[ 9.85628706e-01 1.65583626e-01 3.34382416e-02 4.55299120e+01] [-1.65491574e-01 9.86195749e-01 -5.52127302e-03 -3.63991603e+00] [-3.38908841e-02 -9.18220527e-05 9.99425535e-01 -1.82496067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.152640000000005 meters 0.012928740708956865 Centerline is valid? [True, True] Translation: X:45.56, Y:-3.64, Z:-1.82 [[ 9.85034342e-01 1.68945006e-01 3.41310688e-02 4.55626852e+01] [-1.68850883e-01 9.85625458e-01 -5.64237383e-03 -3.64336062e+00] [-3.45937012e-02 -2.05129114e-04 9.99401438e-01 -1.82387970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.182640000000006 meters 0.01415056995645556 Centerline is valid? [True, True] Translation: X:45.59, Y:-3.65, Z:-1.82 [[ 9.84618099e-01 1.71307100e-01 3.43667825e-02 4.55946313e+01] [-1.71212861e-01 9.85217640e-01 -5.68848758e-03 -3.64500978e+00] [-3.48332387e-02 -2.83047337e-04 9.99393099e-01 -1.82462319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.21264 meters 0.01648596920099117 Centerline is valid? [True, True] Translation: X:45.63, Y:-3.65, Z:-1.83 [[ 9.84146389e-01 1.74025094e-01 3.42220955e-02 4.56255892e+01] [-1.73933041e-01 9.84741148e-01 -5.67165896e-03 -3.64543859e+00] [-3.46869166e-02 -3.70610452e-04 9.99398159e-01 -1.82667749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24264 meters 0.018441764382652874 Centerline is valid? [True, True] Translation: X:45.66, Y:-3.65, Z:-1.83 [[ 9.83633768e-01 1.76931555e-01 3.40563677e-02 4.56576212e+01] [-1.76842143e-01 9.84223045e-01 -5.64389831e-03 -3.64780020e+00] [-3.45176457e-02 -4.71072090e-04 9.99403977e-01 -1.82767378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.27264 meters 0.024212067191305312 Centerline is valid? [True, True] Translation: X:45.69, Y:-3.64, Z:-1.83 [[ 9.82495867e-01 1.82916509e-01 3.52621817e-02 4.56885829e+01] [-1.82824243e-01 9.83128203e-01 -5.85089931e-03 -3.64387677e+00] [-3.57374714e-02 -6.98297260e-04 9.99360969e-01 -1.82719456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.302640000000004 meters 0.03014791651142097 Centerline is valid? [True, True] Translation: X:45.72, Y:-3.64, Z:-1.83 [[ 9.81971427e-01 1.85805384e-01 3.47631463e-02 4.57192372e+01] [-1.85717430e-01 9.82586249e-01 -5.77063335e-03 -3.63981473e+00] [-3.52300043e-02 -7.89525140e-04 9.99378919e-01 -1.83045798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.332640000000005 meters 0.030558206774215068 Centerline is valid? [True, True] Translation: X:45.75, Y:-3.64, Z:-1.83 [[ 9.81528682e-01 1.88326081e-01 3.36858225e-02 4.57490330e+01] [-1.88244977e-01 9.82106186e-01 -5.59180865e-03 -3.64333464e+00] [-3.41361380e-02 -8.52666298e-04 9.99416828e-01 -1.83287227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.362640000000006 meters 0.03633706444325836 Centerline is valid? [True, True] Translation: X:45.78, Y:-3.64, Z:-1.84 [[ 9.80679513e-01 1.92811960e-01 3.30339439e-02 4.57791504e+01] [-1.92736500e-01 9.81235227e-01 -5.48375616e-03 -3.63974978e+00] [-3.34714032e-02 -9.89039407e-04 9.99439186e-01 -1.83628899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.39264 meters 0.038199785672622326 Centerline is valid? [True, True] Translation: X:45.81, Y:-3.64, Z:-1.84 [[ 9.80375718e-01 1.94344802e-01 3.30688630e-02 4.58084815e+01] [-1.94270073e-01 9.80932725e-01 -5.48896067e-03 -3.64068370e+00] [-3.35050808e-02 -1.04304666e-03 9.99438003e-01 -1.83789956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.42264 meters 0.03911997062192366 Centerline is valid? [True, True] Translation: X:45.84, Y:-3.64, Z:-1.84 [[ 9.80128776e-01 1.95624792e-01 3.28408880e-02 4.58376225e+01] [-1.95551859e-01 9.80678221e-01 -5.44958193e-03 -3.64230276e+00] [-3.32724170e-02 -1.08080463e-03 9.99445735e-01 -1.83911579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.45264 meters 0.04131327098638016 Centerline is valid? [True, True] Translation: X:45.87, Y:-3.64, Z:-1.84 [[ 9.79747343e-01 1.97536177e-01 3.27811229e-02 4.58676391e+01] [-1.97464633e-01 9.80294929e-01 -5.43799422e-03 -3.64040676e+00] [-3.32093691e-02 -1.14525201e-03 9.99447761e-01 -1.83994122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48264 meters 0.03940298873923221 Centerline is valid? [True, True] Translation: X:45.90, Y:-3.65, Z:-1.84 [[ 9.79636424e-01 1.98028945e-01 3.31212056e-02 4.58960836e+01] [-1.97956226e-01 9.80195468e-01 -5.49332328e-03 -3.64568377e+00] [-3.35530926e-02 -1.17508929e-03 9.99436246e-01 -1.83943935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.512640000000005 meters 0.03931474556182763 Centerline is valid? [True, True] Translation: X:45.92, Y:-3.65, Z:-1.84 [[ 9.79545907e-01 1.98386098e-01 3.36566933e-02 4.59249417e+01] [-1.98311276e-01 9.80123205e-01 -5.58045135e-03 -3.64910739e+00] [-3.40947900e-02 -1.20819352e-03 9.99417873e-01 -1.83968997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.542640000000006 meters 0.040065845846673026 Centerline is valid? [True, True] Translation: X:45.95, Y:-3.65, Z:-1.84 [[ 9.79507183e-01 1.98504537e-01 3.40826583e-02 4.59530900e+01] [-1.98427935e-01 9.80099198e-01 -5.64949597e-03 -3.65065036e+00] [-3.45258366e-02 -1.22922961e-03 9.99403050e-01 -1.84018195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.57264 meters 0.040065845846673026 Centerline is valid? [True, True] Translation: X:45.98, Y:-3.66, Z:-1.84 [[ 9.79516661e-01 1.98457693e-01 3.40830492e-02 4.59810446e+01] [-1.98381144e-01 9.80108683e-01 -5.64713658e-03 -3.65519512e+00] [-3.45258101e-02 -1.22996992e-03 9.99403050e-01 -1.84137992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.60264 meters 0.039622841842112226 Centerline is valid? [True, True] Translation: X:46.01, Y:-3.65, Z:-1.84 [[ 9.79588926e-01 1.98164064e-01 3.37126167e-02 4.60103832e+01] [-1.98089053e-01 9.80168121e-01 -5.58413111e-03 -3.65373421e+00] [-3.41506063e-02 -1.20794732e-03 9.99415968e-01 -1.84314233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.63264 meters 0.045004756211422234 Centerline is valid? [True, True] Translation: X:46.04, Y:-3.66, Z:-1.84 [[ 9.79706572e-01 1.97605331e-01 3.35732838e-02 4.60380284e+01] [-1.97530664e-01 9.80280944e-01 -5.55950114e-03 -3.65537814e+00] [-3.40098374e-02 -1.18507323e-03 9.99420796e-01 -1.84482752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.66264 meters 0.040550386396630826 Centerline is valid? [True, True] Translation: X:46.07, Y:-3.66, Z:-1.85 [[ 9.79858010e-01 1.96867439e-01 3.34886833e-02 4.60658124e+01] [-1.96792786e-01 9.80429431e-01 -5.54345272e-03 -3.65641081e+00] [-3.39246161e-02 -1.15853476e-03 9.99423723e-01 -1.84697475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.692640000000004 meters 0.039438066549336355 Centerline is valid? [True, True] Translation: X:46.09, Y:-3.66, Z:-1.85 [[ 9.80239734e-01 1.94952244e-01 3.35214472e-02 4.60938480e+01] [-1.94876399e-01 9.80812124e-01 -5.54673390e-03 -3.65624352e+00] [-3.39595900e-02 -1.09540996e-03 9.99422606e-01 -1.84892461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.722640000000006 meters 0.03535435808716144 Centerline is valid? [True, True] Translation: X:46.12, Y:-3.66, Z:-1.85 [[ 9.80463164e-01 1.93831117e-01 3.34885301e-02 4.61222799e+01] [-1.93754848e-01 9.81034341e-01 -5.53895441e-03 -3.66311975e+00] [-3.39270198e-02 -1.05782429e-03 9.99423753e-01 -1.84985475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.75264000000001 meters 0.03666971490231299 Centerline is valid? [True, True] Translation: X:46.15, Y:-3.66, Z:-1.85 [[ 9.80747404e-01 1.92404132e-01 3.33942975e-02 4.61504083e+01] [-1.92327517e-01 9.81315258e-01 -5.52181142e-03 -3.66418330e+00] [-3.38327530e-02 -1.00714012e-03 9.99427001e-01 -1.85254518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.78264 meters 0.029661805466534394 Centerline is valid? [True, True] Translation: X:46.18, Y:-3.68, Z:-1.85 [[ 9.81651374e-01 1.87796021e-01 3.30640909e-02 4.61791976e+01] [-1.87718384e-01 9.82207689e-01 -5.46474493e-03 -3.67576094e+00] [-3.35020617e-02 -8.42263346e-04 9.99438293e-01 -1.85367019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.81264 meters 0.031968481622838815 Centerline is valid? [True, True] Translation: X:46.21, Y:-3.68, Z:-1.85 [[ 9.82209990e-01 1.84890011e-01 3.28514868e-02 4.62069050e+01] [-1.84811747e-01 9.82758942e-01 -5.42953641e-03 -3.68327016e+00] [-3.32889594e-02 -7.38395749e-04 9.99445496e-01 -1.85480609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.84264 meters 0.02428923516247987 Centerline is valid? [True, True] Translation: X:46.23, Y:-3.69, Z:-1.86 [[ 9.82788430e-01 1.81787499e-01 3.28664898e-02 4.62344980e+01] [-1.81707483e-01 9.83337634e-01 -5.43037042e-03 -3.68858227e+00] [-3.33060297e-02 -6.35181909e-04 9.99444998e-01 -1.85685445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.872640000000004 meters 0.018280868032965397 Centerline is valid? [True, True] Translation: X:46.26, Y:-3.70, Z:-1.86 [[ 9.83899721e-01 1.75629378e-01 3.31007590e-02 4.62633870e+01] [-1.75544797e-01 9.84456264e-01 -5.46709560e-03 -3.69968720e+00] [-3.35464321e-02 -4.31592166e-04 9.99437067e-01 -1.85744709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.902640000000005 meters 0.022864790090891228 Centerline is valid? [True, True] Translation: X:46.29, Y:-3.71, Z:-1.86 [[ 9.84404646e-01 1.72743502e-01 3.32742542e-02 4.62922940e+01] [-1.72656393e-01 9.84966786e-01 -5.49543955e-03 -3.70809091e+00] [-3.37233367e-02 -3.35276478e-04 9.99431150e-01 -1.85826487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.932640000000006 meters 0.014355712924093626 Centerline is valid? [True, True] Translation: X:46.32, Y:-3.72, Z:-1.86 [[ 9.84790953e-01 1.70583211e-01 3.29870614e-02 4.63217518e+01] [-1.70496422e-01 9.85343240e-01 -5.44697825e-03 -3.71605710e+00] [-3.34327410e-02 -2.60041033e-04 9.99440936e-01 -1.86034874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.96264 meters 0.019379729247031824 Centerline is valid? [True, True] Translation: X:46.35, Y:-3.73, Z:-1.86 [[ 9.85170880e-01 1.68530157e-01 3.21857565e-02 4.63510324e+01] [-1.68446439e-01 9.85696480e-01 -5.31466303e-03 -3.72529146e+00] [-3.26210679e-02 -1.85724797e-04 9.99467774e-01 -1.86174920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.99264 meters 0.014020285175133318 Centerline is valid? [True, True] Translation: X:46.38, Y:-3.73, Z:-1.87 [[ 9.85120245e-01 1.68918965e-01 3.16936426e-02 4.63801955e+01] [-1.68837985e-01 9.85629923e-01 -5.23353042e-03 -3.72734083e+00] [-3.21222451e-02 -1.95433996e-04 9.99483928e-01 -1.86552769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.02264 meters 0.014426279855656463 Centerline is valid? [True, True] Translation: X:46.41, Y:-3.73, Z:-1.87 [[ 9.84965914e-01 1.69892342e-01 3.12848389e-02 4.64100648e+01] [-1.69813937e-01 9.85462603e-01 -5.16575544e-03 -3.72921303e+00] [-3.17076610e-02 -2.24508633e-04 9.99497160e-01 -1.86640552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.052640000000004 meters 0.015981567226377925 Centerline is valid? [True, True] Translation: X:46.44, Y:-3.73, Z:-1.87 [[ 9.84651290e-01 1.71657265e-01 3.15534519e-02 4.64388205e+01] [-1.71578434e-01 9.85156689e-01 -5.20944875e-03 -3.72877201e+00] [-3.19793339e-02 -2.84401434e-04 9.99488490e-01 -1.86788821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.082640000000005 meters 0.01869520180374695 Centerline is valid? [True, True] Translation: X:46.47, Y:-3.72, Z:-1.87 [[ 9.83865542e-01 1.75990470e-01 3.21861754e-02 4.64690065e+01] [-1.75910801e-01 9.84391774e-01 -5.31271249e-03 -3.72498113e+00] [-3.26187931e-02 -4.34901133e-04 9.99467771e-01 -1.86659123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.112640000000006 meters 0.02186862944383661 Centerline is valid? [True, True] Translation: X:46.50, Y:-3.72, Z:-1.87 [[ 9.83517802e-01 1.77994940e-01 3.17889009e-02 4.64972470e+01] [-1.77918302e-01 9.84031278e-01 -5.24620099e-03 -3.72336968e+00] [-3.22150700e-02 -4.96095185e-04 9.99480837e-01 -1.86955071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.14264 meters 0.03207682892092095 Centerline is valid? [True, True] Translation: X:46.53, Y:-3.73, Z:-1.87 [[ 9.83207664e-01 1.79666347e-01 3.19795864e-02 4.65255558e+01] [-1.79589735e-01 9.83727449e-01 -5.27566908e-03 -3.72553590e+00] [-3.24070571e-02 -5.56127165e-04 9.99474599e-01 -1.86984553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.17264 meters 0.027780020435648145 Centerline is valid? [True, True] Translation: X:46.55, Y:-3.72, Z:-1.87 [[ 9.82766117e-01 1.82082816e-01 3.18842751e-02 4.65548466e+01] [-1.82007995e-01 9.83282993e-01 -5.25794274e-03 -3.71887977e+00] [-3.23086465e-02 -6.35864999e-04 9.99477737e-01 -1.87399759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.20264 meters 0.02708383876555675 Centerline is valid? [True, True] Translation: X:46.58, Y:-3.72, Z:-1.87 [[ 9.82667108e-01 1.82680527e-01 3.15147456e-02 4.65838443e+01] [-1.82607805e-01 9.83172112e-01 -5.19490756e-03 -3.72274887e+00] [-3.19334274e-02 -6.49973731e-04 9.99489787e-01 -1.87463226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.23264 meters 0.028840240636893964 Centerline is valid? [True, True] Translation: X:46.61, Y:-3.73, Z:-1.87 [[ 9.82593928e-01 1.83085508e-01 3.14462887e-02 4.66122083e+01] [-1.83013356e-01 9.83096769e-01 -5.18214959e-03 -3.72799047e+00] [-3.18635213e-02 -6.63142094e-04 9.99492009e-01 -1.87483918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.262640000000005 meters 0.025249424210328622 Centerline is valid? [True, True] Translation: X:46.64, Y:-3.73, Z:-1.88 [[ 9.82568029e-01 1.83217420e-01 3.14872108e-02 4.66407788e+01] [-1.83145198e-01 9.83072189e-01 -5.18730596e-03 -3.73054188e+00] [-3.19046061e-02 -6.69850460e-04 9.99490694e-01 -1.87589099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.292640000000006 meters 0.027107479264910608 Centerline is valid? [True, True] Translation: X:46.67, Y:-3.73, Z:-1.88 [[ 9.82523596e-01 1.83530756e-01 3.10458627e-02 4.66687981e+01] [-1.83460746e-01 9.83013739e-01 -5.11318261e-03 -3.72880691e+00] [-3.14569358e-02 -6.71874558e-04 9.99504882e-01 -1.87793858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.32264000000001 meters 0.028743496388465295 Centerline is valid? [True, True] Translation: X:46.70, Y:-3.73, Z:-1.88 [[ 9.82486234e-01 1.83699277e-01 3.12309908e-02 4.66966688e+01] [-1.83628578e-01 9.82982253e-01 -5.14165659e-03 -3.72914296e+00] [-3.16440283e-02 -6.83295609e-04 9.99498969e-01 -1.88021418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.35264 meters 0.02858712057942336 Centerline is valid? [True, True] Translation: X:46.72, Y:-3.73, Z:-1.88 [[ 9.82552687e-01 1.83413218e-01 3.08189693e-02 4.67249855e+01] [-1.83344286e-01 9.83035679e-01 -5.07208332e-03 -3.73160224e+00] [-3.12264335e-02 -6.66892825e-04 9.99512114e-01 -1.88154905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.38264 meters 0.02471984757706998 Centerline is valid? [True, True] Translation: X:46.75, Y:-3.74, Z:-1.88 [[ 9.82697943e-01 1.82665004e-01 3.06308479e-02 4.67528051e+01] [-1.82596622e-01 9.83175002e-01 -5.03873483e-03 -3.73880161e+00] [-3.10358845e-02 -6.41535013e-04 9.99518065e-01 -1.88079516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.41264 meters 0.024935439536130304 Centerline is valid? [True, True] Translation: X:46.78, Y:-3.74, Z:-1.88 [[ 9.82987754e-01 1.81043424e-01 3.09572806e-02 4.67808058e+01] [-1.80972819e-01 9.83474921e-01 -5.09095922e-03 -3.73981503e+00] [-3.13673938e-02 -5.98075789e-04 9.99507743e-01 -1.88350833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.442640000000004 meters 0.024752736981313625 Centerline is valid? [True, True] Translation: X:46.81, Y:-3.74, Z:-1.89 [[ 9.83180732e-01 1.79996244e-01 3.09354208e-02 4.68087998e+01] [-1.79925287e-01 9.83667134e-01 -5.08522680e-03 -3.74394365e+00] [-3.13454785e-02 -5.66367473e-04 9.99508449e-01 -1.88552493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.472640000000006 meters 0.022123543736219234 Centerline is valid? [True, True] Translation: X:46.84, Y:-3.75, Z:-1.89 [[ 9.83352370e-01 1.79047985e-01 3.09828205e-02 4.68367775e+01] [-1.78976388e-01 9.83840195e-01 -5.09150769e-03 -3.75119572e+00] [-3.13937683e-02 -5.38447147e-04 9.99506949e-01 -1.88535741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.50264000000001 meters 0.022281155932162358 Centerline is valid? [True, True] Translation: X:46.86, Y:-3.75, Z:-1.89 [[ 9.83557300e-01 1.77896130e-01 3.11127668e-02 4.68639803e+01] [-1.77823401e-01 9.84049141e-01 -5.11141466e-03 -3.75409776e+00] [-3.15257923e-02 -5.05208784e-04 9.99502811e-01 -1.88733330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.53264 meters 0.026310921426278378 Centerline is valid? [True, True] Translation: X:46.89, Y:-3.76, Z:-1.89 [[ 9.83918097e-01 1.75988822e-01 3.05468966e-02 4.68923100e+01] [-1.75917858e-01 9.84392068e-01 -5.01644372e-03 -3.75929598e+00] [-3.09529607e-02 -4.37974841e-04 9.99520746e-01 -1.88878630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56264 meters 0.01998096600577926 Centerline is valid? [True, True] Translation: X:46.92, Y:-3.76, Z:-1.89 [[ 9.84093879e-01 1.75125981e-01 2.98350158e-02 4.69195505e+01] [-1.75057924e-01 9.84545951e-01 -4.89840627e-03 -3.76160679e+00] [-3.02317822e-02 -4.02364303e-04 9.99542834e-01 -1.89163253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.59264 meters 0.019335755329643715 Centerline is valid? [True, True] Translation: X:46.95, Y:-3.76, Z:-1.89 [[ 9.84293264e-01 1.74024405e-01 2.97031638e-02 4.69471075e+01] [-1.73956522e-01 9.84741271e-01 -4.87424956e-03 -3.76386563e+00] [-3.00981696e-02 -3.69368066e-04 9.99546879e-01 -1.89307982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.622640000000004 meters 0.022595314939268803 Centerline is valid? [True, True] Translation: X:46.98, Y:-3.77, Z:-1.89 [[ 9.84401790e-01 1.73398145e-01 2.97690910e-02 4.69755795e+01] [-1.73329733e-01 9.84851745e-01 -4.88313791e-03 -3.76957606e+00] [-3.01648682e-02 -3.52898881e-04 9.99544875e-01 -1.89318666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.652640000000005 meters 0.01810332645623846 Centerline is valid? [True, True] Translation: X:47.00, Y:-3.77, Z:-1.89 [[ 9.84471638e-01 1.72970045e-01 2.99492523e-02 4.70034509e+01] [-1.72900645e-01 9.84927026e-01 -4.91132096e-03 -3.77310346e+00] [-3.03473394e-02 -3.43188841e-04 9.99539355e-01 -1.89459539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.682640000000006 meters 0.0174058114068536 Centerline is valid? [True, True] Translation: X:47.03, Y:-3.78, Z:-1.89 [[ 9.84478219e-01 1.72882657e-01 3.02361252e-02 4.70324101e+01] [-1.72811943e-01 9.84942367e-01 -4.95632814e-03 -3.77785544e+00] [-3.06377039e-02 -3.45766429e-04 9.99530496e-01 -1.89419811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.71264 meters 0.018774891970949743 Centerline is valid? [True, True] Translation: X:47.06, Y:-3.78, Z:-1.89 [[ 9.84183832e-01 1.74303953e-01 3.16277894e-02 4.70608539e+01] [-1.74227361e-01 9.84691812e-01 -5.18290800e-03 -3.77518306e+00] [-3.20470266e-02 -4.09492020e-04 9.99486278e-01 -1.89284552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74264 meters 0.019989571146900868 Centerline is valid? [True, True] Translation: X:47.09, Y:-3.78, Z:-1.89 [[ 9.83981423e-01 1.75342621e-01 3.21795580e-02 4.70890519e+01] [-1.75263953e-01 9.84507369e-01 -5.27129324e-03 -3.77565038e+00] [-3.26052943e-02 -4.53061921e-04 9.99468203e-01 -1.89337685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.77264 meters 0.01988476519908965 Centerline is valid? [True, True] Translation: X:47.12, Y:-3.78, Z:-1.89 [[ 9.83761102e-01 1.76502653e-01 3.25715685e-02 4.71179893e+01] [-1.76422762e-01 9.84300038e-01 -5.33340164e-03 -3.77893069e+00] [-3.30015557e-02 -4.99573003e-04 9.99455175e-01 -1.89297108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.802640000000004 meters 0.02003434906603766 Centerline is valid? [True, True] Translation: X:47.15, Y:-3.78, Z:-1.89 [[ 9.83580828e-01 1.77545006e-01 3.23500590e-02 4.71467721e+01] [-1.77466814e-01 9.84112538e-01 -5.29552836e-03 -3.78208169e+00] [-3.27762933e-02 -5.32481727e-04 9.99462571e-01 -1.89367134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.832640000000005 meters 0.022629331798910482 Centerline is valid? [True, True] Translation: X:47.17, Y:-3.78, Z:-1.90 [[ 9.83409382e-01 1.78574510e-01 3.18925201e-02 4.71746124e+01] [-1.78499102e-01 9.83926232e-01 -5.21918637e-03 -3.78035323e+00] [-3.23119008e-02 -5.60189354e-04 9.99477677e-01 -1.89753982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.862640000000006 meters 0.026729461878175192 Centerline is valid? [True, True] Translation: X:47.20, Y:-3.78, Z:-1.90 [[ 9.83414676e-01 1.78540833e-01 3.19177877e-02 4.72021917e+01] [-1.78465360e-01 9.83932343e-01 -5.22110471e-03 -3.78379925e+00] [-3.23371240e-02 -5.61708473e-04 9.99476861e-01 -1.89960683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.89264 meters 0.021277668874931745 Centerline is valid? [True, True] Translation: X:47.23, Y:-3.79, Z:-1.90 [[ 9.83508127e-01 1.77991346e-01 3.21067591e-02 4.72306659e+01] [-1.77914769e-01 9.84031899e-01 -5.24939966e-03 -3.78940704e+00] [-3.25284229e-02 -5.49439390e-04 9.99470660e-01 -1.89961118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.92264 meters 0.02869590681272179 Centerline is valid? [True, True] Translation: X:47.26, Y:-3.79, Z:-1.90 [[ 9.83748908e-01 1.76759500e-01 3.15303829e-02 4.72578252e+01] [-1.76685062e-01 9.84253945e-01 -5.15372699e-03 -3.79263120e+00] [-3.19448740e-02 -5.00974355e-04 9.99489507e-01 -1.90266797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.95264 meters 0.020226544244868607 Centerline is valid? [True, True] Translation: X:47.29, Y:-3.80, Z:-1.90 [[ 9.83899862e-01 1.75966104e-01 3.12568590e-02 4.72867130e+01] [-1.75892618e-01 9.84396112e-01 -5.10692568e-03 -3.79697009e+00] [-3.16677763e-02 -4.73147295e-04 9.99498338e-01 -1.90423530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.98264 meters 0.025764251611722164 Centerline is valid? [True, True] Translation: X:47.31, Y:-3.80, Z:-1.91 [[ 9.84072194e-01 1.75098804e-01 3.06973187e-02 4.73145255e+01] [-1.75027550e-01 9.84550769e-01 -5.01401860e-03 -3.80169544e+00] [-3.11010174e-02 -4.38720215e-04 9.99516150e-01 -1.90719257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.012640000000005 meters 0.020976587041956363 Centerline is valid? [True, True] Translation: X:47.34, Y:-3.81, Z:-1.91 [[ 9.84286746e-01 1.73986221e-01 3.01396200e-02 4.73428770e+01] [-1.73917056e-01 9.84748007e-01 -4.92146930e-03 -3.80676465e+00] [-3.05361985e-02 -3.97656970e-04 9.99533582e-01 -1.90943307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.042640000000006 meters 0.017003390373227147 Centerline is valid? [True, True] Translation: X:47.37, Y:-3.81, Z:-1.91 [[ 9.84679249e-01 1.71949662e-01 2.89843213e-02 4.73708436e+01] [-1.71884854e-01 9.85105684e-01 -4.73151619e-03 -3.81443058e+00] [-2.93662023e-02 -3.22940037e-04 9.99568668e-01 -1.91234272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.07264000000001 meters 0.017344392377067544 Centerline is valid? [True, True] Translation: X:47.40, Y:-3.82, Z:-1.92 [[ 9.84862151e-01 1.70951576e-01 2.86723316e-02 4.73981006e+01] [-1.70887770e-01 9.85279389e-01 -4.67932489e-03 -3.81856161e+00] [-2.90501953e-02 -2.91260837e-04 9.99577912e-01 -1.91528853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.10264 meters 0.026630026103466296 Centerline is valid? [True, True] Translation: X:47.43, Y:-3.82, Z:-1.92 [[ 9.84983001e-01 1.70279842e-01 2.85177816e-02 4.74259185e+01] [-1.70216497e-01 9.85395708e-01 -4.65217864e-03 -3.82470358e+00] [-2.88934718e-02 -2.71879997e-04 9.99582460e-01 -1.91536542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.13264 meters 0.016532457538815708 Centerline is valid? [True, True] Translation: X:47.45, Y:-3.83, Z:-1.92 [[ 9.85031803e-01 1.69940761e-01 2.88528020e-02 4.74532216e+01] [-1.69875811e-01 9.85454244e-01 -4.70550955e-03 -3.82820255e+00] [-2.92327741e-02 -2.66316593e-04 9.99572596e-01 -1.91713589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.16264 meters 0.01599755336425147 Centerline is valid? [True, True] Translation: X:47.48, Y:-3.83, Z:-1.92 [[ 9.84966061e-01 1.70218736e-01 2.94523434e-02 4.74819737e+01] [-1.70151244e-01 9.85406263e-01 -4.80123049e-03 -3.83285157e+00] [-2.98397830e-02 -2.82303784e-04 9.99554655e-01 -1.91631321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.192640000000004 meters 0.016533883451463057 Centerline is valid? [True, True] Translation: X:47.51, Y:-3.84, Z:-1.92 [[ 9.84825070e-01 1.70955537e-01 2.98962573e-02 4.75108633e+01] [-1.70886380e-01 9.85278696e-01 -4.87207658e-03 -3.83548695e+00] [-3.02890538e-02 -3.10720029e-04 9.99541133e-01 -1.91637506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.222640000000006 meters 0.016895013254422223 Centerline is valid? [True, True] Translation: X:47.54, Y:-3.84, Z:-1.92 [[ 9.84649491e-01 1.71919671e-01 3.01497366e-02 4.75395913e+01] [-1.71849834e-01 9.85110912e-01 -4.91188386e-03 -3.83787484e+00] [-3.05452840e-02 -3.44743289e-04 9.99533324e-01 -1.91669255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.25264000000001 meters 0.020235208546938034 Centerline is valid? [True, True] Translation: X:47.57, Y:-3.84, Z:-1.92 [[ 9.84208465e-01 1.74407205e-01 3.02626019e-02 4.75684507e+01] [-1.74338062e-01 9.84673523e-01 -4.92887821e-03 -3.83548507e+00] [-3.06584147e-02 -4.24879727e-04 9.99529830e-01 -1.91845966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.28264 meters 0.021371599247122727 Centerline is valid? [True, True] Translation: X:47.60, Y:-3.84, Z:-1.92 [[ 9.83920412e-01 1.75901271e-01 3.09736436e-02 4.75973999e+01] [-1.75829647e-01 9.84407694e-01 -5.04253310e-03 -3.83668326e+00] [-3.13776811e-02 -4.84633581e-04 9.99507482e-01 -1.91830022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.31264 meters 0.022779445006203262 Centerline is valid? [True, True] Translation: X:47.63, Y:-3.84, Z:-1.92 [[ 9.83629736e-01 1.77413322e-01 3.15761974e-02 4.76261035e+01] [-1.77339709e-01 9.84136279e-01 -5.13917831e-03 -3.83714756e+00] [-3.19870402e-02 -5.44665055e-04 9.99488135e-01 -1.91817956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.34264 meters 0.024460894473316185 Centerline is valid? [True, True] Translation: X:47.65, Y:-3.84, Z:-1.92 [[ 9.83364575e-01 1.78863462e-01 3.16539887e-02 4.76548188e+01] [-1.78790303e-01 9.83873725e-01 -5.14977799e-03 -3.83765731e+00] [-3.20646349e-02 -5.95316990e-04 9.99485620e-01 -1.91910314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.372640000000004 meters 0.026804227018092115 Centerline is valid? [True, True] Translation: X:47.68, Y:-3.84, Z:-1.92 [[ 9.82938813e-01 1.81082233e-01 3.22569967e-02 4.76836161e+01] [-1.81007501e-01 9.83467722e-01 -5.24638835e-03 -3.83735743e+00] [-3.26737427e-02 -6.81879619e-04 9.99465838e-01 -1.92001133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.402640000000005 meters 0.026903680376409587 Centerline is valid? [True, True] Translation: X:47.71, Y:-3.84, Z:-1.92 [[ 9.82840660e-01 1.81653942e-01 3.20325168e-02 4.77122425e+01] [-1.81580581e-01 9.83362273e-01 -5.20892651e-03 -3.84103826e+00] [-3.24457906e-02 -6.96938254e-04 9.99473254e-01 -1.92105273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.432640000000006 meters 0.031223984628553535 Centerline is valid? [True, True] Translation: X:47.74, Y:-3.84, Z:-1.92 [[ 9.82788182e-01 1.81968251e-01 3.18581962e-02 4.77402865e+01] [-1.81896049e-01 9.83304150e-01 -5.17448776e-03 -3.84252867e+00] [-3.22678891e-02 -7.09454591e-04 9.99479004e-01 -1.92310549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.46264 meters 0.031223984628553535 Centerline is valid? [True, True] Translation: X:47.77, Y:-3.85, Z:-1.92 [[ 9.82801093e-01 1.81898454e-01 3.18584926e-02 4.77674221e+01] [-1.81826274e-01 9.83317065e-01 -5.17266229e-03 -3.84679716e+00] [-3.22678987e-02 -7.09012859e-04 9.99479004e-01 -1.92426764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.49264 meters 0.02737853232063879 Centerline is valid? [True, True] Translation: X:47.80, Y:-3.85, Z:-1.93 [[ 9.82890504e-01 1.81516559e-01 3.12729342e-02 4.77952216e+01] [-1.81446885e-01 9.83387649e-01 -5.07537375e-03 -3.84720679e+00] [-3.16746816e-02 -6.85839847e-04 9.99497996e-01 -1.92568898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.52264 meters 0.030642943783187222 Centerline is valid? [True, True] Translation: X:47.82, Y:-3.85, Z:-1.93 [[ 9.83016934e-01 1.80961155e-01 3.05085008e-02 4.78236518e+01] [-1.80894655e-01 9.83490027e-01 -4.94887648e-03 -3.85182468e+00] [-3.09003606e-02 -6.53995325e-04 9.99522256e-01 -1.92889594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.552640000000004 meters 0.024541367587249296 Centerline is valid? [True, True] Translation: X:47.85, Y:-3.86, Z:-1.93 [[ 9.83218956e-01 1.79976099e-01 2.98175997e-02 4.78523050e+01] [-1.79912167e-01 9.83670794e-01 -4.83537092e-03 -3.85688497e+00] [-3.02009532e-02 -6.10320636e-04 9.99543661e-01 -1.93051103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.582640000000005 meters 0.02431280474595378 Centerline is valid? [True, True] Translation: X:47.88, Y:-3.86, Z:-1.93 [[ 9.83432472e-01 1.78928030e-01 2.90745946e-02 4.78799646e+01] [-1.78866825e-01 9.83862003e-01 -4.71360666e-03 -3.86056778e+00] [-2.94487852e-02 -5.64966567e-04 9.99566131e-01 -1.93337265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.612640000000006 meters 0.02277672112005259 Centerline is valid? [True, True] Translation: X:47.91, Y:-3.87, Z:-1.94 [[ 9.83819606e-01 1.76928807e-01 2.81989289e-02 4.79077476e+01] [-1.76870467e-01 9.84223529e-01 -4.56974558e-03 -3.86570895e+00] [-2.85625689e-02 -4.91752404e-04 9.99591886e-01 -1.93626957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.64264 meters 0.021726050500008316 Centerline is valid? [True, True] Translation: X:47.94, Y:-3.87, Z:-1.94 [[ 9.83955464e-01 1.76116235e-01 2.85432503e-02 4.79357363e+01] [-1.76056162e-01 9.84369263e-01 -4.62408408e-03 -3.87103640e+00] [-2.89114745e-02 -4.75322284e-04 9.99581863e-01 -1.93645251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.67264 meters 0.020859804856355555 Centerline is valid? [True, True] Translation: X:47.96, Y:-3.88, Z:-1.94 [[ 9.84066398e-01 1.75440391e-01 2.88789519e-02 4.79647044e+01] [-1.75378631e-01 9.84489947e-01 -4.67758463e-03 -3.87591417e+00] [-2.92516751e-02 -4.61697187e-04 9.99571972e-01 -1.93631520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.70264 meters 0.020781414965376114 Centerline is valid? [True, True] Translation: X:47.99, Y:-3.88, Z:-1.94 [[ 9.84258179e-01 1.74266936e-01 2.94426916e-02 4.79925187e+01] [-1.74202316e-01 9.84698351e-01 -4.76555191e-03 -3.87830089e+00] [-2.98226480e-02 -4.38451607e-04 9.99555110e-01 -1.93681309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.73264 meters 0.020850725614076988 Centerline is valid? [True, True] Translation: X:48.02, Y:-3.88, Z:-1.94 [[ 9.84331346e-01 1.73758420e-01 2.99968603e-02 4.80199127e+01] [-1.73691157e-01 9.84788213e-01 -4.85363137e-03 -3.88205352e+00] [-3.03839137e-02 -4.32607874e-04 9.99538209e-01 -1.93708829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.762640000000005 meters 0.02012884605423345 Centerline is valid? [True, True] Translation: X:48.05, Y:-3.89, Z:-1.94 [[ 9.84379541e-01 1.73340046e-01 3.08244603e-02 4.80482450e+01] [-1.73268919e-01 9.84861939e-01 -4.98416126e-03 -3.88688564e+00] [-3.12217925e-02 -4.34614540e-04 9.99512387e-01 -1.93662672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.792640000000006 meters 0.028661850896629648 Centerline is valid? [True, True] Translation: X:48.08, Y:-3.89, Z:-1.94 [[ 9.84413328e-01 1.73068949e-01 3.12656050e-02 4.80768515e+01] [-1.72995684e-01 9.84909616e-01 -5.05395649e-03 -3.89199764e+00] [-3.16684779e-02 -4.33632581e-04 9.99498334e-01 -1.93654525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.82264000000001 meters 0.019849362165814576 Centerline is valid? [True, True] Translation: X:48.11, Y:-3.89, Z:-1.94 [[ 9.84344804e-01 1.73481083e-01 3.11387239e-02 4.81057400e+01] [-1.73408665e-01 9.84837101e-01 -5.03191769e-03 -3.89336422e+00] [-3.15395131e-02 -4.46582523e-04 9.99502406e-01 -1.93724398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.85264 meters 0.019961276785251687 Centerline is valid? [True, True] Translation: X:48.13, Y:-3.90, Z:-1.94 [[ 9.84176981e-01 1.74468170e-01 3.09277682e-02 4.81342553e+01] [-1.74397265e-01 9.84662699e-01 -4.99633182e-03 -3.89631398e+00] [-3.13251205e-02 -4.76443423e-04 9.99509134e-01 -1.93738019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.88264 meters 0.02191904624042537 Centerline is valid? [True, True] Translation: X:48.16, Y:-3.90, Z:-1.94 [[ 9.83880645e-01 1.76066753e-01 3.12949700e-02 4.81625630e+01] [-1.75995009e-01 9.84378084e-01 -5.05416782e-03 -3.89650704e+00] [-3.16959535e-02 -5.35060633e-04 9.99497414e-01 -1.93815059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.91264 meters 0.03293187100820765 Centerline is valid? [True, True] Translation: X:48.19, Y:-3.89, Z:-1.94 [[ 9.83041228e-01 1.80534601e-01 3.22056064e-02 4.81925679e+01] [-1.80461090e-01 9.83568384e-01 -5.19889119e-03 -3.89333899e+00] [-3.26149960e-02 -7.01134467e-04 9.99467744e-01 -1.93769439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.942640000000004 meters 0.02952519480211587 Centerline is valid? [True, True] Translation: X:48.22, Y:-3.89, Z:-1.94 [[ 9.82602010e-01 1.82889372e-01 3.23228780e-02 4.82209684e+01] [-1.82816631e-01 9.83133188e-01 -5.21681005e-03 -3.89047135e+00] [-3.27317932e-02 -7.83111601e-04 9.99463865e-01 -1.93931134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.972640000000006 meters 0.029541620406403853 Centerline is valid? [True, True] Translation: X:48.25, Y:-3.89, Z:-1.94 [[ 9.82309863e-01 1.84568355e-01 3.16521079e-02 4.82495845e+01] [-1.84499498e-01 9.82819335e-01 -5.10774448e-03 -3.89381285e+00] [-3.20510316e-02 -8.22410244e-04 9.99485895e-01 -1.94093398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.00264000000001 meters 0.03632206894204897 Centerline is valid? [True, True] Translation: X:48.28, Y:-3.89, Z:-1.94 [[ 9.82107711e-01 1.85850312e-01 3.03991042e-02 4.82773152e+01] [-1.85787612e-01 9.82577713e-01 -4.89908066e-03 -3.89472944e+00] [-3.07799779e-02 -8.36352088e-04 9.99525834e-01 -1.94482110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.03264 meters 0.039800426563366915 Centerline is valid? [True, True] Translation: X:48.31, Y:-3.88, Z:-1.95 [[ 9.81857071e-01 1.87134427e-01 3.06169601e-02 4.83070104e+01] [-1.87071511e-01 9.82333916e-01 -4.93220345e-03 -3.88401198e+00] [-3.09990634e-02 -8.84842155e-04 9.99519022e-01 -1.94849339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.06264 meters 0.03491615608821176 Centerline is valid? [True, True] Translation: X:48.33, Y:-3.89, Z:-1.95 [[ 9.81879535e-01 1.86996100e-01 3.07414606e-02 4.83341133e+01] [-1.86932618e-01 9.82360258e-01 -4.95177891e-03 -3.89231635e+00] [-3.11251525e-02 -8.84531329e-04 9.99515104e-01 -1.94707289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.09264 meters 0.03282616874643143 Centerline is valid? [True, True] Translation: X:48.36, Y:-3.90, Z:-1.95 [[ 9.81996127e-01 1.86429593e-01 3.04567458e-02 4.83625848e+01] [-1.86367200e-01 9.82467943e-01 -4.89974769e-03 -3.89820466e+00] [-3.08362344e-02 -8.64605191e-04 9.99524076e-01 -1.94766236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.122640000000004 meters 0.038565399480627996 Centerline is valid? [True, True] Translation: X:48.39, Y:-3.90, Z:-1.95 [[ 9.82189038e-01 1.85443059e-01 3.02582958e-02 4.83911001e+01] [-1.85381173e-01 9.82654658e-01 -4.86248461e-03 -3.89828108e+00] [-3.06351693e-02 -8.33439275e-04 9.99530286e-01 -1.95128890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.152640000000005 meters 0.03158953946591641 Centerline is valid? [True, True] Translation: X:48.42, Y:-3.90, Z:-1.95 [[ 9.82741522e-01 1.82554942e-01 2.98796701e-02 4.84197915e+01] [-1.82493424e-01 9.83195375e-01 -4.79623551e-03 -3.90362931e+00] [-3.02531299e-02 -7.39383516e-04 9.99541996e-01 -1.95221990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.182640000000006 meters 0.02821337487533665 Centerline is valid? [True, True] Translation: X:48.45, Y:-3.91, Z:-1.95 [[ 9.83105425e-01 1.80595988e-01 2.98129666e-02 4.84479740e+01] [-1.80533979e-01 9.83557128e-01 -4.78105982e-03 -3.91171031e+00] [-3.01861960e-02 -6.81967632e-04 9.99544060e-01 -1.95254212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.21264 meters 0.024501493364869415 Centerline is valid? [True, True] Translation: X:48.48, Y:-3.92, Z:-1.95 [[ 9.83810574e-01 1.76698340e-01 2.99073834e-02 4.84751268e+01] [-1.76634344e-01 9.84264889e-01 -4.78934071e-03 -3.92146454e+00] [-3.02830560e-02 -5.70867021e-04 9.99541200e-01 -1.95369597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24264 meters 0.024036373463588088 Centerline is valid? [True, True] Translation: X:48.50, Y:-3.93, Z:-1.96 [[ 9.84156826e-01 1.74723708e-01 3.01159073e-02 4.85023510e+01] [-1.74657918e-01 9.84617368e-01 -4.82188051e-03 -3.92544037e+00] [-3.04951422e-02 -5.14495034e-04 9.99534783e-01 -1.95580944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.27264 meters 0.02206602358200868 Centerline is valid? [True, True] Translation: X:48.53, Y:-3.93, Z:-1.96 [[ 9.84496523e-01 1.72738950e-01 3.04606383e-02 4.85307941e+01] [-1.72670743e-01 9.84967534e-01 -4.87551708e-03 -3.93331830e+00] [-3.08449315e-02 -4.59731438e-04 9.99524076e-01 -1.95569632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.302640000000004 meters 0.022177084407677544 Centerline is valid? [True, True] Translation: X:48.56, Y:-3.94, Z:-1.96 [[ 9.84843607e-01 1.70703267e-01 3.07158648e-02 4.85584304e+01] [-1.70633024e-01 9.85322400e-01 -4.91308961e-03 -3.93966212e+00] [-3.11037101e-02 -4.02516014e-04 9.99516082e-01 -1.95735167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.332640000000005 meters 0.015803031175250747 Centerline is valid? [True, True] Translation: X:48.59, Y:-3.95, Z:-1.96 [[ 9.85439765e-01 1.67228434e-01 3.07102603e-02 4.85865568e+01] [-1.67156562e-01 9.85918133e-01 -4.91112708e-03 -3.94936554e+00] [-3.10990826e-02 -2.93801605e-04 9.99516263e-01 -1.95721245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.362640000000006 meters 0.015292328537399534 Centerline is valid? [True, True] Translation: X:48.61, Y:-3.95, Z:-1.96 [[ 9.85600071e-01 1.66271471e-01 3.07619575e-02 4.86139480e+01] [-1.66198977e-01 9.86079980e-01 -4.91664058e-03 -3.95348443e+00] [-3.11512475e-02 -2.66764554e-04 9.99514647e-01 -1.95886654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.39264 meters 0.015274750079279602 Centerline is valid? [True, True] Translation: X:48.64, Y:-3.96, Z:-1.96 [[ 9.85679065e-01 1.65747940e-01 3.10548129e-02 4.86419486e+01] [-1.65673891e-01 9.86168117e-01 -4.96051931e-03 -3.95643956e+00] [-3.14474622e-02 -2.55491652e-04 9.99505374e-01 -1.96067554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42264 meters 0.014695842414229417 Centerline is valid? [True, True] Translation: X:48.67, Y:-3.96, Z:-1.96 [[ 9.85714422e-01 1.65524955e-01 3.11218258e-02 4.86693950e+01] [-1.65450572e-01 9.86205570e-01 -4.96814121e-03 -3.96078506e+00] [-3.15148693e-02 -2.51955456e-04 9.99503251e-01 -1.96106927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.45264 meters 0.014129166971378145 Centerline is valid? [True, True] Translation: X:48.70, Y:-3.97, Z:-1.96 [[ 9.85669430e-01 1.65587135e-01 3.21974371e-02 4.86983948e+01] [-1.65507642e-01 9.86195128e-01 -5.13712617e-03 -3.96508428e+00] [-3.26035976e-02 -2.65413676e-04 9.99468326e-01 -1.96030061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.48264 meters 0.014549072591892597 Centerline is valid? [True, True] Translation: X:48.73, Y:-3.97, Z:-1.96 [[ 9.85663257e-01 1.65501352e-01 3.28214224e-02 4.87260150e+01] [-1.65418746e-01 9.86209526e-01 -5.23532003e-03 -3.96729373e+00] [-3.32352519e-02 -2.69015925e-04 9.99447520e-01 -1.96133595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.512640000000005 meters 0.014456529912345126 Centerline is valid? [True, True] Translation: X:48.75, Y:-3.97, Z:-1.96 [[ 9.85694385e-01 1.65234891e-01 3.32266602e-02 4.87544911e+01] [-1.65150195e-01 9.86254206e-01 -5.29654307e-03 -3.97047403e+00] [-3.36451071e-02 -2.66616647e-04 9.99433808e-01 -1.96162513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.542640000000006 meters 0.013179954553425896 Centerline is valid? [True, True] Translation: X:48.78, Y:-3.98, Z:-1.96 [[ 9.85998356e-01 1.63450261e-01 3.30341205e-02 4.87830945e+01] [-1.63365596e-01 9.86551554e-01 -5.26425827e-03 -3.97643848e+00] [-3.34503073e-02 -2.06088786e-04 9.99440361e-01 -1.96356942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.57264000000001 meters 0.01265945673086432 Centerline is valid? [True, True] Translation: X:48.81, Y:-3.98, Z:-1.97 [[ 9.86322494e-01 1.61702927e-01 3.19390133e-02 4.88102498e+01] [-1.61622909e-01 9.86839472e-01 -5.08846534e-03 -3.98351354e+00] [-3.23414988e-02 -1.43208418e-04 9.99476867e-01 -1.96695933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.60264 meters 0.012039733496899878 Centerline is valid? [True, True] Translation: X:48.84, Y:-3.99, Z:-1.97 [[ 9.86692023e-01 1.59542086e-01 3.13875015e-02 4.88372381e+01] [-1.59463786e-01 9.87191125e-01 -4.99833924e-03 -3.99166910e+00] [-3.17829084e-02 -7.33483882e-05 9.99494793e-01 -1.97036751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.63264 meters 0.02447173501340366 Centerline is valid? [True, True] Translation: X:48.86, Y:-4.00, Z:-1.97 [[ 9.87155070e-01 1.56834981e-01 3.04574638e-02 4.88643643e+01] [-1.56760036e-01 9.87624822e-01 -4.84793053e-03 -4.00034957e+00] [-3.08408724e-02 1.11460667e-05 9.99524307e-01 -1.97409050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.66264 meters 0.013354387986202148 Centerline is valid? [True, True] Translation: X:48.89, Y:-4.01, Z:-1.98 [[ 9.87919405e-01 1.52177119e-01 2.92809568e-02 4.88913142e+01] [-1.52105862e-01 9.88353228e-01 -4.65880971e-03 -4.01262121e+00] [-2.96488924e-02 1.48723350e-04 9.99560364e-01 -1.97767570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.692640000000004 meters 0.01429753210526081 Centerline is valid? [True, True] Translation: X:48.92, Y:-4.02, Z:-1.98 [[ 9.88208094e-01 1.50363366e-01 2.89071198e-02 4.89193014e+01] [-1.50293182e-01 9.88630780e-01 -4.59793469e-03 -4.01961015e+00] [-2.92698293e-02 1.99173279e-04 9.99571527e-01 -1.97966348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.722640000000006 meters 0.015443410217923514 Centerline is valid? [True, True] Translation: X:48.95, Y:-4.03, Z:-1.98 [[ 9.88445099e-01 1.48862768e-01 2.85685699e-02 4.89467444e+01] [-1.48793627e-01 9.88857835e-01 -4.54286829e-03 -4.02667784e+00] [-2.89265181e-02 2.39554762e-04 9.99581512e-01 -1.98189701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.75264000000001 meters 0.016174008090043577 Centerline is valid? [True, True] Translation: X:48.97, Y:-4.03, Z:-1.98 [[ 9.88577298e-01 1.48023365e-01 2.83550637e-02 4.89733583e+01] [-1.47954957e-01 9.88983830e-01 -4.50720029e-03 -4.03339301e+00] [-2.87098704e-02 2.60443646e-04 9.99587753e-01 -1.98399389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.78264 meters 0.026764754810239426 Centerline is valid? [True, True] Translation: X:49.00, Y:-4.04, Z:-1.99 [[ 9.88566898e-01 1.48220857e-01 2.76779007e-02 4.90016680e+01] [-1.48155806e-01 9.88954254e-01 -4.39780270e-03 -4.04021512e+00] [-2.80240237e-02 2.46880494e-04 9.99607219e-01 -1.98544565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.81264 meters 0.014558229112904162 Centerline is valid? [True, True] Translation: X:49.03, Y:-4.04, Z:-1.98 [[ 9.88400556e-01 1.49063227e-01 2.90602042e-02 4.90302388e+01] [-1.48991921e-01 9.88827639e-01 -4.61596878e-03 -4.04391094e+00] [-2.94236044e-02 2.32690452e-04 9.99567005e-01 -1.98333422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.84264 meters 0.014155553009420932 Centerline is valid? [True, True] Translation: X:49.06, Y:-4.05, Z:-1.98 [[ 9.88198574e-01 1.50156269e-01 3.02766275e-02 4.90581257e+01] [-1.50079429e-01 9.88662254e-01 -4.80757932e-03 -4.04859554e+00] [-3.06552469e-02 2.06944043e-04 9.99529996e-01 -1.98330572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.872640000000004 meters 0.02481560900095637 Centerline is valid? [True, True] Translation: X:49.09, Y:-4.05, Z:-1.98 [[ 9.87834068e-01 1.52235646e-01 3.17515649e-02 4.90866257e+01] [-1.52152263e-01 9.88344215e-01 -5.04008613e-03 -4.05149338e+00] [-3.21487562e-02 1.47696339e-04 9.99483084e-01 -1.98071494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.902640000000005 meters 0.0273270605901289 Centerline is valid? [True, True] Translation: X:49.11, Y:-4.06, Z:-1.98 [[ 9.87614669e-01 1.53678310e-01 3.16266003e-02 4.91144778e+01] [-1.53596368e-01 9.88120927e-01 -5.01880636e-03 -4.05517018e+00] [-3.20221873e-02 9.89158336e-05 9.99487153e-01 -1.98351485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.932640000000006 meters 0.011997561353896555 Centerline is valid? [True, True] Translation: X:49.14, Y:-4.06, Z:-1.99 [[ 9.87412109e-01 1.54944790e-01 3.17716793e-02 4.91417155e+01] [-1.54862814e-01 9.87923129e-01 -5.03982350e-03 -4.05824624e+00] [-3.21688713e-02 5.61310740e-05 9.99482446e-01 -1.98561023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.96264 meters 0.012010651064797854 Centerline is valid? [True, True] Translation: X:49.17, Y:-4.06, Z:-1.99 [[ 9.86989845e-01 1.57770960e-01 3.09736931e-02 4.91705875e+01] [-1.57694485e-01 9.87475733e-01 -4.91188671e-03 -4.06127130e+00] [-3.13607234e-02 -3.63982809e-05 9.99508131e-01 -1.98728286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.99264 meters 0.012618835355281417 Centerline is valid? [True, True] Translation: X:49.20, Y:-4.06, Z:-1.99 [[ 9.86771034e-01 1.59124043e-01 3.10236413e-02 4.91970944e+01] [-1.59048080e-01 9.87258594e-01 -4.91692949e-03 -4.06474949e+00] [-3.14107582e-02 -8.23669795e-05 9.99506557e-01 -1.99048972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.02264 meters 0.012827259482981043 Centerline is valid? [True, True] Translation: X:49.23, Y:-4.07, Z:-1.99 [[ 9.86512586e-01 1.60783957e-01 3.06828567e-02 4.92258064e+01] [-1.60710588e-01 9.86989615e-01 -4.85868325e-03 -4.06851920e+00] [-3.10648593e-02 -1.37907777e-04 9.99517361e-01 -1.99072724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.052640000000004 meters 0.014831603966470288 Centerline is valid? [True, True] Translation: X:49.25, Y:-4.07, Z:-2.00 [[ 9.86254692e-01 1.62468281e-01 3.00955155e-02 4.92533935e+01] [-1.62398519e-01 9.86713749e-01 -4.76433989e-03 -4.06895650e+00] [-3.04697131e-02 -1.88614589e-04 9.99535673e-01 -1.99539391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.082640000000005 meters 0.018594485210075326 Centerline is valid? [True, True] Translation: X:49.28, Y:-4.07, Z:-2.00 [[ 9.85685337e-01 1.65959387e-01 2.96967644e-02 4.92831283e+01] [-1.65893105e-01 9.86132544e-01 -4.69921319e-03 -4.06777390e+00] [-3.00648243e-02 -2.94542930e-04 9.99547908e-01 -1.99580545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.112640000000006 meters 0.026440471787595107 Centerline is valid? [True, True] Translation: X:49.31, Y:-4.07, Z:-2.00 [[ 9.85391006e-01 1.67714440e-01 2.96045871e-02 4.93117296e+01] [-1.67649403e-01 9.85835557e-01 -4.68320969e-03 -4.07037698e+00] [-2.99706965e-02 -3.48398655e-04 9.99550717e-01 -1.99636189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.14264 meters 0.020178537275571642 Centerline is valid? [True, True] Translation: X:49.34, Y:-4.07, Z:-2.00 [[ 9.85041360e-01 1.69651275e-01 3.01987504e-02 4.93395558e+01] [-1.69584553e-01 9.85504070e-01 -4.77579806e-03 -4.07060053e+00] [-3.05712116e-02 -4.16882980e-04 9.99532504e-01 -1.99839796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.17264 meters 0.022852333300860762 Centerline is valid? [True, True] Translation: X:49.37, Y:-4.07, Z:-2.00 [[ 9.84409876e-01 1.73354264e-01 2.97572790e-02 4.93693666e+01] [-1.73291228e-01 9.84859392e-01 -4.70402478e-03 -4.06908347e+00] [-3.01221984e-02 -5.25986973e-04 9.99546085e-01 -1.99948866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.20264 meters 0.02466333815438162 Centerline is valid? [True, True] Translation: X:49.40, Y:-4.07, Z:-2.00 [[ 9.84131998e-01 1.74941957e-01 2.96567510e-02 4.93980234e+01] [-1.74880111e-01 9.84578581e-01 -4.68664608e-03 -4.06974802e+00] [-3.00192929e-02 -5.74097534e-04 9.99549155e-01 -2.00158406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.23264 meters 0.028373182440831524 Centerline is valid? [True, True] Translation: X:49.43, Y:-4.07, Z:-2.01 [[ 9.83897999e-01 1.76269949e-01 2.95572628e-02 4.94265322e+01] [-1.76209156e-01 9.84341672e-01 -4.66960809e-03 -4.06840019e+00] [-2.99175570e-02 -6.13842264e-04 9.99552181e-01 -2.00520123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.262640000000005 meters 0.028806377440651895 Centerline is valid? [True, True] Translation: X:49.46, Y:-4.07, Z:-2.01 [[ 9.83663721e-01 1.77565408e-01 2.96008541e-02 4.94559471e+01] [-1.77505037e-01 9.84108783e-01 -4.67595745e-03 -4.06870887e+00] [-2.99607488e-02 -6.54730997e-04 9.99550862e-01 -2.00628294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.292640000000006 meters 0.029027644075716612 Centerline is valid? [True, True] Translation: X:49.48, Y:-4.07, Z:-2.01 [[ 9.83721195e-01 1.77318477e-01 2.91679450e-02 4.94840924e+01] [-1.77259886e-01 9.84153314e-01 -4.60302080e-03 -4.07045865e+00] [-2.95219303e-02 -6.42217476e-04 9.99563927e-01 -2.00839159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.32264000000001 meters 0.02743372438901437 Centerline is valid? [True, True] Translation: X:49.51, Y:-4.08, Z:-2.01 [[ 9.83898833e-01 1.76350802e-01 2.90427391e-02 4.95123822e+01] [-1.76292463e-01 9.84327189e-01 -4.57742501e-03 -4.07523511e+00] [-2.93947903e-02 -6.16292864e-04 9.99567690e-01 -2.00950160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.35264 meters 0.02213219836396823 Centerline is valid? [True, True] Translation: X:49.54, Y:-4.09, Z:-2.01 [[ 9.84448436e-01 1.72943194e-01 3.08533306e-02 4.95407486e+01] [-1.72875907e-01 9.84931645e-01 -4.85547025e-03 -4.08567582e+00] [-3.12281422e-02 -5.53837439e-04 9.99512129e-01 -2.00754301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.38264 meters 0.02213219836396823 Centerline is valid? [True, True] Translation: X:49.57, Y:-4.09, Z:-2.01 [[ 9.84461341e-01 1.72869716e-01 3.08533667e-02 4.95678986e+01] [-1.72802401e-01 9.84944545e-01 -4.85524129e-03 -4.08981638e+00] [-3.12281794e-02 -5.51738490e-04 9.99512129e-01 -2.00870478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.41264 meters 0.021735014054281045 Centerline is valid? [True, True] Translation: X:49.60, Y:-4.09, Z:-2.01 [[ 9.84878327e-01 1.70406011e-01 3.12485625e-02 4.95954338e+01] [-1.70335801e-01 9.85373817e-01 -4.91486125e-03 -4.09478969e+00] [-3.16290372e-02 -4.82208612e-04 9.99499561e-01 -2.01100533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.442640000000004 meters 0.023790677037138108 Centerline is valid? [True, True] Translation: X:49.62, Y:-4.10, Z:-2.01 [[ 9.85350647e-01 1.67673215e-01 3.11415311e-02 4.96234835e+01] [-1.67602187e-01 9.85842552e-01 -4.89591899e-03 -4.10362222e+00] [-3.15215610e-02 -3.95191771e-04 9.99502994e-01 -2.01054316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.472640000000006 meters 0.014915029522274194 Centerline is valid? [True, True] Translation: X:49.65, Y:-4.11, Z:-2.01 [[ 9.86208014e-01 1.62488806e-01 3.14823939e-02 4.96504620e+01] [-1.62413611e-01 9.86710359e-01 -4.94826834e-03 -4.11179373e+00] [-3.18680424e-02 -2.33147395e-04 9.99492058e-01 -2.01271635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.50264000000001 meters 0.013588886942248527 Centerline is valid? [True, True] Translation: X:49.68, Y:-4.12, Z:-2.01 [[ 9.86650964e-01 1.59788764e-01 3.14233522e-02 4.96772254e+01] [-1.59712575e-01 9.87151219e-01 -4.93605554e-03 -4.12022246e+00] [-3.18083266e-02 -1.48540541e-04 9.99493976e-01 -2.01490481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.53264 meters 0.012170434901452016 Centerline is valid? [True, True] Translation: X:49.70, Y:-4.13, Z:-2.01 [[ 9.87050651e-01 1.57221840e-01 3.18167397e-02 4.97048750e+01] [-1.57142463e-01 9.87563308e-01 -4.99581972e-03 -4.12944523e+00] [-3.22064967e-02 -6.86337194e-05 9.99481234e-01 -2.01438628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56264 meters 0.012021995231807981 Centerline is valid? [True, True] Translation: X:49.73, Y:-4.14, Z:-2.02 [[ 9.87418980e-01 1.54823300e-01 3.21481449e-02 4.97321718e+01] [-1.54741038e-01 9.87942177e-01 -5.04634603e-03 -4.13643281e+00] [-3.25418002e-02 8.22056526e-06 9.99470375e-01 -2.01561380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.59264 meters 0.020637520842929198 Centerline is valid? [True, True] Translation: X:49.76, Y:-4.15, Z:-2.02 [[ 9.88096255e-01 1.50519112e-01 3.17771711e-02 4.97599830e+01] [-1.50436578e-01 9.88607089e-01 -4.98604061e-03 -4.14568654e+00] [-3.21656310e-02 1.46239188e-04 9.99482542e-01 -2.01649099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.622640000000004 meters 0.013958216597678883 Centerline is valid? [True, True] Translation: X:49.79, Y:-4.15, Z:-2.02 [[ 9.88349416e-01 1.48763293e-01 3.21700927e-02 4.97866029e+01] [-1.48677821e-01 9.88872813e-01 -5.04623117e-03 -4.15361434e+00] [-3.25628240e-02 2.04460335e-04 9.99469670e-01 -2.01800991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.652640000000005 meters 0.014189944647033796 Centerline is valid? [True, True] Translation: X:49.81, Y:-4.16, Z:-2.02 [[ 9.88551971e-01 1.47280377e-01 3.27641826e-02 4.98148418e+01] [-1.47190974e-01 9.89094750e-01 -5.13732316e-03 -4.16002111e+00] [-3.31635079e-02 2.55918980e-04 9.99449907e-01 -2.01738511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.682640000000006 meters 0.015221622652095958 Centerline is valid? [True, True] Translation: X:49.84, Y:-4.17, Z:-2.02 [[ 9.88737988e-01 1.45944446e-01 3.31271866e-02 4.98418427e+01] [-1.45852351e-01 9.89292741e-01 -5.19275762e-03 -4.16591314e+00] [-3.35303393e-02 3.02598690e-04 9.99437654e-01 -2.01780955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.71264 meters 0.01511478016790148 Centerline is valid? [True, True] Translation: X:49.87, Y:-4.17, Z:-2.02 [[ 9.88755726e-01 1.45810004e-01 3.31897230e-02 4.98705356e+01] [-1.45717566e-01 9.89312564e-01 -5.20016696e-03 -4.17109045e+00] [-3.35932464e-02 3.05369210e-04 9.99435541e-01 -2.01904001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.74264 meters 0.015212304007183472 Centerline is valid? [True, True] Translation: X:49.90, Y:-4.18, Z:-2.02 [[ 9.88757482e-01 1.45815939e-01 3.31112206e-02 4.98988541e+01] [-1.45723994e-01 9.89311690e-01 -5.18625669e-03 -4.17707711e+00] [-3.35135565e-02 3.02850778e-04 9.99438217e-01 -2.02054166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.77264 meters 0.016535754033258406 Centerline is valid? [True, True] Translation: X:49.93, Y:-4.18, Z:-2.02 [[ 9.88712941e-01 1.46171212e-01 3.28739558e-02 4.99274733e+01] [-1.46080828e-01 9.89259266e-01 -5.14753897e-03 -4.18112985e+00] [-3.32732874e-02 2.87183699e-04 9.99446250e-01 -2.02092195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.802640000000004 meters 0.013839179930858958 Centerline is valid? [True, True] Translation: X:49.96, Y:-4.18, Z:-2.03 [[ 9.88433857e-01 1.48231406e-01 3.20306156e-02 4.99552344e+01] [-1.48146729e-01 9.88952681e-01 -5.01407798e-03 -4.18319900e+00] [-3.24200070e-02 2.10853500e-04 9.99474311e-01 -2.02501350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.832640000000005 meters 0.013266594458364762 Centerline is valid? [True, True] Translation: X:49.98, Y:-4.19, Z:-2.03 [[ 9.88277218e-01 1.49379546e-01 3.15260475e-02 4.99831856e+01] [-1.49298163e-01 9.88779916e-01 -4.93311315e-03 -4.18524211e+00] [-3.19092288e-02 1.68502348e-04 9.99490757e-01 -2.02676171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.862640000000006 meters 0.01272575626512233 Centerline is valid? [True, True] Translation: X:50.01, Y:-4.19, Z:-2.03 [[ 9.88090389e-01 1.50593190e-01 3.16081465e-02 5.00119792e+01] [-1.50512085e-01 9.88595810e-01 -4.94339541e-03 -4.18845430e+00] [-3.19921229e-02 1.27113447e-04 9.99488113e-01 -2.02766766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.89264000000001 meters 0.012212195948215676 Centerline is valid? [True, True] Translation: X:50.04, Y:-4.19, Z:-2.03 [[ 9.87906244e-01 1.51793562e-01 3.16222561e-02 5.00411541e+01] [-1.51713053e-01 9.88412215e-01 -4.94393651e-03 -4.19160534e+00] [-3.20062820e-02 8.66367222e-05 9.99487664e-01 -2.02845747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92264 meters 0.012394300529370818 Centerline is valid? [True, True] Translation: X:50.07, Y:-4.19, Z:-2.03 [[ 9.87371471e-01 1.55351723e-01 3.10390072e-02 5.00691350e+01] [-1.55275941e-01 9.87859221e-01 -4.85188607e-03 -4.19074786e+00] [-3.14159183e-02 -2.89971559e-05 9.99506398e-01 -2.03102288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.95264 meters 0.01253581690778972 Centerline is valid? [True, True] Translation: X:50.10, Y:-4.19, Z:-2.03 [[ 9.87096666e-01 1.57087686e-01 3.10424031e-02 5.00979846e+01] [-1.57012810e-01 9.87584655e-01 -4.85036333e-03 -4.19288997e+00] [-3.14189333e-02 -8.62774498e-05 9.99506300e-01 -2.03087520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.98264 meters 0.023845921486986287 Centerline is valid? [True, True] Translation: X:50.13, Y:-4.19, Z:-2.03 [[ 9.86684005e-01 1.59667184e-01 3.10010569e-02 5.01271338e+01] [-1.59593828e-01 9.87170888e-01 -4.84237798e-03 -4.19494103e+00] [-3.13765097e-02 -1.69680429e-04 9.99507622e-01 -2.03198921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.012640000000005 meters 0.013979271914993072 Centerline is valid? [True, True] Translation: X:50.16, Y:-4.20, Z:-2.03 [[ 9.86524593e-01 1.60626759e-01 3.11170627e-02 5.01561650e+01] [-1.60553378e-01 9.87015199e-01 -4.85895175e-03 -4.19787162e+00] [-3.14934915e-02 -2.02474142e-04 9.99503936e-01 -2.03302086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.042640000000006 meters 0.014972791462270351 Centerline is valid? [True, True] Translation: X:50.18, Y:-4.20, Z:-2.04 [[ 9.86459802e-01 1.61033258e-01 3.10700563e-02 5.01842284e+01] [-1.60960345e-01 9.86948957e-01 -4.85018683e-03 -4.19939291e+00] [-3.14456011e-02 -2.16532652e-04 9.99505441e-01 -2.03505206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.07264000000001 meters 0.014210817330724365 Centerline is valid? [True, True] Translation: X:50.21, Y:-4.20, Z:-2.03 [[ 9.86473260e-01 1.60654720e-01 3.25663729e-02 5.02126888e+01] [-1.60574482e-01 9.87010645e-01 -5.08149511e-03 -4.20337697e+00] [-3.29597229e-02 -2.16569418e-04 9.99456657e-01 -2.03425604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.10264 meters 0.014039236953531051 Centerline is valid? [True, True] Translation: X:50.24, Y:-4.21, Z:-2.04 [[ 9.86564239e-01 1.60021465e-01 3.29261890e-02 5.02405220e+01] [-1.59939141e-01 9.87113515e-01 -5.13614037e-03 -4.20802714e+00] [-3.33237788e-02 -1.99053967e-04 9.99444589e-01 -2.03519108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.13264 meters 0.01292123283536874 Centerline is valid? [True, True] Translation: X:50.27, Y:-4.21, Z:-2.03 [[ 9.86722472e-01 1.59091982e-01 3.26879835e-02 5.02683779e+01] [-1.59010403e-01 9.87263750e-01 -5.09696588e-03 -4.21386366e+00] [-3.30825476e-02 -1.68438643e-04 9.99452609e-01 -2.03441616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.16264 meters 0.012577004009876666 Centerline is valid? [True, True] Translation: X:50.29, Y:-4.22, Z:-2.04 [[ 9.87061791e-01 1.57081581e-01 3.21620406e-02 5.02948866e+01] [-1.57001578e-01 9.87585625e-01 -5.01373447e-03 -4.21990715e+00] [-3.25503343e-02 -1.00625415e-04 9.99470092e-01 -2.03878505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.192640000000004 meters 0.012396125112273313 Centerline is valid? [True, True] Translation: X:50.32, Y:-4.23, Z:-2.04 [[ 9.87264763e-01 1.56033105e-01 3.10154519e-02 5.03226627e+01] [-1.55958282e-01 9.87751824e-01 -4.83202327e-03 -4.22622823e+00] [-3.13895248e-02 -6.66302851e-05 9.99507225e-01 -2.04067140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.222640000000006 meters 0.012734832764565477 Centerline is valid? [True, True] Translation: X:50.35, Y:-4.23, Z:-2.04 [[ 9.87403629e-01 1.55244705e-01 3.05475751e-02 5.03500347e+01] [-1.55171788e-01 9.87876045e-01 -4.75778748e-03 -4.23089809e+00] [-3.09158390e-02 -4.22652058e-05 9.99521990e-01 -2.04428045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.25264000000001 meters 0.012191860565065894 Centerline is valid? [True, True] Translation: X:50.38, Y:-4.23, Z:-2.04 [[ 9.87578430e-01 1.54034219e-01 3.10210340e-02 5.03790298e+01] [-1.53958492e-01 9.88065514e-01 -4.82943821e-03 -4.23425533e+00] [-3.13947127e-02 -6.50261479e-06 9.99507064e-01 -2.04291140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.28264 meters 0.012024342984509686 Centerline is valid? [True, True] Translation: X:50.41, Y:-4.24, Z:-2.04 [[ 9.87618075e-01 1.53650985e-01 3.16530031e-02 5.04074779e+01] [-1.53571994e-01 9.88125182e-01 -4.92624461e-03 -4.23785827e+00] [-3.20340517e-02 4.23342370e-06 9.99486778e-01 -2.04257531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.31264 meters 0.012077883352612322 Centerline is valid? [True, True] Translation: X:50.43, Y:-4.24, Z:-2.04 [[ 9.87704800e-01 1.53056825e-01 3.18251005e-02 5.04339112e+01] [-1.52976703e-01 9.88217389e-01 -4.95181640e-03 -4.24176671e+00] [-3.22080270e-02 2.24338868e-05 9.99481187e-01 -2.04342530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.34264 meters 0.01225715513485672 Centerline is valid? [True, True] Translation: X:50.46, Y:-4.25, Z:-2.04 [[ 9.87808734e-01 1.52411580e-01 3.16956716e-02 5.04606731e+01] [-1.52331864e-01 9.88317109e-01 -4.92895224e-03 -4.24643586e+00] [-3.20766039e-02 4.06013478e-05 9.99485413e-01 -2.04489735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.372640000000004 meters 0.012294211942315713 Centerline is valid? [True, True] Translation: X:50.49, Y:-4.25, Z:-2.04 [[ 9.88118425e-01 1.50425767e-01 3.15288326e-02 5.04888986e+01] [-1.50345971e-01 9.88621302e-01 -4.90006123e-03 -4.25109008e+00] [-3.19071710e-02 1.01607818e-04 9.99490831e-01 -2.04368578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.402640000000005 meters 0.012980136727404541 Centerline is valid? [True, True] Translation: X:50.52, Y:-4.26, Z:-2.05 [[ 9.88280218e-01 1.49328412e-01 3.16738916e-02 5.05158254e+01] [-1.49247364e-01 9.88787645e-01 -4.92112537e-03 -4.25717391e+00] [-3.20536165e-02 1.36206018e-04 9.99486142e-01 -2.04648788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.432640000000006 meters 0.013193701865617892 Centerline is valid? [True, True] Translation: X:50.54, Y:-4.26, Z:-2.05 [[ 9.88468188e-01 1.48047516e-01 3.18209671e-02 5.05435710e+01] [-1.47965118e-01 9.88980233e-01 -4.94184749e-03 -4.26354283e+00] [-3.22019357e-02 1.76465890e-04 9.99481368e-01 -2.04675742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.46264 meters 0.0245637430151302 Centerline is valid? [True, True] Translation: X:50.57, Y:-4.27, Z:-2.04 [[ 9.88905681e-01 1.44822812e-01 3.30440334e-02 5.05711185e+01] [-1.44732213e-01 9.89457563e-01 -5.13010237e-03 -4.27241972e+00] [-3.34386246e-02 2.90651304e-04 9.99440731e-01 -2.04466226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.49264 meters 0.015760890824910875 Centerline is valid? [True, True] Translation: X:50.60, Y:-4.28, Z:-2.04 [[ 9.89121268e-01 1.43128001e-01 3.39631146e-02 5.05984807e+01] [-1.43031349e-01 9.89704122e-01 -5.27110653e-03 -4.27972189e+00] [-3.43678775e-02 3.55973473e-04 9.99409187e-01 -2.04451251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.52264 meters 0.016669102458208473 Centerline is valid? [True, True] Translation: X:50.63, Y:-4.29, Z:-2.04 [[ 9.89373990e-01 1.41279908e-01 3.43379509e-02 5.06267626e+01] [-1.41180077e-01 9.89969600e-01 -5.32700410e-03 -4.28625200e+00] [-3.47461262e-02 4.22564756e-04 9.99396082e-01 -2.04427388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.552640000000004 meters 0.01952808826012986 Centerline is valid? [True, True] Translation: X:50.65, Y:-4.30, Z:-2.05 [[ 9.89850784e-01 1.38214622e-01 3.30475823e-02 5.06538007e+01] [-1.38120504e-01 9.90402171e-01 -5.12512811e-03 -4.29891410e+00] [-3.34387649e-02 5.08563364e-04 9.99440639e-01 -2.04754973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.582640000000005 meters 0.021020353355339843 Centerline is valid? [True, True] Translation: X:50.68, Y:-4.31, Z:-2.05 [[ 9.90028080e-01 1.37077353e-01 3.24684578e-02 5.06800655e+01] [-1.36985917e-01 9.90560201e-01 -5.03457997e-03 -4.30749332e+00] [-3.28520890e-02 5.36654061e-04 9.99460080e-01 -2.05040406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.612640000000006 meters 0.032835220472053894 Centerline is valid? [True, True] Translation: X:50.71, Y:-4.31, Z:-2.05 [[ 9.90188631e-01 1.35969759e-01 3.22288754e-02 5.07076734e+01] [-1.35879162e-01 9.90712826e-01 -4.99498207e-03 -4.31460966e+00] [-3.26087267e-02 5.66741878e-04 9.99468033e-01 -2.05125671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.64264000000001 meters 0.02159802721884458 Centerline is valid? [True, True] Translation: X:50.74, Y:-4.32, Z:-2.05 [[ 9.90210266e-01 1.35829334e-01 3.21562008e-02 5.07358657e+01] [-1.35739139e-01 9.90732088e-01 -4.98164381e-03 -4.32082072e+00] [-3.25348333e-02 5.68019815e-04 9.99470441e-01 -2.05267182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.67264 meters 0.020285279043805362 Centerline is valid? [True, True] Translation: X:50.76, Y:-4.33, Z:-2.05 [[ 9.89799789e-01 1.37854015e-01 3.59534197e-02 5.07586068e+01] [-1.37934890e-01 9.90441271e-01 -2.33098746e-04 -4.33153120e+00] [-3.56418843e-02 -4.72850989e-03 9.99353440e-01 -2.05378321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.70264 meters 0.022006584234652588 Centerline is valid? [True, True] Translation: X:50.79, Y:-4.33, Z:-2.05 [[ 9.90155065e-01 1.36274393e-01 3.19724550e-02 5.07936546e+01] [-1.36025750e-01 9.90656461e-01 -9.83731104e-03 -4.33362151e+00] [-3.30142927e-02 5.39138618e-03 9.99440338e-01 -2.05402306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.73264 meters 0.021678845487915016 Centerline is valid? [True, True] Translation: X:50.82, Y:-4.34, Z:-2.06 [[ 9.90134619e-01 1.36356799e-01 3.22530577e-02 5.08213699e+01] [-1.36266305e-01 9.90659637e-01 -4.99769394e-03 -4.34271617e+00] [-3.26332720e-02 5.53384791e-04 9.99467240e-01 -2.05628465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.762640000000005 meters 0.0215468915686723 Centerline is valid? [True, True] Translation: X:50.85, Y:-4.35, Z:-2.06 [[ 9.90085856e-01 1.37074508e-01 3.06688224e-02 5.08478609e+01] [-1.36993071e-01 9.90560612e-01 -4.75096588e-03 -4.35141764e+00] [-3.10305638e-02 5.02447959e-04 9.99518310e-01 -2.05988942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.792640000000006 meters 0.024158943653511924 Centerline is valid? [True, True] Translation: X:50.88, Y:-4.36, Z:-2.06 [[ 9.90033062e-01 1.37574142e-01 3.01312348e-02 5.08765350e+01] [-1.37495824e-01 9.90491357e-01 -4.66582248e-03 -4.35581881e+00] [-3.04866241e-02 4.76399561e-04 9.99535061e-01 -2.05958046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.82264000000001 meters 0.018320193928485703 Centerline is valid? [True, True] Translation: X:50.90, Y:-4.36, Z:-2.06 [[ 9.89767901e-01 1.39617865e-01 2.94338750e-02 5.09034796e+01] [-1.39544073e-01 9.90205377e-01 -4.55655517e-03 -4.36292986e+00] [-2.97817578e-02 4.02609251e-04 9.99556344e-01 -2.06253659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.85264 meters 0.03288965072434467 Centerline is valid? [True, True] Translation: X:50.93, Y:-4.37, Z:-2.07 [[ 9.89623765e-01 1.40631836e-01 2.94532049e-02 5.09307955e+01] [-1.40558451e-01 9.90061892e-01 -4.55768816e-03 -4.37011531e+00] [-2.98014518e-02 3.70499661e-04 9.99555769e-01 -2.06513042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88264 meters 0.022341910755290722 Centerline is valid? [True, True] Translation: X:50.96, Y:-4.37, Z:-2.07 [[ 9.89420447e-01 1.42142172e-01 2.90307010e-02 5.09591283e+01] [-1.42071584e-01 9.89846201e-01 -4.49036149e-03 -4.37494311e+00] [-2.93741988e-02 3.18417785e-04 9.99568434e-01 -2.06651799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.91264 meters 0.016027038429870823 Centerline is valid? [True, True] Translation: X:50.99, Y:-4.38, Z:-2.07 [[ 9.89165963e-01 1.44018017e-01 2.84518618e-02 5.09879483e+01] [-1.43951030e-01 9.89575033e-01 -4.39951250e-03 -4.37922100e+00] [-2.87888612e-02 2.56173203e-04 9.99585482e-01 -2.06839615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.942640000000004 meters 0.013965093515437337 Centerline is valid? [True, True] Translation: X:51.02, Y:-4.38, Z:-2.07 [[ 9.88620683e-01 1.47796435e-01 2.80242465e-02 5.10162895e+01] [-1.47733002e-01 9.89017792e-01 -4.33206598e-03 -4.38218645e+00] [-2.83567423e-02 1.42663983e-04 9.99597857e-01 -2.06930318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.972640000000006 meters 0.01389620345165381 Centerline is valid? [True, True] Translation: X:51.04, Y:-4.39, Z:-2.07 [[ 9.88328431e-01 1.49895398e-01 2.71713497e-02 5.10437932e+01] [-1.49836596e-01 9.88701858e-01 -4.19894562e-03 -4.38570406e+00] [-2.74937666e-02 7.86747942e-05 9.99621972e-01 -2.07246620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.00264000000001 meters 0.014076307412665051 Centerline is valid? [True, True] Translation: X:51.07, Y:-4.39, Z:-2.08 [[ 9.87695018e-01 1.54165833e-01 2.62953737e-02 5.10729449e+01] [-1.54112306e-01 9.88044986e-01 -4.06234456e-03 -4.38789627e+00] [-2.66072869e-02 -4.00832096e-05 9.99645963e-01 -2.07556508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.03264 meters 0.014601906895602569 Centerline is valid? [True, True] Translation: X:51.10, Y:-4.39, Z:-2.08 [[ 9.87309200e-01 1.56646297e-01 2.61243590e-02 5.11016308e+01] [-1.56594366e-01 9.87654761e-01 -4.03467869e-03 -4.38992616e+00] [-2.64338650e-02 -1.07452034e-04 9.99650559e-01 -2.07573638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06264 meters 0.016023864173826587 Centerline is valid? [True, True] Translation: X:51.13, Y:-4.39, Z:-2.08 [[ 9.86926452e-01 1.58981265e-01 2.64789679e-02 5.11292290e+01] [-1.58928784e-01 9.87281585e-01 -4.08829202e-03 -4.39053881e+00] [-2.67921592e-02 -1.73426637e-04 9.99641011e-01 -2.07719024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.09264 meters 0.017746648385113344 Centerline is valid? [True, True] Translation: X:51.16, Y:-4.39, Z:-2.08 [[ 9.86256981e-01 1.63056336e-01 2.66420399e-02 5.11585732e+01] [-1.63004742e-01 9.86616718e-01 -4.11164031e-03 -4.39092536e+00] [-2.69559110e-02 -2.87644872e-04 9.99636582e-01 -2.07534394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.122640000000004 meters 0.01980926891226935 Centerline is valid? [True, True] Translation: X:51.19, Y:-4.39, Z:-2.08 [[ 9.85992102e-01 1.64582587e-01 2.70581976e-02 5.11866500e+01] [-1.64529976e-01 9.86363249e-01 -4.17465428e-03 -4.39262537e+00] [-2.73762871e-02 -3.35708460e-04 9.99625143e-01 -2.07761996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.152640000000005 meters 0.021033324089474618 Centerline is valid? [True, True] Translation: X:51.22, Y:-4.40, Z:-2.08 [[ 9.85781703e-01 1.65930309e-01 2.64870941e-02 5.12155864e+01] [-1.65880430e-01 9.86137413e-01 -4.08472857e-03 -4.39547454e+00] [-2.67976948e-02 -3.67039874e-04 9.99640810e-01 -2.07920238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.182640000000006 meters 0.02192132267529163 Centerline is valid? [True, True] Translation: X:51.24, Y:-4.40, Z:-2.08 [[ 9.85591601e-01 1.67023052e-01 2.66926068e-02 5.12443712e+01] [-1.66972832e-01 9.85952909e-01 -4.11510205e-03 -4.39860180e+00] [-2.70049703e-02 -4.01130141e-04 9.99635219e-01 -2.08035748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.21264 meters 0.02213395957379805 Centerline is valid? [True, True] Translation: X:51.27, Y:-4.40, Z:-2.08 [[ 9.85381906e-01 1.68132364e-01 2.74592037e-02 5.12735481e+01] [-1.68079687e-01 9.85764328e-01 -4.23189355e-03 -4.40186717e+00] [-2.77798217e-02 -4.45303010e-04 9.99613967e-01 -2.07823312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24264 meters 0.0231635783873241 Centerline is valid? [True, True] Translation: X:51.30, Y:-4.40, Z:-2.08 [[ 9.85389359e-01 1.68003437e-01 2.79759769e-02 5.13011536e+01] [-1.67948743e-01 9.85786306e-01 -4.31026024e-03 -4.40386928e+00] [-2.83024734e-02 -4.51245574e-04 9.99599303e-01 -2.08016715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.27264 meters 0.0231635783873241 Centerline is valid? [True, True] Translation: X:51.33, Y:-4.41, Z:-2.08 [[ 9.85401317e-01 1.67933249e-01 2.79762197e-02 5.13283222e+01] [-1.67878571e-01 9.85798266e-01 -4.30868327e-03 -4.40791488e+00] [-2.83024801e-02 -4.50825621e-04 9.99599303e-01 -2.08132938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.302640000000004 meters 0.022561469005588967 Centerline is valid? [True, True] Translation: X:51.36, Y:-4.41, Z:-2.08 [[ 9.85482662e-01 1.67600389e-01 2.70930230e-02 5.13569054e+01] [-1.67549044e-01 9.85854921e-01 -4.17043567e-03 -4.41297486e+00] [-2.74087567e-02 -4.29518071e-04 9.99624217e-01 -2.08279935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.332640000000005 meters 0.020718144033796897 Centerline is valid? [True, True] Translation: X:51.38, Y:-4.42, Z:-2.08 [[ 9.85680831e-01 1.66445866e-01 2.70013576e-02 5.13849910e+01] [-1.66394471e-01 9.86050514e-01 -4.15501799e-03 -4.41816579e+00] [-2.73162881e-02 -3.97355040e-04 9.99626762e-01 -2.08309511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.362640000000006 meters 0.02021265290254902 Centerline is valid? [True, True] Translation: X:51.41, Y:-4.42, Z:-2.08 [[ 9.85848287e-01 1.65480608e-01 2.68202141e-02 5.14133406e+01] [-1.65429580e-01 9.86212975e-01 -4.12579486e-03 -4.42236984e+00] [-2.71331822e-02 -3.69448968e-04 9.99631759e-01 -2.08425332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.39264000000001 meters 0.020502538418701147 Centerline is valid? [True, True] Translation: X:51.44, Y:-4.43, Z:-2.09 [[ 9.86040416e-01 1.64302021e-01 2.70026525e-02 5.14406223e+01] [-1.64249886e-01 9.86410021e-01 -4.15267147e-03 -4.42599579e+00] [-2.73179793e-02 -3.40480707e-04 9.99626736e-01 -2.08783810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42264 meters 0.017230022348362597 Centerline is valid? [True, True] Translation: X:51.47, Y:-4.44, Z:-2.09 [[ 9.86637095e-01 1.60906060e-01 2.56219327e-02 5.14684821e+01] [-1.60858020e-01 9.86969698e-01 -3.93865180e-03 -4.43641670e+00] [-2.59218241e-02 -2.35473407e-04 9.99663945e-01 -2.08879067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.45264 meters 0.016264519199764012 Centerline is valid? [True, True] Translation: X:51.50, Y:-4.44, Z:-2.09 [[ 9.86983157e-01 1.58654403e-01 2.63254446e-02 5.14959660e+01] [-1.58602910e-01 9.87334162e-01 -4.04592779e-03 -4.44206972e+00] [-2.66339150e-02 -1.82029537e-04 9.99645238e-01 -2.09046987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.48264 meters 0.014537338001456486 Centerline is valid? [True, True] Translation: X:51.52, Y:-4.45, Z:-2.09 [[ 9.87366735e-01 1.56220165e-01 2.64988638e-02 5.15242306e+01] [-1.56167188e-01 9.87722251e-01 -4.06984330e-03 -4.44905184e+00] [-2.68093090e-02 -1.19825163e-04 9.99640559e-01 -2.08939043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.512640000000005 meters 0.013690048070845012 Centerline is valid? [True, True] Translation: X:51.55, Y:-4.46, Z:-2.09 [[ 9.88248767e-01 1.50511921e-01 2.66558855e-02 5.15506395e+01] [-1.50456268e-01 9.88608194e-01 -4.09280940e-03 -4.46006555e+00] [-2.69682434e-02 3.41687908e-05 9.99636290e-01 -2.09024310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.542640000000006 meters 0.0142062485060078 Centerline is valid? [True, True] Translation: X:51.58, Y:-4.47, Z:-2.09 [[ 9.88698033e-01 1.47492487e-01 2.68731394e-02 5.15786672e+01] [-1.47434858e-01 9.89063169e-01 -4.12429305e-03 -4.46886571e+00] [-2.71875347e-02 1.15642922e-04 9.99630344e-01 -2.09081898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.57264000000001 meters 0.015304690001044393 Centerline is valid? [True, True] Translation: X:51.61, Y:-4.48, Z:-2.09 [[ 9.89130993e-01 1.44602569e-01 2.66453572e-02 5.16068733e+01] [-1.44544899e-01 9.89489798e-01 -4.08807097e-03 -4.47781245e+00] [-2.69564547e-02 1.92187247e-04 9.99636590e-01 -2.09158557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.60264 meters 0.023499721942130392 Centerline is valid? [True, True] Translation: X:51.63, Y:-4.49, Z:-2.09 [[ 9.89890385e-01 1.39399324e-01 2.61697018e-02 5.16346574e+01] [-1.39341918e-01 9.90236195e-01 -4.01346160e-03 -4.49295264e+00] [-2.64736598e-02 3.26350609e-04 9.99649458e-01 -2.09306675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.63264 meters 0.020592832305695117 Centerline is valid? [True, True] Translation: X:51.66, Y:-4.50, Z:-2.10 [[ 9.90106765e-01 1.37815265e-01 2.63732162e-02 5.16618208e+01] [-1.37756417e-01 9.90457882e-01 -4.04407701e-03 -4.50204282e+00] [-2.66788954e-02 3.70988244e-04 9.99643986e-01 -2.09501850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.66264 meters 0.023471605388495395 Centerline is valid? [True, True] Translation: X:51.69, Y:-4.51, Z:-2.09 [[ 9.90237288e-01 1.36880319e-01 2.63418345e-02 5.16907767e+01] [-1.36821302e-01 9.90587514e-01 -4.03842371e-03 -4.50812809e+00] [-2.66466731e-02 3.94873644e-04 9.99644836e-01 -2.09477582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.692640000000004 meters 0.02061628754937182 Centerline is valid? [True, True] Translation: X:51.72, Y:-4.52, Z:-2.10 [[ 9.90358631e-01 1.35376921e-01 2.93746566e-02 5.17220378e+01] [-1.35527183e-01 9.90768535e-01 3.17691845e-03 -4.51895784e+00] [-2.86734040e-02 -7.12735305e-03 9.99563423e-01 -2.09815222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.722640000000006 meters 0.0302553830727942 Centerline is valid? [True, True] Translation: X:51.75, Y:-4.52, Z:-2.10 [[ 9.90181407e-01 1.37612196e-01 2.45695997e-02 5.17515950e+01] [-1.37368242e-01 9.90454867e-01 -1.13632199e-02 -4.51558591e+00] [-2.58987972e-02 7.87656632e-03 9.99633539e-01 -2.09625024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.75264000000001 meters 0.01879871271688077 Centerline is valid? [True, True] Translation: X:51.78, Y:-4.52, Z:-2.10 [[ 9.89981198e-01 1.38724903e-01 2.63178381e-02 5.17792766e+01] [-1.38666690e-01 9.90330896e-01 -4.03305291e-03 -4.52453979e+00] [-2.66228530e-02 3.43239052e-04 9.99645490e-01 -2.09792959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.78264 meters 0.017380739903133484 Centerline is valid? [True, True] Translation: X:51.81, Y:-4.53, Z:-2.10 [[ 9.89741662e-01 1.40444406e-01 2.62070756e-02 5.18087098e+01] [-1.40387316e-01 9.90088522e-01 -4.01489873e-03 -4.52754098e+00] [-2.65111948e-02 2.94571535e-04 9.99648473e-01 -2.09802283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.81264 meters 0.015332981137630316 Centerline is valid? [True, True] Translation: X:51.84, Y:-4.53, Z:-2.10 [[ 9.89040140e-01 1.45235370e-01 2.65760826e-02 5.18371296e+01] [-1.45178402e-01 9.89397119e-01 -4.07094199e-03 -4.52801083e+00] [-2.68855443e-02 1.68051841e-04 9.99638504e-01 -2.10070409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.84264 meters 0.01398499121550784 Centerline is valid? [True, True] Translation: X:51.87, Y:-4.53, Z:-2.10 [[ 9.88589425e-01 1.48194677e-01 2.70052895e-02 5.18665156e+01] [-1.48136985e-01 9.88958204e-01 -4.13563905e-03 -4.52979317e+00] [-2.73199823e-02 8.79668710e-05 9.99626736e-01 -2.10124448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.872640000000004 meters 0.013864009057626223 Centerline is valid? [True, True] Translation: X:51.90, Y:-4.53, Z:-2.10 [[ 9.87590805e-01 1.54720572e-01 2.69434034e-02 5.18961043e+01] [-1.54665592e-01 9.87958266e-01 -4.12539398e-03 -4.52667224e+00] [-2.72572414e-02 -9.30162623e-05 9.99628448e-01 -2.10079364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.902640000000005 meters 0.01676488352034464 Centerline is valid? [True, True] Translation: X:51.92, Y:-4.52, Z:-2.10 [[ 9.86987861e-01 1.58539066e-01 2.68388964e-02 5.19245519e+01] [-1.58485952e-01 9.87352685e-01 -4.10824896e-03 -4.52340598e+00] [-2.71507744e-02 -1.98796210e-04 9.99631330e-01 -2.10492231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.932640000000006 meters 0.01841793544418194 Centerline is valid? [True, True] Translation: X:51.95, Y:-4.52, Z:-2.10 [[ 9.86400517e-01 1.62224051e-01 2.64078889e-02 5.19537731e+01] [-1.62173997e-01 9.86753905e-01 -4.04049670e-03 -4.52305621e+00] [-2.67135532e-02 -2.97124868e-04 9.99643085e-01 -2.10428390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.96264 meters 0.022420716283394065 Centerline is valid? [True, True] Translation: X:51.98, Y:-4.52, Z:-2.11 [[ 9.85863946e-01 1.65501822e-01 2.61041376e-02 5.19823497e+01] [-1.65454090e-01 9.86209410e-01 -3.99293911e-03 -4.52102021e+00] [-2.64049848e-02 -3.82541623e-04 9.99651254e-01 -2.10818692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.99264 meters 0.026470808532683868 Centerline is valid? [True, True] Translation: X:52.01, Y:-4.52, Z:-2.11 [[ 9.84917964e-01 1.71088603e-01 2.57933086e-02 5.20125203e+01] [-1.71043970e-01 9.85255506e-01 -3.94322046e-03 -4.51875172e+00] [-2.60876393e-02 -5.28041244e-04 9.99659520e-01 -2.10921783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.02264 meters 0.029349061773640585 Centerline is valid? [True, True] Translation: X:52.04, Y:-4.52, Z:-2.11 [[ 9.84595735e-01 1.72986376e-01 2.54352381e-02 5.20403100e+01] [-1.72943602e-01 9.84924052e-01 -3.88868149e-03 -4.51789724e+00] [-2.57244667e-02 -5.70082484e-04 9.99668909e-01 -2.11197278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.052640000000004 meters 0.030293003481158508 Centerline is valid? [True, True] Translation: X:52.07, Y:-4.52, Z:-2.11 [[ 9.84352835e-01 1.74412158e-01 2.50977154e-02 5.20689310e+01] [-1.74371032e-01 9.84672553e-01 -3.83482118e-03 -4.52018532e+00] [-2.53818709e-02 -6.01497421e-04 9.99677647e-01 -2.11312304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.082640000000005 meters 0.03482137687817644 Centerline is valid? [True, True] Translation: X:52.10, Y:-4.52, Z:-2.12 [[ 9.84257201e-01 1.74857898e-01 2.57386514e-02 5.20968412e+01] [-1.74814795e-01 9.84593480e-01 -3.93281776e-03 -4.51660297e+00] [-2.60297926e-02 -6.28592860e-04 9.99660970e-01 -2.11708951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.112640000000006 meters 0.031185225657540217 Centerline is valid? [True, True] Translation: X:52.13, Y:-4.52, Z:-2.12 [[ 9.84370554e-01 1.74248329e-01 2.55368960e-02 5.21252180e+01] [-1.74205820e-01 9.84701551e-01 -3.89711647e-03 -4.52465829e+00] [-2.58252872e-02 -6.12469208e-04 9.99666284e-01 -2.11626043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.14264000000001 meters 0.029646238351325602 Centerline is valid? [True, True] Translation: X:52.15, Y:-4.53, Z:-2.12 [[ 9.84723013e-01 1.72243435e-01 2.55496778e-02 5.21531073e+01] [-1.72200241e-01 9.85054254e-01 -3.89781649e-03 -4.52960734e+00] [-2.58391921e-02 -5.61391080e-04 9.99665955e-01 -2.11877803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.17264 meters 0.028785870923327562 Centerline is valid? [True, True] Translation: X:52.18, Y:-4.54, Z:-2.12 [[ 9.84958687e-01 1.70912208e-01 2.54047512e-02 5.21800262e+01] [-1.70869087e-01 9.85286122e-01 -3.87468039e-03 -4.53517808e+00] [-2.56931790e-02 -5.24486533e-04 9.99669738e-01 -2.12108865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.20264 meters 0.027549022606653636 Centerline is valid? [True, True] Translation: X:52.21, Y:-4.54, Z:-2.12 [[ 9.85192228e-01 1.69587891e-01 2.52234189e-02 5.22085964e+01] [-1.69544998e-01 9.85514946e-01 -3.84511791e-03 -4.54142832e+00] [-2.55101417e-02 -4.88324209e-04 9.99674444e-01 -2.12344580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.23264 meters 0.0314620083304306 Centerline is valid? [True, True] Translation: X:52.24, Y:-4.55, Z:-2.12 [[ 9.85442363e-01 1.68202639e-01 2.47229040e-02 5.22372241e+01] [-1.68161012e-01 9.85752340e-01 -3.76816821e-03 -4.54723558e+00] [-2.50044763e-02 -4.44115967e-04 9.99687241e-01 -2.12385827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.262640000000005 meters 0.02507136603686252 Centerline is valid? [True, True] Translation: X:52.27, Y:-4.55, Z:-2.13 [[ 9.85600548e-01 1.67107554e-01 2.58190755e-02 5.22650932e+01] [-1.67061808e-01 9.85938576e-01 -3.93409746e-03 -4.55001509e+00] [-2.61134400e-02 -4.35932812e-04 9.99658891e-01 -2.12506190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.292640000000006 meters 0.02527521905575574 Centerline is valid? [True, True] Translation: X:52.29, Y:-4.55, Z:-2.13 [[ 9.85683433e-01 1.66659172e-01 2.55517213e-02 5.22919338e+01] [-1.66614247e-01 9.86014474e-01 -3.89223896e-03 -4.55321125e+00] [-2.58430443e-02 -4.20765330e-04 9.99665924e-01 -2.12724057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.32264000000001 meters 0.023917762847422336 Centerline is valid? [True, True] Translation: X:52.32, Y:-4.56, Z:-2.13 [[ 9.85742291e-01 1.66341940e-01 2.53474869e-02 5.23195932e+01] [-1.66297683e-01 9.86068045e-01 -3.85887625e-03 -4.55868753e+00] [-2.56362398e-02 -4.11370828e-04 9.99671253e-01 -2.12697177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.35264 meters 0.023012730710942626 Centerline is valid? [True, True] Translation: X:52.35, Y:-4.56, Z:-2.13 [[ 9.85834225e-01 1.65736848e-01 2.57328278e-02 5.23482101e+01] [-1.65691089e-01 9.86169932e-01 -3.91522003e-03 -4.56163576e+00] [-2.60258372e-02 -4.03942359e-04 9.99661189e-01 -2.12683830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38264 meters 0.022927536603041872 Centerline is valid? [True, True] Translation: X:52.38, Y:-4.56, Z:-2.13 [[ 9.85892089e-01 1.65211948e-01 2.68663473e-02 5.23761123e+01] [-1.65161907e-01 9.86258001e-01 -4.08644827e-03 -4.56399817e+00] [-2.71722800e-02 -4.08500127e-04 9.99630682e-01 -2.12781390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.41264 meters 0.02016295280291024 Centerline is valid? [True, True] Translation: X:52.41, Y:-4.57, Z:-2.13 [[ 9.86186984e-01 1.63035863e-01 2.92325275e-02 5.24094195e+01] [-1.63092037e-01 9.86610748e-01 -4.68342434e-04 -4.57274957e+00] [-2.89174825e-02 -4.30571924e-03 9.99572529e-01 -2.12684372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.442640000000004 meters 0.02197518035632012 Centerline is valid? [True, True] Translation: X:52.43, Y:-4.57, Z:-2.13 [[ 9.86256426e-01 1.62952922e-01 2.72874845e-02 5.24332777e+01] [-1.62781695e-01 9.86626371e-01 -8.39786012e-03 -4.56908329e+00] [-2.82910077e-02 3.84054052e-03 9.99592351e-01 -2.13004232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.472640000000006 meters 0.022848188950463897 Centerline is valid? [True, True] Translation: X:52.46, Y:-4.58, Z:-2.13 [[ 9.86479451e-01 1.61499912e-01 2.78580562e-02 5.24610254e+01] [-1.61444827e-01 9.86872673e-01 -4.23020439e-03 -4.58028412e+00] [-2.81755320e-02 -3.24529372e-04 9.99602938e-01 -2.12698046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.50264000000001 meters 0.017393345896356924 Centerline is valid? [True, True] Translation: X:52.49, Y:-4.59, Z:-2.13 [[ 9.86924168e-01 1.58813058e-01 2.75517651e-02 5.24879301e+01] [-1.58758164e-01 9.87308641e-01 -4.18250006e-03 -4.58578673e+00] [-2.78663313e-02 -2.46257252e-04 9.99611628e-01 -2.13179594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.53264 meters 0.016334198194080888 Centerline is valid? [True, True] Translation: X:52.52, Y:-4.59, Z:-2.13 [[ 9.87244487e-01 1.56859351e-01 2.72666037e-02 5.25163928e+01] [-1.56804895e-01 9.87620933e-01 -4.13730545e-03 -4.59274642e+00] [-2.75780436e-02 -1.91004938e-04 9.99619635e-01 -2.13410211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56264 meters 0.014743495751382289 Centerline is valid? [True, True] Translation: X:52.54, Y:-4.60, Z:-2.13 [[ 9.87553800e-01 1.54909643e-01 2.72120165e-02 5.25445265e+01] [-1.54854700e-01 9.87928633e-01 -4.12775314e-03 -4.60066356e+00] [-2.75229590e-02 -1.37530346e-04 9.99621162e-01 -2.13397480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.59264 meters 0.013747648535198592 Centerline is valid? [True, True] Translation: X:52.57, Y:-4.61, Z:-2.13 [[ 9.87966602e-01 1.52196086e-01 2.75380750e-02 5.25728061e+01] [-1.52138787e-01 9.88350316e-01 -4.17635388e-03 -4.60946412e+00] [-2.78528899e-02 -6.35111913e-05 9.99612031e-01 -2.13443714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.622640000000004 meters 0.01360315190624288 Centerline is valid? [True, True] Translation: X:52.60, Y:-4.61, Z:-2.14 [[ 9.88050130e-01 1.51674465e-01 2.74189362e-02 5.26008468e+01] [-1.51617541e-01 9.88430500e-01 -4.15539600e-03 -4.61457782e+00] [-2.77319802e-02 -5.14521309e-05 9.99615393e-01 -2.13535108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.652640000000005 meters 0.013764777161434488 Centerline is valid? [True, True] Translation: X:52.63, Y:-4.62, Z:-2.14 [[ 9.88059215e-01 1.51619128e-01 2.73975737e-02 5.26282467e+01] [-1.51562304e-01 9.88438990e-01 -4.15096765e-03 -4.61853922e+00] [-2.77101961e-02 -5.10375485e-05 9.99615997e-01 -2.13688033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.682640000000006 meters 0.013605448685884498 Centerline is valid? [True, True] Translation: X:52.66, Y:-4.62, Z:-2.14 [[ 9.87991247e-01 1.52008292e-01 2.76907210e-02 5.26570373e+01] [-1.51950451e-01 9.88379216e-01 -4.19346992e-03 -4.62252882e+00] [-2.80063753e-02 -6.45059835e-05 9.99607742e-01 -2.13734509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.71264 meters 0.014839175021493836 Centerline is valid? [True, True] Translation: X:52.68, Y:-4.62, Z:-2.14 [[ 9.87827567e-01 1.53081044e-01 2.76205041e-02 5.26848064e+01] [-1.53023950e-01 9.88213633e-01 -4.18162353e-03 -4.62469710e+00] [-2.79350860e-02 -9.58756252e-05 9.99609735e-01 -2.14173996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74264 meters 0.015404143070433467 Centerline is valid? [True, True] Translation: X:52.71, Y:-4.63, Z:-2.14 [[ 9.87700179e-01 1.53983873e-01 2.71536820e-02 5.27140253e+01] [-1.53929085e-01 9.88073354e-01 -4.10907182e-03 -4.62710167e+00] [-2.74625604e-02 -1.21210454e-04 9.99622825e-01 -2.14322325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.77264 meters 0.014760024839499092 Centerline is valid? [True, True] Translation: X:52.74, Y:-4.63, Z:-2.14 [[ 9.87536127e-01 1.54978833e-01 2.74582999e-02 5.27416960e+01] [-1.54923219e-01 9.87917779e-01 -4.15428335e-03 -4.63024202e+00] [-2.77703686e-02 -1.51423308e-04 9.99614317e-01 -2.14096315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.802640000000004 meters 0.0326076316482716 Centerline is valid? [True, True] Translation: X:52.77, Y:-4.63, Z:-2.14 [[ 9.87214760e-01 1.56823360e-01 2.85210689e-02 5.27683856e+01] [-1.56764186e-01 9.87626644e-01 -4.31297500e-03 -4.63167717e+00] [-2.88445428e-02 -2.13249571e-04 9.99583887e-01 -2.14333862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.832640000000005 meters 0.01612584307335864 Centerline is valid? [True, True] Translation: X:52.80, Y:-4.64, Z:-2.14 [[ 9.87113626e-01 1.57505108e-01 2.82635796e-02 5.27967075e+01] [-1.57447361e-01 9.87518145e-01 -4.27111217e-03 -4.63785683e+00] [-2.85835196e-02 -2.33952989e-04 9.99591380e-01 -2.14222875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.862640000000006 meters 0.017878450557029135 Centerline is valid? [True, True] Translation: X:52.82, Y:-4.64, Z:-2.14 [[ 9.86857170e-01 1.59096462e-01 2.83062340e-02 5.28246006e+01] [-1.59039230e-01 9.87263003e-01 -4.27632054e-03 -4.63895239e+00] [-2.86260450e-02 -2.81684058e-04 9.99590151e-01 -2.14431258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.89264000000001 meters 0.017589664283371022 Centerline is valid? [True, True] Translation: X:52.85, Y:-4.64, Z:-2.14 [[ 9.86729197e-01 1.59912819e-01 2.81670296e-02 5.28529664e+01] [-1.59856535e-01 9.87131094e-01 -4.25340774e-03 -4.64229590e+00] [-2.84847251e-02 -3.05722144e-04 9.99594181e-01 -2.14432532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.92264 meters 0.019640050900816768 Centerline is valid? [True, True] Translation: X:52.88, Y:-4.64, Z:-2.15 [[ 9.86616253e-01 1.60681931e-01 2.77432069e-02 5.28811650e+01] [-1.60627655e-01 9.87006187e-01 -4.18857204e-03 -4.64285643e+00] [-2.80557447e-02 -3.23813012e-04 9.99606308e-01 -2.14851212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.95264 meters 0.023333149454862718 Centerline is valid? [True, True] Translation: X:52.91, Y:-4.64, Z:-2.15 [[ 9.86383298e-01 1.62200817e-01 2.71824133e-02 5.29088543e+01] [-1.62149349e-01 9.86757703e-01 -4.10176450e-03 -4.64110837e+00] [-2.74877653e-02 -3.61698619e-04 9.99622075e-01 -2.15385423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.98264 meters 0.020288293308787887 Centerline is valid? [True, True] Translation: X:52.94, Y:-4.65, Z:-2.15 [[ 9.86301283e-01 1.62693258e-01 2.72154918e-02 5.29371988e+01] [-1.62641944e-01 9.86676624e-01 -4.10343178e-03 -4.64856691e+00] [-2.75204902e-02 -3.79160458e-04 9.99621168e-01 -2.15033231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.012640000000005 meters 0.024305120862098052 Centerline is valid? [True, True] Translation: X:52.96, Y:-4.65, Z:-2.16 [[ 9.86300940e-01 1.62725148e-01 2.70366667e-02 5.29647561e+01] [-1.62674533e-01 9.86671365e-01 -4.07589225e-03 -4.64717424e+00] [-2.73395551e-02 -3.78120784e-04 9.99626133e-01 -2.15716820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.042640000000006 meters 0.024188317188308647 Centerline is valid? [True, True] Translation: X:52.99, Y:-4.65, Z:-2.16 [[ 9.86373183e-01 1.62339514e-01 2.67175130e-02 5.29915073e+01] [-1.62290009e-01 9.86734893e-01 -4.02543439e-03 -4.65165172e+00] [-2.70165894e-02 -3.65404903e-04 9.99634919e-01 -2.15916553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.07264000000001 meters 0.01998311449355208 Centerline is valid? [True, True] Translation: X:53.02, Y:-4.66, Z:-2.16 [[ 9.86706433e-01 1.60370748e-01 2.62990036e-02 5.30187549e+01] [-1.60322195e-01 9.87056800e-01 -3.95817357e-03 -4.66221810e+00] [-2.65933856e-02 -3.10758645e-04 9.99646285e-01 -2.15752262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.10264 meters 0.029053445983317258 Centerline is valid? [True, True] Translation: X:53.05, Y:-4.67, Z:-2.16 [[ 9.86902644e-01 1.59115961e-01 2.65571613e-02 5.30470115e+01] [-1.59066030e-01 9.87259860e-01 -3.99574541e-03 -4.66921247e+00] [-2.68546063e-02 -2.80930518e-04 9.99639311e-01 -2.15720026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.13264 meters 0.019917285434823215 Centerline is valid? [True, True] Translation: X:53.07, Y:-4.68, Z:-2.16 [[ 9.87262047e-01 1.56803935e-01 2.69476499e-02 5.30747027e+01] [-1.56751700e-01 9.87629726e-01 -4.05317570e-03 -4.67790538e+00] [-2.72498540e-02 -2.22543374e-04 9.99628629e-01 -2.15714670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.16264 meters 0.016103856294455363 Centerline is valid? [True, True] Translation: X:53.10, Y:-4.68, Z:-2.16 [[ 9.87439290e-01 1.55732963e-01 2.66625732e-02 5.31022990e+01] [-1.55681466e-01 9.87799174e-01 -4.00919680e-03 -4.68339773e+00] [-2.69616319e-02 -1.92030055e-04 9.99636451e-01 -2.15909064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.192640000000004 meters 0.016103856294455363 Centerline is valid? [True, True] Translation: X:53.13, Y:-4.69, Z:-2.16 [[ 9.87450418e-01 1.55662353e-01 2.66627861e-02 5.31294799e+01] [-1.55610869e-01 9.87810303e-01 -4.00778061e-03 -4.68734689e+00] [-2.69616354e-02 -1.91534682e-04 9.99636451e-01 -2.16025779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.222640000000006 meters 0.015697448515560184 Centerline is valid? [True, True] Translation: X:53.16, Y:-4.69, Z:-2.16 [[ 9.87577985e-01 1.54790714e-01 2.70103234e-02 5.31572070e+01] [-1.54737613e-01 9.87947268e-01 -4.05781836e-03 -4.69292729e+00] [-2.73128878e-02 -1.72100889e-04 9.99626919e-01 -2.16125828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.25264000000001 meters 0.014617636901618299 Centerline is valid? [True, True] Translation: X:53.19, Y:-4.70, Z:-2.16 [[ 9.87721840e-01 1.53700572e-01 2.79589303e-02 5.31851432e+01] [-1.53643294e-01 9.88117459e-01 -4.19837972e-03 -4.70081412e+00] [-2.82720005e-02 -1.48870796e-04 9.99600256e-01 -2.16015330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.28264 meters 0.014771781297093967 Centerline is valid? [True, True] Translation: X:53.21, Y:-4.71, Z:-2.16 [[ 9.87750555e-01 1.53516323e-01 2.79567580e-02 5.32127803e+01] [-1.53459013e-01 9.88146101e-01 -4.19685562e-03 -4.70509023e+00] [-2.82696473e-02 -1.44770035e-04 9.99600323e-01 -2.16162962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.31264 meters 0.015108496325476216 Centerline is valid? [True, True] Translation: X:53.24, Y:-4.71, Z:-2.16 [[ 9.87684984e-01 1.53985945e-01 2.76893546e-02 5.32417364e+01] [-1.53929963e-01 9.88073025e-01 -4.15487723e-03 -4.70813065e+00] [-2.79988971e-02 -1.58511466e-04 9.99607941e-01 -2.16253976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.34264 meters 0.021947398483654935 Centerline is valid? [True, True] Translation: X:53.27, Y:-4.71, Z:-2.16 [[ 9.87568186e-01 1.54771323e-01 2.74757118e-02 5.32701144e+01] [-1.54716541e-01 9.87950305e-01 -4.12154637e-03 -4.71127093e+00] [-2.77825350e-02 -1.80639002e-04 9.99613975e-01 -2.16161473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.372640000000004 meters 0.02887810108702537 Centerline is valid? [True, True] Translation: X:53.30, Y:-4.71, Z:-2.16 [[ 9.87113021e-01 1.57577890e-01 2.78763772e-02 5.32979101e+01] [-1.57522644e-01 9.87506526e-01 -4.18065022e-03 -4.71088704e+00] [-2.81868824e-02 -2.64386385e-04 9.99602636e-01 -2.16390156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.402640000000005 meters 0.023794381378044998 Centerline is valid? [True, True] Translation: X:53.33, Y:-4.71, Z:-2.16 [[ 9.86768890e-01 1.59660740e-01 2.82064944e-02 5.33269288e+01] [-1.59605106e-01 9.87171889e-01 -4.22744166e-03 -4.71203453e+00] [-2.85196149e-02 -3.30392621e-04 9.99593178e-01 -2.16456594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.432640000000006 meters 0.021631922788710223 Centerline is valid? [True, True] Translation: X:53.36, Y:-4.71, Z:-2.17 [[ 9.86447476e-01 1.61594492e-01 2.84358624e-02 5.33554045e+01] [-1.61538787e-01 9.86857167e-01 -4.26060263e-03 -4.71181432e+00] [-2.87506245e-02 -3.90633996e-04 9.99586539e-01 -2.16594577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.46264000000001 meters 0.023979889448467157 Centerline is valid? [True, True] Translation: X:53.39, Y:-4.71, Z:-2.16 [[ 9.85799662e-01 1.65457929e-01 2.86827462e-02 5.33855145e+01] [-1.65402949e-01 9.86216717e-01 -4.29541013e-03 -4.70961226e+00] [-2.89981135e-02 -5.09796961e-04 9.99579336e-01 -2.16498025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.49264 meters 0.02599583953078969 Centerline is valid? [True, True] Translation: X:53.41, Y:-4.71, Z:-2.17 [[ 9.85493916e-01 1.67253184e-01 2.87769840e-02 5.34142790e+01] [-1.67198618e-01 9.85913816e-01 -4.30913409e-03 -4.70942905e+00] [-2.90923425e-02 -5.64846532e-04 9.99576569e-01 -2.16619557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.52264 meters 0.02788229257906813 Centerline is valid? [True, True] Translation: X:53.44, Y:-4.71, Z:-2.17 [[ 9.84960950e-01 1.70402232e-01 2.85483196e-02 5.34447996e+01] [-1.70349901e-01 9.85374371e-01 -4.27319579e-03 -4.70715410e+00] [-2.88589446e-02 -6.54272421e-04 9.99583280e-01 -2.16701787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.552640000000004 meters 0.030817555623379497 Centerline is valid? [True, True] Translation: X:53.47, Y:-4.71, Z:-2.17 [[ 9.84816269e-01 1.71290841e-01 2.82199098e-02 5.34727271e+01] [-1.71240076e-01 9.85220278e-01 -4.22385712e-03 -4.70547505e+00] [-2.85263354e-02 -6.72656297e-04 9.99592815e-01 -2.17066765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.582640000000005 meters 0.03200936952749561 Centerline is valid? [True, True] Translation: X:53.50, Y:-4.71, Z:-2.17 [[ 9.84778840e-01 1.71604193e-01 2.76158812e-02 5.35003131e+01] [-1.71555737e-01 9.85165750e-01 -4.13215448e-03 -4.70630265e+00] [-2.79153153e-02 -6.68404572e-04 9.99610068e-01 -2.17391163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.612640000000006 meters 0.031170599189662723 Centerline is valid? [True, True] Translation: X:53.53, Y:-4.71, Z:-2.18 [[ 9.84957623e-01 1.70733805e-01 2.66167085e-02 5.35288070e+01] [-1.70688554e-01 9.85316994e-01 -3.97973814e-03 -4.70888168e+00] [-2.69053710e-02 -6.23294069e-04 9.99637791e-01 -2.17727523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.64264000000001 meters 0.02918025806181075 Centerline is valid? [True, True] Translation: X:53.56, Y:-4.71, Z:-2.18 [[ 9.85195811e-01 1.69415078e-01 2.62248843e-02 5.35575422e+01] [-1.69370714e-01 9.85544619e-01 -3.91993202e-03 -4.71415039e+00] [-2.65098892e-02 -5.79826783e-04 9.99648383e-01 -2.17838369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.67264 meters 0.028068957030413025 Centerline is valid? [True, True] Translation: X:53.59, Y:-4.72, Z:-2.18 [[ 9.85463405e-01 1.67870094e-01 2.61057128e-02 5.35852493e+01] [-1.67825620e-01 9.85808979e-01 -3.90103886e-03 -4.71836198e+00] [-2.63901139e-02 -5.36876396e-04 9.99651576e-01 -2.18056666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.70264 meters 0.02458601821489817 Centerline is valid? [True, True] Translation: X:53.61, Y:-4.72, Z:-2.18 [[ 9.86004334e-01 1.64663059e-01 2.61061293e-02 5.36139991e+01] [-1.64617511e-01 9.86349772e-01 -3.89911971e-03 -4.72444016e+00] [-2.63918156e-02 -4.52977094e-04 9.99651573e-01 -2.18167367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.73264 meters 0.02354579134098765 Centerline is valid? [True, True] Translation: X:53.64, Y:-4.73, Z:-2.18 [[ 9.86243878e-01 1.63268932e-01 2.58121860e-02 5.36426649e+01] [-1.63223947e-01 9.86581515e-01 -3.85448726e-03 -4.72914260e+00] [-2.60951436e-02 -4.11702398e-04 9.99659379e-01 -2.18383809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.762640000000005 meters 0.024539580343306066 Centerline is valid? [True, True] Translation: X:53.67, Y:-4.73, Z:-2.19 [[ 9.86521506e-01 1.61652675e-01 2.53718662e-02 5.36709696e+01] [-1.61608707e-01 9.86847648e-01 -3.78754647e-03 -4.73485320e+00] [-2.56504335e-02 -3.63818439e-04 9.99670907e-01 -2.18521422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.792640000000006 meters 0.03276185485415706 Centerline is valid? [True, True] Translation: X:53.70, Y:-4.74, Z:-2.19 [[ 9.86977757e-01 1.58846161e-01 2.53535741e-02 5.36994358e+01] [-1.58801362e-01 9.87303303e-01 -3.78357596e-03 -4.73937063e+00] [-2.56326740e-02 -2.91876784e-04 9.99671386e-01 -2.18718243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.82264000000001 meters 0.018296433337783004 Centerline is valid? [True, True] Translation: X:53.73, Y:-4.74, Z:-2.19 [[ 9.87243165e-01 1.57275387e-01 2.48069773e-02 5.37274141e+01] [-1.57232032e-01 9.87554754e-01 -3.70086315e-03 -4.74441806e+00] [-2.50803031e-02 -2.46799595e-04 9.99685409e-01 -2.18883913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.85264 meters 0.016824969227474104 Centerline is valid? [True, True] Translation: X:53.75, Y:-4.75, Z:-2.19 [[ 9.87671212e-01 1.54500200e-01 2.52044627e-02 5.37547245e+01] [-1.54454568e-01 9.87992741e-01 -3.75908411e-03 -4.75072392e+00] [-2.54826054e-02 -1.80205226e-04 9.99675249e-01 -2.19120532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.88264 meters 0.025184488745125497 Centerline is valid? [True, True] Translation: X:53.78, Y:-4.76, Z:-2.19 [[ 9.87857489e-01 1.53188503e-01 2.59010334e-02 5.37821129e+01] [-1.53139907e-01 9.88196974e-01 -3.86128324e-03 -4.75538434e+00] [-2.61868270e-02 -1.52084282e-04 9.99657055e-01 -2.19184069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.91264 meters 0.016215351891615246 Centerline is valid? [True, True] Translation: X:53.81, Y:-4.76, Z:-2.19 [[ 9.87855795e-01 1.53662499e-01 2.29948779e-02 5.38091692e+01] [-1.53469837e-01 9.88103423e-01 -9.93148031e-03 -4.75707618e+00] [-2.42474137e-02 6.28185022e-03 9.99686251e-01 -2.19044378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.942640000000004 meters 0.013969411269129279 Centerline is valid? [True, True] Translation: X:53.84, Y:-4.77, Z:-2.19 [[ 9.88506530e-01 1.48539450e-01 2.81224369e-02 5.38372292e+01] [-1.48664229e-01 9.88884850e-01 2.38774618e-03 -4.77196929e+00] [-2.74551773e-02 -6.54110308e-03 9.99601634e-01 -2.19217172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.972640000000006 meters 0.01363955071992904 Centerline is valid? [True, True] Translation: X:53.87, Y:-4.77, Z:-2.19 [[ 9.88630473e-01 1.47809075e-01 2.76091441e-02 5.38666023e+01] [-1.47751895e-01 9.89015913e-01 -4.11099615e-03 -4.77339809e+00] [-2.79135255e-02 -1.50473076e-05 9.99610342e-01 -2.19144074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.00264000000001 meters 0.02764007092004427 Centerline is valid? [True, True] Translation: X:53.89, Y:-4.78, Z:-2.19 [[ 9.88674279e-01 1.47452461e-01 2.79453241e-02 5.38947155e+01] [-1.47393762e-01 9.89069144e-01 -4.16020886e-03 -4.77740203e+00] [-2.82532908e-02 -5.87494020e-06 9.99600796e-01 -2.19117307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.03264 meters 0.01315302644782549 Centerline is valid? [True, True] Translation: X:53.92, Y:-4.78, Z:-2.19 [[ 9.88624000e-01 1.47687055e-01 2.84801649e-02 5.39238613e+01] [-1.47626225e-01 9.89034142e-01 -4.23841186e-03 -4.77961732e+00] [-2.87938140e-02 -1.42235557e-05 9.99585372e-01 -2.19109113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06264 meters 0.013131448982406636 Centerline is valid? [True, True] Translation: X:53.95, Y:-4.78, Z:-2.19 [[ 9.88502893e-01 1.48522861e-01 2.83370763e-02 5.39521240e+01] [-1.48463023e-01 9.88908974e-01 -4.21574470e-03 -4.78248240e+00] [-2.86489235e-02 -3.97321946e-05 9.99589535e-01 -2.19157245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.09264 meters 0.0133001296193071 Centerline is valid? [True, True] Translation: X:53.98, Y:-4.78, Z:-2.19 [[ 9.88248363e-01 1.50181781e-01 2.84711352e-02 5.39815161e+01] [-1.50122105e-01 9.88658396e-01 -4.23427289e-03 -4.78312983e+00] [-2.87841375e-02 -8.96334987e-05 9.99585647e-01 -2.19201289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.122640000000004 meters 0.01399870207585754 Centerline is valid? [True, True] Translation: X:54.01, Y:-4.79, Z:-2.19 [[ 9.88133128e-01 1.50938133e-01 2.84710579e-02 5.40094034e+01] [-1.50878808e-01 9.88543205e-01 -4.23297614e-03 -4.78594099e+00] [-2.87837883e-02 -1.12935319e-04 9.99585655e-01 -2.19468866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.152640000000005 meters 0.014359997929517124 Centerline is valid? [True, True] Translation: X:54.04, Y:-4.79, Z:-2.20 [[ 9.88049982e-01 1.51418646e-01 2.88032458e-02 5.40360789e+01] [-1.51358178e-01 9.88469715e-01 -4.28079092e-03 -4.78956413e+00] [-2.91193277e-02 -1.29971414e-04 9.99575934e-01 -2.19603454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.182640000000006 meters 0.014343324415404176 Centerline is valid? [True, True] Translation: X:54.06, Y:-4.79, Z:-2.20 [[ 9.87996902e-01 1.51693423e-01 2.91757891e-02 5.40645112e+01] [-1.51631590e-01 9.88427582e-01 -4.33312450e-03 -4.79374953e+00] [-2.94954612e-02 -1.42857704e-04 9.99564904e-01 -2.19650400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.21264000000001 meters 0.022739056964583594 Centerline is valid? [True, True] Translation: X:54.09, Y:-4.80, Z:-2.19 [[ 9.87992167e-01 1.51576209e-01 2.99354346e-02 5.40934980e+01] [-1.51511105e-01 9.88445563e-01 -4.44444803e-03 -4.79853596e+00] [-3.02632201e-02 -1.44470936e-04 9.99541953e-01 -2.19463900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24264 meters 0.013770918999473077 Centerline is valid? [True, True] Translation: X:54.12, Y:-4.80, Z:-2.20 [[ 9.87995616e-01 1.51417752e-01 3.06158099e-02 5.41208949e+01] [-1.51349623e-01 9.88469850e-01 -4.54400757e-03 -4.80218913e+00] [-3.09508484e-02 -1.44231736e-04 9.99520897e-01 -2.19536281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.27264 meters 0.013472966698659201 Centerline is valid? [True, True] Translation: X:54.15, Y:-4.81, Z:-2.19 [[ 9.87980828e-01 1.51298628e-01 3.16639934e-02 5.41497902e+01] [-1.51225763e-01 9.88488090e-01 -4.69737810e-03 -4.80676494e+00] [-3.20101872e-02 -1.47492054e-04 9.99487532e-01 -2.19471822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.302640000000004 meters 0.014078561630209364 Centerline is valid? [True, True] Translation: X:54.18, Y:-4.81, Z:-2.19 [[ 9.87777278e-01 1.52398889e-01 3.27204397e-02 5.41777361e+01] [-1.52321735e-01 9.88319049e-01 -4.85252184e-03 -4.81000834e+00] [-3.30777528e-02 -1.90823319e-04 9.99452763e-01 -2.19436549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.332640000000005 meters 0.01502685578142008 Centerline is valid? [True, True] Translation: X:54.21, Y:-4.81, Z:-2.20 [[ 9.87595001e-01 1.53637590e-01 3.24284539e-02 5.42055225e+01] [-1.53562540e-01 9.88127237e-01 -4.80722350e-03 -4.81223387e+00] [-3.27820088e-02 -2.32205854e-04 9.99462499e-01 -2.19663882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.362640000000006 meters 0.015743648913270934 Centerline is valid? [True, True] Translation: X:54.23, Y:-4.81, Z:-2.20 [[ 9.87344359e-01 1.55275838e-01 3.22572561e-02 5.42343706e+01] [-1.55202518e-01 9.87871111e-01 -4.77982918e-03 -4.81499997e+00] [-3.26082034e-02 -2.87069997e-04 9.99468170e-01 -2.19785696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.39264000000001 meters 0.020762033371736023 Centerline is valid? [True, True] Translation: X:54.26, Y:-4.81, Z:-2.20 [[ 9.86637903e-01 1.59940020e-01 3.10618350e-02 5.42637561e+01] [-1.59874389e-01 9.87126643e-01 -4.60123387e-03 -4.81109387e+00] [-3.13978863e-02 -4.26240145e-04 9.99506874e-01 -2.20294662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42264 meters 0.022355350433142553 Centerline is valid? [True, True] Translation: X:54.29, Y:-4.81, Z:-2.20 [[ 9.86236991e-01 1.62457239e-01 3.07285378e-02 5.42922962e+01] [-1.62394272e-01 9.86715457e-01 -4.55051052e-03 -4.81221426e+00] [-3.10595866e-02 -5.02256726e-04 9.99517408e-01 -2.20422266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.45264 meters 0.03441587978292785 Centerline is valid? [True, True] Translation: X:54.32, Y:-4.80, Z:-2.21 [[ 9.85440225e-01 1.67219723e-01 3.07429057e-02 5.43235508e+01] [-1.67225923e-01 9.85915711e-01 -2.38756575e-03 -4.79780032e+00] [-3.07091618e-02 -2.78820745e-03 9.99524474e-01 -2.21079919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.48264 meters 0.028771274810422007 Centerline is valid? [True, True] Translation: X:54.35, Y:-4.81, Z:-2.21 [[ 9.85005154e-01 1.69899279e-01 2.99846806e-02 5.43519822e+01] [-1.69777817e-01 9.85460465e-01 -6.56996495e-03 -4.80538025e+00] [-3.06649496e-02 1.38071574e-03 9.99528766e-01 -2.20821983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.512640000000005 meters 0.03470281582588573 Centerline is valid? [True, True] Translation: X:54.38, Y:-4.80, Z:-2.21 [[ 9.84713624e-01 1.71627257e-01 2.97180737e-02 5.43799360e+01] [-1.71572802e-01 9.85161654e-01 -4.39185884e-03 -4.80079076e+00] [-3.00308693e-02 -7.74089925e-04 9.99548672e-01 -2.21372110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.542640000000006 meters 0.03470281582588573 Centerline is valid? [True, True] Translation: X:54.41, Y:-4.80, Z:-2.21 [[ 9.84745378e-01 1.71444947e-01 2.97181954e-02 5.44071098e+01] [-1.71390433e-01 9.85193401e-01 -4.39103620e-03 -4.80459467e+00] [-3.00309909e-02 -7.69361773e-04 9.99548672e-01 -2.21488771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.57264000000001 meters 0.031345532140112244 Centerline is valid? [True, True] Translation: X:54.44, Y:-4.81, Z:-2.21 [[ 9.84900638e-01 1.70450768e-01 3.02864639e-02 5.44359487e+01] [-1.70393909e-01 9.85365900e-01 -4.46747230e-03 -4.80929311e+00] [-3.06047329e-02 -7.60612679e-04 9.99531276e-01 -2.21361633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60264 meters 0.029145050742357004 Centerline is valid? [True, True] Translation: X:54.46, Y:-4.82, Z:-2.22 [[ 9.85140363e-01 1.69108399e-01 3.00135705e-02 5.44644513e+01] [-1.69051982e-01 9.85597200e-01 -4.42577685e-03 -4.81518194e+00] [-3.03297271e-02 -7.13842166e-04 9.99539693e-01 -2.21532080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.63264 meters 0.027656738701325484 Centerline is valid? [True, True] Translation: X:54.49, Y:-4.82, Z:-2.22 [[ 9.85708986e-01 1.65982527e-01 2.87679652e-02 5.44921531e+01] [-1.65929404e-01 9.86128515e-01 -4.24075513e-03 -4.82057625e+00] [-2.90728021e-02 -5.93300898e-04 9.99577121e-01 -2.21946885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.66264 meters 0.02745207064409603 Centerline is valid? [True, True] Translation: X:54.52, Y:-4.82, Z:-2.22 [[ 9.85920365e-01 1.64676966e-01 2.90263884e-02 5.45197519e+01] [-1.64622357e-01 9.86347394e-01 -4.27752842e-03 -4.82412869e+00] [-2.93345130e-02 -5.61090106e-04 9.99569493e-01 -2.22117339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.692640000000004 meters 0.02382831802340295 Centerline is valid? [True, True] Translation: X:54.55, Y:-4.83, Z:-2.22 [[ 9.86221073e-01 1.62700265e-01 2.99435888e-02 5.45483985e+01] [-1.62641260e-01 9.86675405e-01 -4.41201191e-03 -4.83130877e+00] [-3.02624381e-02 -5.18843897e-04 9.99541853e-01 -2.21935465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.722640000000006 meters 0.02327052493419456 Centerline is valid? [True, True] Translation: X:54.58, Y:-4.84, Z:-2.22 [[ 9.86395914e-01 1.61691652e-01 2.96464324e-02 5.45759387e+01] [-1.61633533e-01 9.86841208e-01 -4.36237504e-03 -4.83516937e+00] [-2.99616808e-02 -4.88828695e-04 9.99550929e-01 -2.22127405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.75264000000001 meters 0.022797807921756775 Centerline is valid? [True, True] Translation: X:54.60, Y:-4.84, Z:-2.22 [[ 9.86520554e-01 1.60935653e-01 2.96126920e-02 5.46035472e+01] [-1.60877379e-01 9.86964790e-01 -4.35560999e-03 -4.83859750e+00] [-2.99276573e-02 -4.67113509e-04 9.99551958e-01 -2.22256970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.78264 meters 0.021155282396363065 Centerline is valid? [True, True] Translation: X:54.63, Y:-4.84, Z:-2.22 [[ 9.86671777e-01 1.60003019e-01 2.96283373e-02 5.46316017e+01] [-1.59944321e-01 9.87116427e-01 -4.35599704e-03 -4.84342811e+00] [-2.99435912e-02 -4.40944953e-04 9.99551493e-01 -2.22326549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.81264 meters 0.018485874128271313 Centerline is valid? [True, True] Translation: X:54.66, Y:-4.85, Z:-2.22 [[ 9.87098785e-01 1.57415621e-01 2.92627926e-02 5.46599825e+01] [-1.57357267e-01 9.87532376e-01 -4.30086263e-03 -4.85022609e+00] [-2.95749781e-02 -3.59336780e-04 9.99562500e-01 -2.22483088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.84264 meters 0.01795861245020248 Centerline is valid? [True, True] Translation: X:54.69, Y:-4.86, Z:-2.23 [[ 9.87267979e-01 1.56272331e-01 2.96798981e-02 5.46875974e+01] [-1.56211826e-01 9.87713951e-01 -4.36080115e-03 -4.85519687e+00] [-2.99967220e-02 -3.31071733e-04 9.99549942e-01 -2.22628520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.872640000000004 meters 0.017034952481774085 Centerline is valid? [True, True] Translation: X:54.72, Y:-4.86, Z:-2.23 [[ 9.87423658e-01 1.55232208e-01 2.99579856e-02 5.47160758e+01] [-1.55170147e-01 9.87877963e-01 -4.39959745e-03 -4.86090538e+00] [-3.02777930e-02 -3.04318421e-04 9.99541476e-01 -2.22642631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.902640000000005 meters 0.01638392559335362 Centerline is valid? [True, True] Translation: X:54.74, Y:-4.86, Z:-2.23 [[ 9.87650679e-01 1.53667532e-01 3.05356411e-02 5.47435842e+01] [-1.53602350e-01 9.88122574e-01 -4.48302643e-03 -4.86423447e+00] [-3.08618519e-02 -2.62682140e-04 9.99523625e-01 -2.22771313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.932640000000006 meters 0.015258928029477576 Centerline is valid? [True, True] Translation: X:54.77, Y:-4.87, Z:-2.23 [[ 9.87745049e-01 1.53066021e-01 3.05042823e-02 5.47724377e+01] [-1.53000747e-01 9.88215934e-01 -4.47642920e-03 -4.86962485e+00] [-3.08300070e-02 -2.45607202e-04 9.99524612e-01 -2.22734183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.96264000000001 meters 0.014943008343670607 Centerline is valid? [True, True] Translation: X:54.80, Y:-4.87, Z:-2.23 [[ 9.87901775e-01 1.51998297e-01 3.07668767e-02 5.47996630e+01] [-1.51931425e-01 9.88380732e-01 -4.51342205e-03 -4.87453345e+00] [-3.10954206e-02 -2.15637762e-04 9.99516397e-01 -2.22882957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.99264 meters 0.020038875023007538 Centerline is valid? [True, True] Translation: X:54.83, Y:-4.88, Z:-2.23 [[ 9.87918940e-01 1.51662115e-01 3.18554722e-02 5.48278601e+01] [-1.51590304e-01 9.88432374e-01 -4.67147243e-03 -4.87880313e+00] [-3.21954654e-02 -2.13944641e-04 9.99481569e-01 -2.22948222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.02264 meters 0.01449841077273945 Centerline is valid? [True, True] Translation: X:54.85, Y:-4.88, Z:-2.23 [[ 9.88005935e-01 1.51117799e-01 3.17440171e-02 5.48549788e+01] [-1.51046246e-01 9.88515742e-01 -4.65395964e-03 -4.88147003e+00] [-3.20827567e-02 -1.96674873e-04 9.99485197e-01 -2.22965129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.052640000000004 meters 0.014218386022336608 Centerline is valid? [True, True] Translation: X:54.88, Y:-4.89, Z:-2.23 [[ 9.88084692e-01 1.50651631e-01 3.15075662e-02 5.48822826e+01] [-1.50580992e-01 9.88586897e-01 -4.61651639e-03 -4.88500702e+00] [-3.18434528e-02 -1.82931392e-04 9.99492852e-01 -2.23072313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.082640000000005 meters 0.014218386022336608 Centerline is valid? [True, True] Translation: X:54.91, Y:-4.89, Z:-2.23 [[ 9.88095211e-01 1.50582558e-01 3.15078882e-02 5.49094723e+01] [-1.50511954e-01 9.88597420e-01 -4.61431754e-03 -4.88885460e+00] [-3.18434527e-02 -1.82928759e-04 9.99492852e-01 -2.23189062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.112640000000006 meters 0.013708470905293653 Centerline is valid? [True, True] Translation: X:54.94, Y:-4.90, Z:-2.23 [[ 9.88281833e-01 1.49486071e-01 3.08696018e-02 5.49366310e+01] [-1.49417831e-01 9.88763821e-01 -4.51871202e-03 -4.89514314e+00] [-3.11982299e-02 -1.46707947e-04 9.99513206e-01 -2.23406980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.14264000000001 meters 0.013692337014200313 Centerline is valid? [True, True] Translation: X:54.96, Y:-4.90, Z:-2.24 [[ 9.88339525e-01 1.49141224e-01 3.06900390e-02 5.49627993e+01] [-1.49073674e-01 9.88815896e-01 -4.49035083e-03 -4.89922887e+00] [-3.10164948e-02 -1.37085647e-04 9.99518863e-01 -2.23574647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.17264 meters 0.013578958894201385 Centerline is valid? [True, True] Translation: X:54.99, Y:-4.90, Z:-2.24 [[ 9.88367653e-01 1.49014273e-01 3.03994843e-02 5.49915166e+01] [-1.48948026e-01 9.88835036e-01 -4.44489800e-03 -4.90313624e+00] [-3.07224284e-02 -1.34749784e-04 9.99527946e-01 -2.23675372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.20264 meters 0.013772557370253739 Centerline is valid? [True, True] Translation: X:55.02, Y:-4.91, Z:-2.24 [[ 9.88318825e-01 1.49546036e-01 2.93578560e-02 5.50205214e+01] [-1.49484527e-01 9.88754753e-01 -4.29123838e-03 -4.90555663e+00] [-2.96694574e-02 -1.47433557e-04 9.99559754e-01 -2.23910345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.23264 meters 0.014408108736997105 Centerline is valid? [True, True] Translation: X:55.05, Y:-4.91, Z:-2.24 [[ 9.88272151e-01 1.49828458e-01 2.94887822e-02 5.50474663e+01] [-1.49766555e-01 9.88711995e-01 -4.30935493e-03 -4.90769838e+00] [-2.98015767e-02 -1.57617862e-04 9.99555822e-01 -2.24175243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.262640000000005 meters 0.01487322740629647 Centerline is valid? [True, True] Translation: X:55.08, Y:-4.91, Z:-2.24 [[ 9.88118334e-01 1.50778748e-01 2.97980976e-02 5.50767095e+01] [-1.50716065e-01 9.88567515e-01 -4.35145138e-03 -4.90886546e+00] [-3.01135377e-02 -1.91303121e-04 9.99546466e-01 -2.24249855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.292640000000006 meters 0.01516049981777771 Centerline is valid? [True, True] Translation: X:55.10, Y:-4.91, Z:-2.24 [[ 9.88062472e-01 1.51076989e-01 3.01379454e-02 5.51034931e+01] [-1.51013024e-01 9.88521979e-01 -4.40050562e-03 -4.91135179e+00] [-3.04568366e-02 -2.03247825e-04 9.99536062e-01 -2.24322159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.32264000000001 meters 0.015743446788349266 Centerline is valid? [True, True] Translation: X:55.13, Y:-4.91, Z:-2.24 [[ 9.87993848e-01 1.51450818e-01 3.05091143e-02 5.51300027e+01] [-1.51385580e-01 9.88464769e-01 -4.45035204e-03 -4.91386533e+00] [-3.08311941e-02 -2.21719529e-04 9.99524581e-01 -2.24471720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.35264 meters 0.016153404140264893 Centerline is valid? [True, True] Translation: X:55.16, Y:-4.92, Z:-2.24 [[ 9.87819077e-01 1.52511599e-01 3.08817613e-02 5.51586063e+01] [-1.52445369e-01 9.88301646e-01 -4.50169780e-03 -4.91562101e+00] [-3.12070566e-02 -2.60918525e-04 9.99512907e-01 -2.24422244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38264 meters 0.024369211576518314 Centerline is valid? [True, True] Translation: X:55.19, Y:-4.92, Z:-2.25 [[ 9.87679951e-01 1.53333005e-01 3.12618491e-02 5.51876876e+01] [-1.53265593e-01 9.88174531e-01 -4.55558987e-03 -4.91757292e+00] [-3.15906854e-02 -2.91901078e-04 9.99500847e-01 -2.24621427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.41264 meters 0.016306797532759272 Centerline is valid? [True, True] Translation: X:55.22, Y:-4.91, Z:-2.24 [[ 9.87883909e-01 1.52598867e-01 2.82660155e-02 5.52244568e+01] [-1.52248859e-01 9.88240762e-01 -1.41591350e-02 -4.91436458e+00] [-3.00942967e-02 9.68411307e-03 9.99500151e-01 -2.24366138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.442640000000004 meters 0.020877493055827857 Centerline is valid? [True, True] Translation: X:55.24, Y:-4.92, Z:-2.25 [[ 9.87038638e-01 1.57340242e-01 3.16033930e-02 5.52438211e+01] [-1.57573533e-01 9.87494515e-01 5.01652569e-03 -4.91980904e+00] [-3.04188758e-02 -9.93136296e-03 9.99487899e-01 -2.25002513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.472640000000006 meters 0.022879682358352332 Centerline is valid? [True, True] Translation: X:55.27, Y:-4.91, Z:-2.25 [[ 9.86578301e-01 1.60375828e-01 3.07058647e-02 5.52740798e+01] [-1.60314469e-01 9.87055888e-01 -4.46591379e-03 -4.91298997e+00] [-3.10246292e-02 -5.16620739e-04 9.99518487e-01 -2.24847495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.50264000000001 meters 0.030528986884074797 Centerline is valid? [True, True] Translation: X:55.31, Y:-4.90, Z:-2.25 [[ 9.85586503e-01 1.66312368e-01 3.09748451e-02 5.53051792e+01] [-1.66252919e-01 9.86072862e-01 -4.50301751e-03 -4.90041700e+00] [-3.12923617e-02 -7.11545139e-04 9.99510021e-01 -2.25028469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.53264 meters 0.03798125490128868 Centerline is valid? [True, True] Translation: X:55.33, Y:-4.90, Z:-2.25 [[ 9.85065631e-01 1.69287486e-01 3.14236989e-02 5.53346307e+01] [-1.69227806e-01 9.85566375e-01 -4.56846923e-03 -4.89944379e+00] [-3.17435257e-02 -8.17521602e-04 9.99495713e-01 -2.25190049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56264 meters 0.03383114515529166 Centerline is valid? [True, True] Translation: X:55.36, Y:-4.90, Z:-2.25 [[ 9.84732948e-01 1.71406417e-01 3.03457018e-02 5.53649068e+01] [-1.71351803e-01 9.85200034e-01 -4.41055695e-03 -4.89713599e+00] [-3.06525842e-02 -8.56569968e-04 9.99529732e-01 -2.25318890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.59264 meters 0.03593894566768809 Centerline is valid? [True, True] Translation: X:55.39, Y:-4.89, Z:-2.26 [[ 9.84449874e-01 1.73131000e-01 2.97338458e-02 5.53945489e+01] [-1.73079369e-01 9.84898401e-01 -4.32106944e-03 -4.89457514e+00] [-3.00329283e-02 -8.92439002e-04 9.99548511e-01 -2.25609579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.622640000000004 meters 0.03740373001010605 Centerline is valid? [True, True] Translation: X:55.42, Y:-4.89, Z:-2.26 [[ 9.84330855e-01 1.73984300e-01 2.86745870e-02 5.54231500e+01] [-1.73936652e-01 9.84748028e-01 -4.16686842e-03 -4.88887590e+00] [-2.89622127e-02 -8.85984492e-04 9.99580114e-01 -2.25977957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.652640000000005 meters 0.03916588414174046 Centerline is valid? [True, True] Translation: X:55.45, Y:-4.89, Z:-2.26 [[ 9.84506933e-01 1.73003099e-01 2.85661678e-02 5.54511977e+01] [-1.72955486e-01 9.84920907e-01 -4.14806427e-03 -4.88745063e+00] [-2.88530439e-02 -8.56877393e-04 9.99583297e-01 -2.26277009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.682640000000006 meters 0.029062707471271248 Centerline is valid? [True, True] Translation: X:55.48, Y:-4.90, Z:-2.26 [[ 9.85352833e-01 1.68076587e-01 2.88106994e-02 5.54798959e+01] [-1.68026119e-01 9.85773676e-01 -4.18116241e-03 -4.90009199e+00] [-2.91035846e-02 -7.21029789e-04 9.99576141e-01 -2.26167727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.71264000000001 meters 0.029275952829427777 Centerline is valid? [True, True] Translation: X:55.51, Y:-4.90, Z:-2.27 [[ 9.86005276e-01 1.64151056e-01 2.91208841e-02 5.55081703e+01] [-1.64097785e-01 9.86435024e-01 -4.22612773e-03 -4.90200079e+00] [-2.94195834e-02 -6.11688348e-04 9.99566963e-01 -2.26560029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74264 meters 0.021632141824682368 Centerline is valid? [True, True] Translation: X:55.54, Y:-4.91, Z:-2.26 [[ 9.86721648e-01 1.59638359e-01 2.99329825e-02 5.55366682e+01] [-1.59580044e-01 9.87175441e-01 -4.34249650e-03 -4.91464961e+00] [-3.02423343e-02 -4.91871370e-04 9.99542475e-01 -2.26270079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.77264 meters 0.014283814890842414 Centerline is valid? [True, True] Translation: X:55.56, Y:-4.93, Z:-2.26 [[ 9.88340071e-01 1.49095869e-01 3.08921577e-02 5.55641735e+01] [-1.49028608e-01 9.88822730e-01 -4.48138103e-03 -4.92856690e+00] [-3.12150231e-02 -1.74686811e-04 9.99512677e-01 -2.26331059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.802640000000004 meters 0.012273302685296443 Centerline is valid? [True, True] Translation: X:55.59, Y:-4.94, Z:-2.26 [[ 9.89142877e-01 1.43568130e-01 3.13777062e-02 5.55920891e+01] [-1.43495971e-01 9.89640436e-01 -4.55128464e-03 -4.93896251e+00] [-3.17060663e-02 -7.03630862e-07 9.99497236e-01 -2.26308760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.832640000000005 meters 0.013356869801051387 Centerline is valid? [True, True] Translation: X:55.62, Y:-4.95, Z:-2.26 [[ 9.89891867e-01 1.38209605e-01 3.18150257e-02 5.56183717e+01] [-1.38132689e-01 9.90402986e-01 -4.61354326e-03 -4.94942348e+00] [-3.21473324e-02 1.72213905e-04 9.99483126e-01 -2.26360334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.862640000000006 meters 0.025160359683993418 Centerline is valid? [True, True] Translation: X:55.65, Y:-4.97, Z:-2.26 [[ 9.91106146e-01 1.29051240e-01 3.24712990e-02 5.56454383e+01] [-1.28966306e-01 9.91637812e-01 -4.70540724e-03 -4.96629675e+00] [-3.28070065e-02 4.75854542e-04 9.99461592e-01 -2.26493475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.89264000000001 meters 0.022810255351912858 Centerline is valid? [True, True] Translation: X:55.67, Y:-4.98, Z:-2.27 [[ 9.91601077e-01 1.25397937e-01 3.16648193e-02 5.56729853e+01] [-1.25315359e-01 9.92106356e-01 -4.58695852e-03 -4.97592807e+00] [-3.19900636e-02 5.80344827e-04 9.99488018e-01 -2.26606374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92264 meters 0.02502463249108495 Centerline is valid? [True, True] Translation: X:55.70, Y:-4.98, Z:-2.27 [[ 9.91972804e-01 1.22556912e-01 3.11409689e-02 5.57015826e+01] [-1.22475701e-01 9.92461268e-01 -4.50931136e-03 -4.98388658e+00] [-3.14588528e-02 6.59102249e-04 9.99504830e-01 -2.26764311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.95264 meters 0.03033551549850933 Centerline is valid? [True, True] Translation: X:55.73, Y:-4.99, Z:-2.27 [[ 9.92454977e-01 1.18870608e-01 3.00482501e-02 5.57302581e+01] [-1.18793329e-01 9.92909472e-01 -4.35040497e-03 -4.99224683e+00] [-3.03523274e-02 7.48049414e-04 9.99538982e-01 -2.27018108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.98264 meters 0.03017748537659593 Centerline is valid? [True, True] Translation: X:55.76, Y:-5.00, Z:-2.27 [[ 9.92618930e-01 1.17701322e-01 2.92242868e-02 5.57568315e+01] [-1.17627725e-01 9.93048749e-01 -4.23088332e-03 -5.00216616e+00] [-2.95191220e-02 7.62068516e-04 9.99563925e-01 -2.27301581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.012640000000005 meters 0.02980234432960804 Centerline is valid? [True, True] Translation: X:55.78, Y:-5.01, Z:-2.27 [[ 9.92747817e-01 1.16562422e-01 2.94104437e-02 5.57846518e+01] [-1.16487439e-01 9.93183046e-01 -4.25596470e-03 -5.00765223e+00] [-2.97060396e-02 7.99152378e-04 9.99558359e-01 -2.27332008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.042640000000006 meters 0.032758661507287894 Centerline is valid? [True, True] Translation: X:55.81, Y:-5.02, Z:-2.27 [[ 9.92909826e-01 1.14937714e-01 3.03216113e-02 5.58112599e+01] [-1.14857315e-01 9.93372318e-01 -4.38589256e-03 -5.02066172e+00] [-3.06247538e-02 8.72136961e-04 9.99530572e-01 -2.27353364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.07264000000001 meters 0.031452246782082534 Centerline is valid? [True, True] Translation: X:55.84, Y:-5.03, Z:-2.27 [[ 9.92914901e-01 1.14871224e-01 3.04072540e-02 5.58397313e+01] [-1.14790399e-01 9.93380006e-01 -4.39630021e-03 -5.02659499e+00] [-3.07109665e-02 8.74691167e-04 9.99527924e-01 -2.27400292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10264 meters 0.030762480705407668 Centerline is valid? [True, True] Translation: X:55.87, Y:-5.04, Z:-2.28 [[ 9.92682869e-01 1.16912520e-01 3.02023919e-02 5.58670433e+01] [-1.16833769e-01 9.93141891e-01 -4.36522244e-03 -5.03576145e+00] [-3.05056097e-02 8.04622275e-04 9.99534272e-01 -2.27593008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.13264 meters 0.033588414445323206 Centerline is valid? [True, True] Translation: X:55.90, Y:-5.04, Z:-2.28 [[ 9.92467030e-01 1.18707639e-01 3.02934054e-02 5.58962056e+01] [-1.18629297e-01 9.92928967e-01 -4.37677487e-03 -5.03826539e+00] [-3.05987563e-02 7.50119363e-04 9.99531467e-01 -2.27744534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.16264 meters 0.026656416735182268 Centerline is valid? [True, True] Translation: X:55.92, Y:-5.04, Z:-2.28 [[ 9.92181239e-01 1.21305527e-01 2.93489176e-02 5.59238668e+01] [-1.21233151e-01 9.92615005e-01 -4.23960500e-03 -5.04220624e+00] [-2.96464636e-02 6.48394767e-04 9.99560237e-01 -2.27944970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.192640000000004 meters 0.02379786966020924 Centerline is valid? [True, True] Translation: X:55.95, Y:-5.05, Z:-2.28 [[ 9.91838189e-01 1.24133315e-01 2.91191986e-02 5.59521668e+01] [-1.24063341e-01 9.92265393e-01 -4.20453585e-03 -5.04566887e+00] [-2.94158960e-02 5.57594135e-04 9.99567103e-01 -2.28154443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.222640000000006 meters 0.018434246710613906 Centerline is valid? [True, True] Translation: X:55.98, Y:-5.05, Z:-2.28 [[ 9.91104646e-01 1.29970695e-01 2.86216479e-02 5.59824816e+01] [-1.29905577e-01 9.91517764e-01 -4.13088713e-03 -5.04791737e+00] [-2.89157666e-02 3.76029758e-04 9.99581781e-01 -2.28237269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.25264000000001 meters 0.016679896598529326 Centerline is valid? [True, True] Translation: X:56.01, Y:-5.05, Z:-2.28 [[ 9.90723280e-01 1.32929218e-01 2.82348175e-02 5.60097505e+01] [-1.32867039e-01 9.91125492e-01 -4.07539080e-03 -5.05029998e+00] [-2.85259859e-02 2.86107957e-04 9.99593010e-01 -2.28451820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.28264 meters 0.015156259682803394 Centerline is valid? [True, True] Translation: X:56.04, Y:-5.05, Z:-2.29 [[ 9.90390170e-01 1.35494590e-01 2.77223271e-02 5.60385896e+01] [-1.35435704e-01 9.90778065e-01 -3.99960237e-03 -5.05320637e+00] [-2.80085981e-02 2.06573982e-04 9.99607661e-01 -2.28632497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.31264 meters 0.014151870163361021 Centerline is valid? [True, True] Translation: X:56.07, Y:-5.06, Z:-2.29 [[ 9.89888618e-01 1.39005597e-01 2.82483384e-02 5.60659888e+01] [-1.38945918e-01 9.90291590e-01 -4.07424286e-03 -5.05988634e+00] [-2.85404345e-02 1.08055325e-04 9.99592633e-01 -2.28877574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.34264 meters 0.012958394868288309 Centerline is valid? [True, True] Translation: X:56.09, Y:-5.06, Z:-2.29 [[ 9.89739219e-01 1.40104923e-01 2.80515583e-02 5.60938795e+01] [-1.40046555e-01 9.90136660e-01 -4.04440171e-03 -5.06428724e+00] [-2.83415168e-02 7.43788733e-05 9.99598296e-01 -2.28624785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.372640000000004 meters 0.013367442733910613 Centerline is valid? [True, True] Translation: X:56.12, Y:-5.07, Z:-2.29 [[ 9.89538908e-01 1.41488903e-01 2.81716309e-02 5.61212894e+01] [-1.41430662e-01 9.89939841e-01 -4.05938061e-03 -5.07161308e+00] [-2.84625772e-02 3.25826376e-05 9.99594858e-01 -2.28894370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.402640000000005 meters 0.013146821867048686 Centerline is valid? [True, True] Translation: X:56.15, Y:-5.08, Z:-2.29 [[ 9.89419513e-01 1.42204035e-01 2.87583128e-02 5.61483943e+01] [-1.42143701e-01 9.89837367e-01 -4.14199258e-03 -5.07804248e+00] [-2.90550607e-02 1.03552661e-05 9.99577813e-01 -2.28955599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.432640000000006 meters 0.012962489694642 Centerline is valid? [True, True] Translation: X:56.18, Y:-5.08, Z:-2.29 [[ 9.89285280e-01 1.43052777e-01 2.91639729e-02 5.61768994e+01] [-1.42991153e-01 9.89715061e-01 -4.19851176e-03 -5.08436327e+00] [-2.94646320e-02 -1.66642179e-05 9.99565823e-01 -2.28860893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.46264000000001 meters 0.029125998481285196 Centerline is valid? [True, True] Translation: X:56.20, Y:-5.09, Z:-2.29 [[ 9.88958246e-01 1.45189707e-01 2.96906794e-02 5.62033244e+01] [-1.45126829e-01 9.89403832e-01 -4.27331124e-03 -5.08937638e+00] [-2.99965128e-02 -8.27877859e-05 9.99550000e-01 -2.29457494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.49264 meters 0.023074055987808532 Centerline is valid? [True, True] Translation: X:56.23, Y:-5.09, Z:-2.29 [[ 9.88748101e-01 1.46736319e-01 2.90799959e-02 5.62321850e+01] [-1.46676755e-01 9.89175634e-01 -4.18255723e-03 -5.09397330e+00] [-2.93789564e-02 -1.29863922e-04 9.99568337e-01 -2.29430892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.52264 meters 0.015727081223822492 Centerline is valid? [True, True] Translation: X:56.26, Y:-5.10, Z:-2.29 [[ 9.88460231e-01 1.48719825e-01 2.87886507e-02 5.62598660e+01] [-1.48662323e-01 9.88879355e-01 -4.13946812e-03 -5.09717694e+00] [-2.90841233e-02 -1.88088086e-04 9.99576950e-01 -2.29427737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.552640000000004 meters 0.01696336795518538 Centerline is valid? [True, True] Translation: X:56.29, Y:-5.10, Z:-2.29 [[ 9.87896592e-01 1.52319545e-01 2.93100649e-02 5.62883569e+01] [-1.52261580e-01 9.88331253e-01 -4.21256311e-03 -5.10169703e+00] [-2.96097089e-02 -3.01220071e-04 9.99561491e-01 -2.29213918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.582640000000005 meters 0.01899631949910236 Centerline is valid? [True, True] Translation: X:56.32, Y:-5.10, Z:-2.29 [[ 9.87602980e-01 1.54208161e-01 2.93291005e-02 5.63158419e+01] [-1.54150992e-01 9.88038316e-01 -4.21399724e-03 -5.10344891e+00] [-2.96281079e-02 -3.59353720e-04 9.99560927e-01 -2.29376953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.612640000000006 meters 0.0192095641438891 Centerline is valid? [True, True] Translation: X:56.34, Y:-5.11, Z:-2.29 [[ 9.87339457e-01 1.55902586e-01 2.92434495e-02 5.63440678e+01] [-1.55846551e-01 9.87772350e-01 -4.19974612e-03 -5.10734200e+00] [-2.95406221e-02 -4.10915678e-04 9.99563496e-01 -2.29311317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.64264000000001 meters 0.02442584446391197 Centerline is valid? [True, True] Translation: X:56.37, Y:-5.11, Z:-2.30 [[ 9.86866331e-01 1.58952402e-01 2.87919764e-02 5.63726275e+01] [-1.58899418e-01 9.87286123e-01 -4.13362889e-03 -5.10526364e+00] [-2.90829690e-02 -4.95689095e-04 9.99576878e-01 -2.29813758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.67264 meters 0.023910731303634372 Centerline is valid? [True, True] Translation: X:56.40, Y:-5.11, Z:-2.30 [[ 9.86743754e-01 1.59918309e-01 2.76206281e-02 5.64012057e+01] [-1.59869978e-01 9.87130123e-01 -3.96362311e-03 -5.11063809e+00] [-2.78990099e-02 -5.04628876e-04 9.99610619e-01 -2.29943065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.70264 meters 0.025143539596536493 Centerline is valid? [True, True] Translation: X:56.43, Y:-5.11, Z:-2.30 [[ 9.86725039e-01 1.60116338e-01 2.71377033e-02 5.64285668e+01] [-1.60069789e-01 9.87098022e-01 -3.89318330e-03 -5.11364640e+00] [-2.74109355e-02 -5.02424983e-04 9.99624123e-01 -2.30233539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.73264 meters 0.024843974137575463 Centerline is valid? [True, True] Translation: X:56.46, Y:-5.12, Z:-2.30 [[ 9.86814217e-01 1.59497596e-01 2.75357471e-02 5.64562075e+01] [-1.59449480e-01 9.87198193e-01 -3.94851395e-03 -5.11877852e+00] [-2.78130183e-02 -4.94110849e-04 9.99613021e-01 -2.30357875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.762640000000005 meters 0.023301551996348497 Centerline is valid? [True, True] Translation: X:56.48, Y:-5.13, Z:-2.30 [[ 9.86938402e-01 1.58709493e-01 2.76384996e-02 5.64846488e+01] [-1.58660760e-01 9.87325210e-01 -3.96138183e-03 -5.12631697e+00] [-2.79168963e-02 -4.75505492e-04 9.99610134e-01 -2.30329239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.792640000000006 meters 0.022427456522783717 Centerline is valid? [True, True] Translation: X:56.51, Y:-5.13, Z:-2.30 [[ 9.87097602e-01 1.57629321e-01 2.81304412e-02 5.65119751e+01] [-1.57578434e-01 9.87498249e-01 -4.03062766e-03 -5.13216307e+00] [-2.84141065e-02 -4.54127988e-04 9.99596135e-01 -2.30371514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.82264000000001 meters 0.0244848003610241 Centerline is valid? [True, True] Translation: X:56.54, Y:-5.14, Z:-2.31 [[ 9.87573795e-01 1.54675296e-01 2.78127928e-02 5.65395421e+01] [-1.54624434e-01 9.87965292e-01 -3.98324563e-03 -5.14045848e+00] [-2.80941837e-02 -3.66788351e-04 9.99605213e-01 -2.30661153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.85264 meters 0.018915080009994006 Centerline is valid? [True, True] Translation: X:56.57, Y:-5.15, Z:-2.30 [[ 9.87700063e-01 1.53816270e-01 2.80916346e-02 5.65682741e+01] [-1.53764075e-01 9.88099405e-01 -4.02179239e-03 -5.14681284e+00] [-2.83759445e-02 -3.47159610e-04 9.99597262e-01 -2.30474768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88264 meters 0.017960174941197223 Centerline is valid? [True, True] Translation: X:56.60, Y:-5.15, Z:-2.30 [[ 9.87844512e-01 1.52801676e-01 2.85458847e-02 5.65963448e+01] [-1.52747397e-01 9.88256820e-01 -4.08537448e-03 -5.15325965e+00] [-2.88349173e-02 -3.24594809e-04 9.99584135e-01 -2.30446092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.91264 meters 0.017395847138115213 Centerline is valid? [True, True] Translation: X:56.62, Y:-5.16, Z:-2.31 [[ 9.88033541e-01 1.51481596e-01 2.90352752e-02 5.66237042e+01] [-1.51424908e-01 9.88460035e-01 -4.15409358e-03 -5.15951325e+00] [-2.93294779e-02 -2.92280100e-04 9.99569756e-01 -2.30538522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.942640000000004 meters 0.017547885538457396 Centerline is valid? [True, True] Translation: X:56.65, Y:-5.16, Z:-2.31 [[ 9.88085605e-01 1.51173035e-01 2.88712862e-02 5.66506832e+01] [-1.51116897e-01 9.88507275e-01 -4.12917072e-03 -5.16340719e+00] [-2.91636957e-02 -2.82965034e-04 9.99574609e-01 -2.30683813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.972640000000006 meters 0.017056703547764517 Centerline is valid? [True, True] Translation: X:56.68, Y:-5.17, Z:-2.31 [[ 9.88116361e-01 1.50980350e-01 2.88269325e-02 5.66782171e+01] [-1.50924377e-01 9.88536725e-01 -4.12023806e-03 -5.16873141e+00] [-2.91185565e-02 -2.79412215e-04 9.99575926e-01 -2.30774634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.00264000000001 meters 0.017056703547764517 Centerline is valid? [True, True] Translation: X:56.71, Y:-5.17, Z:-2.31 [[ 9.88127123e-01 1.50909839e-01 2.88272270e-02 5.67054238e+01] [-1.50853897e-01 9.88547491e-01 -4.11817661e-03 -5.17248347e+00] [-2.91185563e-02 -2.79417512e-04 9.99575926e-01 -2.30891412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.03264000000001 meters 0.019076364085239304 Centerline is valid? [True, True] Translation: X:56.73, Y:-5.18, Z:-2.31 [[ 9.88060027e-01 1.51535659e-01 2.78267333e-02 5.67327539e+01] [-1.51483840e-01 9.88451749e-01 -3.97315298e-03 -5.17600304e+00] [-2.81074576e-02 -2.89586784e-04 9.99604865e-01 -2.31369031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06264 meters 0.018610441624124882 Centerline is valid? [True, True] Translation: X:56.76, Y:-5.18, Z:-2.31 [[ 9.87951548e-01 1.52429039e-01 2.67792168e-02 5.67617136e+01] [-1.52381422e-01 9.88314371e-01 -3.82189737e-03 -5.18026644e+00] [-2.70488529e-02 -3.04805711e-04 9.99634066e-01 -2.31399464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.09264 meters 0.022478566177259185 Centerline is valid? [True, True] Translation: X:56.79, Y:-5.18, Z:-2.32 [[ 9.87566764e-01 1.55105212e-01 2.55784871e-02 5.67895655e+01] [-1.55062674e-01 9.87897891e-01 -3.65027032e-03 -5.17798435e+00] [-2.58351094e-02 -3.61382966e-04 9.99666153e-01 -2.31836840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.122640000000004 meters 0.024075640368760465 Centerline is valid? [True, True] Translation: X:56.82, Y:-5.18, Z:-2.32 [[ 9.87282685e-01 1.56950176e-01 2.52891527e-02 5.68181495e+01] [-1.56909290e-01 9.87606437e-01 -3.60544606e-03 -5.17929279e+00] [-2.55416054e-02 -4.08508534e-04 9.99673677e-01 -2.31938185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.152640000000005 meters 0.0266850712063985 Centerline is valid? [True, True] Translation: X:56.85, Y:-5.18, Z:-2.32 [[ 9.86929748e-01 1.59088626e-01 2.56998507e-02 5.68466720e+01] [-1.59047153e-01 9.87264193e-01 -3.66292383e-03 -5.17869623e+00] [-2.59552718e-02 -4.72439599e-04 9.99662994e-01 -2.32015741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.182640000000006 meters 0.028060185588786913 Centerline is valid? [True, True] Translation: X:56.88, Y:-5.18, Z:-2.32 [[ 9.86577704e-01 1.61201666e-01 2.60472057e-02 5.68753638e+01] [-1.61159842e-01 9.86921342e-01 -3.71084777e-03 -5.17918113e+00] [-2.63047380e-02 -5.36723883e-04 9.99653826e-01 -2.31972707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.21264000000001 meters 0.029795431915918102 Centerline is valid? [True, True] Translation: X:56.91, Y:-5.18, Z:-2.32 [[ 9.85947833e-01 1.64856727e-01 2.70024083e-02 5.69058658e+01] [-1.64813210e-01 9.86317304e-01 -3.84467049e-03 -5.17769851e+00] [-2.72667623e-02 -6.59709039e-04 9.99627975e-01 -2.31732222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24264 meters 0.03746515513220224 Centerline is valid? [True, True] Translation: X:56.93, Y:-5.18, Z:-2.32 [[ 9.85794836e-01 1.65837267e-01 2.65808529e-02 5.69339677e+01] [-1.65795455e-01 9.86152901e-01 -3.78460589e-03 -5.18029821e+00] [-2.68404139e-02 -6.76139663e-04 9.99639503e-01 -2.32020056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.27264 meters 0.03524301416176284 Centerline is valid? [True, True] Translation: X:56.96, Y:-5.17, Z:-2.32 [[ 9.85437524e-01 1.67870488e-01 2.70626070e-02 5.69629895e+01] [-1.67827962e-01 9.85808776e-01 -3.85140509e-03 -5.17322648e+00] [-2.73250927e-02 -7.46543063e-04 9.99626321e-01 -2.32093114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.302640000000004 meters 0.03621646668600333 Centerline is valid? [True, True] Translation: X:56.99, Y:-5.17, Z:-2.32 [[ 9.85354251e-01 1.68301188e-01 2.74173163e-02 5.69910984e+01] [-1.68257757e-01 9.85735318e-01 -3.90004038e-03 -5.17362153e+00] [-2.76825984e-02 -7.70254792e-04 9.99616467e-01 -2.32195025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.332640000000005 meters 0.03826251374065239 Centerline is valid? [True, True] Translation: X:57.02, Y:-5.18, Z:-2.33 [[ 9.85389074e-01 1.68151026e-01 2.70851343e-02 5.70191793e+01] [-1.68108583e-01 9.85760955e-01 -3.85283785e-03 -5.17649197e+00] [-2.73473265e-02 -7.56699215e-04 9.99625706e-01 -2.32532223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.362640000000006 meters 0.030895988994613436 Centerline is valid? [True, True] Translation: X:57.04, Y:-5.19, Z:-2.33 [[ 9.85419666e-01 1.67030316e-01 3.23875953e-02 5.70438015e+01] [-1.67442541e-01 9.85826514e-01 1.04441069e-02 -5.19064947e+00] [-3.01840677e-02 -1.57148896e-02 9.99420814e-01 -2.32639019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.39264000000001 meters 0.03474126380125703 Centerline is valid? [True, True] Translation: X:57.08, Y:-5.17, Z:-2.33 [[ 9.85590581e-01 1.67401579e-01 2.42470018e-02 5.70767396e+01] [-1.66985062e-01 9.85789508e-01 -1.83039581e-02 -5.17075108e+00] [-2.69665514e-02 1.39913216e-02 9.99538417e-01 -2.32566265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42264 meters 0.03307703013535358 Centerline is valid? [True, True] Translation: X:57.10, Y:-5.18, Z:-2.33 [[ 9.85776063e-01 1.66063763e-01 2.58530606e-02 5.71033394e+01] [-1.66024653e-01 9.86114784e-01 -3.66702069e-03 -5.18328721e+00] [-2.61030445e-02 -6.77384179e-04 9.99659028e-01 -2.32901094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.45264 meters 0.03655623075655342 Centerline is valid? [True, True] Translation: X:57.13, Y:-5.18, Z:-2.33 [[ 9.85865936e-01 1.65538991e-01 2.57914436e-02 5.71314684e+01] [-1.65500076e-01 9.86203019e-01 -3.65101796e-03 -5.18096216e+00] [-2.60399854e-02 -6.69071642e-04 9.99660678e-01 -2.33363982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48264 meters 0.03760109442217121 Centerline is valid? [True, True] Translation: X:57.16, Y:-5.19, Z:-2.33 [[ 9.86063089e-01 1.64390491e-01 2.55998030e-02 5.71598118e+01] [-1.64351758e-01 9.86395136e-01 -3.62420711e-03 -5.18643860e+00] [-2.58473064e-02 -6.33675777e-04 9.99665702e-01 -2.33314012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.512640000000005 meters 0.033084406774254525 Centerline is valid? [True, True] Translation: X:57.19, Y:-5.18, Z:-2.33 [[ 9.86105291e-01 1.64042654e-01 2.61985155e-02 5.71881316e+01] [-1.64002136e-01 9.86453035e-01 -3.70246376e-03 -5.18419174e+00] [-2.64509671e-02 -6.45593409e-04 9.99649903e-01 -2.33371805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.542640000000006 meters 0.0318008454000962 Centerline is valid? [True, True] Translation: X:57.22, Y:-5.19, Z:-2.34 [[ 9.86318166e-01 1.62746797e-01 2.62670079e-02 5.72165204e+01] [-1.62705608e-01 9.86667677e-01 -3.71217510e-03 -5.18721943e+00] [-2.65209523e-02 -6.12403749e-04 9.99648070e-01 -2.33532211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.57264000000001 meters 0.03742590352626881 Centerline is valid? [True, True] Translation: X:57.25, Y:-5.19, Z:-2.34 [[ 9.86833905e-01 1.59331843e-01 2.77886068e-02 5.72458268e+01] [-1.59284592e-01 9.87224925e-01 -3.91999744e-03 -5.19409488e+00] [-2.80581856e-02 -5.57910500e-04 9.99606136e-01 -2.33556333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60264 meters 0.024174282521197858 Centerline is valid? [True, True] Translation: X:57.27, Y:-5.20, Z:-2.33 [[ 9.87127973e-01 1.57302844e-01 2.88821916e-02 5.72745239e+01] [-1.57250928e-01 9.87550275e-01 -4.07437379e-03 -5.19751673e+00] [-2.91635268e-02 -5.19823099e-04 9.99574519e-01 -2.33215160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.63264 meters 0.021997846957165963 Centerline is valid? [True, True] Translation: X:57.30, Y:-5.20, Z:-2.33 [[ 9.87546272e-01 1.54663068e-01 2.88391286e-02 5.73033978e+01] [-1.54610180e-01 9.87967176e-01 -4.06833852e-03 -5.20176795e+00] [-2.91213341e-02 -4.41150323e-04 9.99575787e-01 -2.33384634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.66264 meters 0.016494296354501385 Centerline is valid? [True, True] Translation: X:57.33, Y:-5.21, Z:-2.33 [[ 9.88460722e-01 1.48680703e-01 2.89732715e-02 5.73317676e+01] [-1.48624931e-01 9.88885218e-01 -4.08109432e-03 -5.21174295e+00] [-2.92580198e-02 -2.72149051e-04 9.99571855e-01 -2.33451172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.692640000000004 meters 0.014450209440179456 Centerline is valid? [True, True] Translation: X:57.36, Y:-5.23, Z:-2.34 [[ 9.88973009e-01 1.44048824e-01 3.43849329e-02 5.73590943e+01] [-1.44538512e-01 9.89424026e-01 1.21948623e-02 -5.22651580e+00] [-3.22646232e-02 -1.70303367e-02 9.99334259e-01 -2.33962109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.722640000000006 meters 0.012858399598121925 Centerline is valid? [True, True] Translation: X:57.39, Y:-5.22, Z:-2.34 [[ 9.89326491e-01 1.42031335e-01 3.25606108e-02 5.73888120e+01] [-1.42014207e-01 9.89860517e-01 -2.84988200e-03 -5.22276198e+00] [-3.26352356e-02 -1.80460555e-03 9.99465700e-01 -2.33606741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.75264000000001 meters 0.015117709869343564 Centerline is valid? [True, True] Translation: X:57.42, Y:-5.23, Z:-2.34 [[ 9.89886569e-01 1.38306654e-01 3.15570921e-02 5.74164090e+01] [-1.38102096e-01 9.90380809e-01 -8.58272899e-03 -5.22541842e+00] [-3.24405869e-02 4.13782759e-03 9.99465100e-01 -2.33953467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.78264000000001 meters 0.023791731155340334 Centerline is valid? [True, True] Translation: X:57.44, Y:-5.23, Z:-2.34 [[ 9.89994304e-01 1.38346489e-01 2.77763610e-02 5.74439980e+01] [-1.37878535e-01 9.90283407e-01 -1.81185770e-02 -5.22528636e+00] [-3.00131109e-02 1.41075241e-02 9.99449944e-01 -2.33971827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.81264 meters 0.013851210411360195 Centerline is valid? [True, True] Translation: X:57.47, Y:-5.24, Z:-2.34 [[ 9.90450365e-01 1.34882453e-01 2.85446684e-02 5.74713534e+01] [-1.34822800e-01 9.90861599e-01 -4.01304563e-03 -5.23751201e+00] [-2.88251052e-02 1.26250388e-04 9.99584462e-01 -2.34258786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.84264 meters 0.01431868867730896 Centerline is valid? [True, True] Translation: X:57.50, Y:-5.24, Z:-2.34 [[ 9.90693474e-01 1.33082123e-01 2.85585190e-02 5.74998975e+01] [-1.33021703e-01 9.91104998e-01 -4.01364322e-03 -5.24249551e+00] [-2.88386350e-02 1.77387319e-04 9.99584064e-01 -2.34334758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.872640000000004 meters 0.015394635302969419 Centerline is valid? [True, True] Translation: X:57.53, Y:-5.25, Z:-2.35 [[ 9.90922286e-01 1.31288129e-01 2.89214416e-02 5.75274611e+01] [-1.31225437e-01 9.91344226e-01 -4.06336059e-03 -5.24872369e+00] [-2.92045752e-02 2.31245739e-04 9.99573429e-01 -2.34521986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.902640000000005 meters 0.016612134123483918 Centerline is valid? [True, True] Translation: X:57.55, Y:-5.25, Z:-2.35 [[ 9.91163470e-01 1.29512729e-01 2.86605635e-02 5.75546706e+01] [-1.29450471e-01 9.91577720e-01 -4.02496952e-03 -5.25480409e+00] [-2.89404610e-02 2.79279297e-04 9.99581098e-01 -2.34689964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.932640000000006 meters 0.019959195508078027 Centerline is valid? [True, True] Translation: X:57.58, Y:-5.26, Z:-2.35 [[ 9.91575450e-01 1.26567675e-01 2.75454418e-02 5.75828506e+01] [-1.26509080e-01 9.91957913e-01 -3.86665287e-03 -5.26060179e+00] [-2.78133122e-02 3.49329551e-04 9.99613074e-01 -2.35006527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.96264000000001 meters 0.019351494629381363 Centerline is valid? [True, True] Translation: X:57.61, Y:-5.27, Z:-2.35 [[ 9.91705546e-01 1.25582405e-01 2.73709459e-02 5.76102538e+01] [-1.25524203e-01 9.92083122e-01 -3.84114098e-03 -5.26582062e+00] [-2.76366332e-02 3.73564635e-04 9.99617966e-01 -2.35109607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.99264 meters 0.020517777956354726 Centerline is valid? [True, True] Translation: X:57.64, Y:-5.27, Z:-2.35 [[ 9.91858130e-01 1.24570282e-01 2.64517413e-02 5.76373592e+01] [-1.24515616e-01 9.92210711e-01 -3.71023135e-03 -5.27321322e+00] [-2.67078856e-02 3.86368259e-04 9.99643206e-01 -2.35473100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.02264 meters 0.020618773564098126 Centerline is valid? [True, True] Translation: X:57.66, Y:-5.28, Z:-2.36 [[ 9.91860139e-01 1.24538396e-01 2.65264386e-02 5.76648608e+01] [-1.24483452e-01 9.92214714e-01 -3.71908557e-03 -5.27762827e+00] [-2.67830916e-02 3.86710074e-04 9.99641194e-01 -2.35593935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.052640000000004 meters 0.02210492040313856 Centerline is valid? [True, True] Translation: X:57.69, Y:-5.28, Z:-2.36 [[ 9.91538201e-01 1.26670505e-01 2.84003441e-02 5.76929511e+01] [-1.26608452e-01 9.91944787e-01 -3.97991770e-03 -5.27737622e+00] [-2.86757114e-02 3.50516850e-04 9.99588706e-01 -2.35511242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.082640000000005 meters 0.01686998517904368 Centerline is valid? [True, True] Translation: X:57.73, Y:-5.28, Z:-2.35 [[ 9.91577495e-01 1.25850691e-01 3.05888086e-02 5.77259474e+01] [-1.26008185e-01 9.92023815e-01 3.26909628e-03 -5.28090944e+00] [-2.99334086e-02 -7.09600253e-03 9.99526707e-01 -2.35374930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.112640000000006 meters 0.015654609329884727 Centerline is valid? [True, True] Translation: X:57.75, Y:-5.27, Z:-2.35 [[ 9.91004415e-01 1.30831256e-01 2.81679101e-02 5.77510471e+01] [-1.30547426e-01 9.91373052e-01 -1.16979493e-02 -5.27412821e+00] [-2.94553644e-02 7.91547130e-03 9.99534755e-01 -2.35264489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.14264000000001 meters 0.014112888151380665 Centerline is valid? [True, True] Translation: X:57.78, Y:-5.28, Z:-2.35 [[ 9.90701870e-01 1.32760848e-01 2.97382323e-02 5.77793569e+01] [-1.32695772e-01 9.91148085e-01 -4.15996089e-03 -5.27882227e+00] [-3.00272720e-02 1.75143326e-04 9.99549064e-01 -2.35424662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.17264 meters 0.012930825845942271 Centerline is valid? [True, True] Translation: X:57.81, Y:-5.27, Z:-2.36 [[ 9.90107660e-01 1.37110263e-01 2.97925601e-02 5.78082898e+01] [-1.37046948e-01 9.90555790e-01 -4.16655768e-03 -5.27466280e+00] [-3.00824707e-02 4.23612577e-05 9.99547419e-01 -2.35620375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.20264 meters 0.015089383710822267 Centerline is valid? [True, True] Translation: X:57.84, Y:-5.28, Z:-2.36 [[ 9.89888080e-01 1.38695196e-01 2.97528527e-02 5.78365823e+01] [-1.38632841e-01 9.90335116e-01 -4.15847591e-03 -5.27536754e+00] [-3.00420554e-02 -8.29675707e-06 9.99548636e-01 -2.35687101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.23264 meters 0.013058777923533596 Centerline is valid? [True, True] Translation: X:57.86, Y:-5.28, Z:-2.36 [[ 9.89650815e-01 1.40371041e-01 2.97864950e-02 5.78632249e+01] [-1.40309367e-01 9.90098968e-01 -4.16106212e-03 -5.27636172e+00] [-3.00756706e-02 -6.13257437e-05 9.99547623e-01 -2.35871370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.262640000000005 meters 0.013455744345554126 Centerline is valid? [True, True] Translation: X:57.89, Y:-5.28, Z:-2.36 [[ 9.89372839e-01 1.42289404e-01 2.99184171e-02 5.78920869e+01] [-1.42228154e-01 9.89825091e-01 -4.17634346e-03 -5.27561103e+00] [-3.02082494e-02 -1.23280462e-04 9.99543619e-01 -2.35919336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.292640000000006 meters 0.013835444888889083 Centerline is valid? [True, True] Translation: X:57.92, Y:-5.28, Z:-2.36 [[ 9.89328312e-01 1.42569226e-01 3.00583996e-02 5.79194281e+01] [-1.42507562e-01 9.89784824e-01 -4.19483861e-03 -5.27689158e+00] [-3.03494027e-02 -1.33476645e-04 9.99539342e-01 -2.36090191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.32264000000001 meters 0.01817135327382577 Centerline is valid? [True, True] Translation: X:57.95, Y:-5.28, Z:-2.36 [[ 9.89373277e-01 1.42382511e-01 2.94574238e-02 5.79482248e+01] [-1.42323294e-01 9.89811701e-01 -4.10803586e-03 -5.27830531e+00] [-2.97422152e-02 -1.28096675e-04 9.99557594e-01 -2.36476544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.35264 meters 0.013529923824894579 Centerline is valid? [True, True] Translation: X:57.98, Y:-5.28, Z:-2.36 [[ 9.89397128e-01 1.42242029e-01 2.93347565e-02 5.79761256e+01] [-1.42183273e-01 9.89831900e-01 -4.08987675e-03 -5.28166135e+00] [-2.96182301e-02 -1.24399387e-04 9.99561276e-01 -2.36247589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.38264 meters 0.01426899748882359 Centerline is valid? [True, True] Translation: X:58.00, Y:-5.28, Z:-2.37 [[ 9.89469418e-01 1.41840585e-01 2.88360882e-02 5.80036598e+01] [-1.41783708e-01 9.89889507e-01 -4.01803658e-03 -5.28338849e+00] [-2.91144618e-02 -1.12763182e-04 9.99576078e-01 -2.36699957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.41264 meters 0.013451031620241877 Centerline is valid? [True, True] Translation: X:58.03, Y:-5.29, Z:-2.37 [[ 9.89652179e-01 1.40665269e-01 2.83169096e-02 5.80318665e+01] [-1.40609995e-01 9.90057208e-01 -3.94377671e-03 -5.28680238e+00] [-2.85901129e-02 -7.86733151e-05 9.99591216e-01 -2.36695822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.442640000000004 meters 0.02486461472224852 Centerline is valid? [True, True] Translation: X:58.06, Y:-5.29, Z:-2.37 [[ 9.89807278e-01 1.39506861e-01 2.86249437e-02 5.80605748e+01] [-1.39449935e-01 9.90221103e-01 -3.98523764e-03 -5.29102061e+00] [-2.89009913e-02 -4.71293189e-05 9.99582278e-01 -2.36990383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.472640000000006 meters 0.013079424188207511 Centerline is valid? [True, True] Translation: X:58.09, Y:-5.29, Z:-2.37 [[ 9.89921897e-01 1.38642300e-01 2.88608798e-02 5.80885370e+01] [-1.38584102e-01 9.90342523e-01 -4.01677375e-03 -5.29490185e+00] [-2.91390513e-02 -2.33668339e-05 9.99575367e-01 -2.36831795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.50264000000001 meters 0.013072303200478967 Centerline is valid? [True, True] Translation: X:58.12, Y:-5.30, Z:-2.37 [[ 9.90130984e-01 1.37108849e-01 2.90137655e-02 5.81153026e+01] [-1.37049419e-01 9.90555987e-01 -4.03653659e-03 -5.29963283e+00] [-2.92932040e-02 2.03802295e-05 9.99570862e-01 -2.36997005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.53264000000001 meters 0.013702768653460241 Centerline is valid? [True, True] Translation: X:58.14, Y:-5.31, Z:-2.37 [[ 9.90568888e-01 1.33888750e-01 2.91046489e-02 5.81425509e+01] [-1.33827641e-01 9.90996362e-01 -4.04631221e-03 -5.30596383e+00] [-2.93843569e-02 1.13144490e-04 9.99568180e-01 -2.37066734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56264 meters 0.014146581404191077 Centerline is valid? [True, True] Translation: X:58.17, Y:-5.31, Z:-2.37 [[ 9.90776798e-01 1.32277123e-01 2.93955653e-02 5.81711201e+01] [-1.32214135e-01 9.91212761e-01 -4.08479775e-03 -5.31165055e+00] [-2.96775847e-02 1.60613601e-04 9.99559511e-01 -2.37167246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.59264 meters 0.015665685066237292 Centerline is valid? [True, True] Translation: X:58.20, Y:-5.32, Z:-2.37 [[ 9.91191035e-01 1.29077194e-01 2.96548447e-02 5.81986155e+01] [-1.29011696e-01 9.91634515e-01 -4.11953656e-03 -5.31935964e+00] [-2.99385058e-02 2.57425893e-04 9.99551709e-01 -2.37198688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.622640000000004 meters 0.01596687011806925 Centerline is valid? [True, True] Translation: X:58.23, Y:-5.32, Z:-2.37 [[ 9.91380926e-01 1.27591740e-01 2.97356136e-02 5.82266766e+01] [-1.27525275e-01 9.91826727e-01 -4.12881027e-03 -5.32393310e+00] [-3.00193784e-02 3.01181441e-04 9.99549272e-01 -2.37157188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.652640000000005 meters 0.016749379095343242 Centerline is valid? [True, True] Translation: X:58.25, Y:-5.33, Z:-2.37 [[ 9.91551383e-01 1.26172450e-01 3.01059425e-02 5.82549640e+01] [-1.26103711e-01 9.92008262e-01 -4.17869845e-03 -5.32876013e+00] [-3.03925803e-02 3.46923143e-04 9.99537979e-01 -2.37207375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.682640000000006 meters 0.019123430821733216 Centerline is valid? [True, True] Translation: X:58.28, Y:-5.34, Z:-2.38 [[ 9.91853046e-01 1.23881991e-01 2.96780666e-02 5.82819136e+01] [-1.23814206e-01 9.92296873e-01 -4.11800996e-03 -5.33551549e+00] [-2.99596000e-02 4.09894469e-04 9.99551026e-01 -2.37510668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.71264000000001 meters 0.01934661778589692 Centerline is valid? [True, True] Translation: X:58.31, Y:-5.34, Z:-2.38 [[ 9.91946750e-01 1.23196639e-01 2.93978414e-02 5.83099638e+01] [-1.23129886e-01 9.92382188e-01 -4.07717270e-03 -5.34033653e+00] [-2.96761881e-02 4.24585342e-04 9.99559475e-01 -2.37656962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74264 meters 0.02060709213931634 Centerline is valid? [True, True] Translation: X:58.34, Y:-5.35, Z:-2.38 [[ 9.92016351e-01 1.22677674e-01 2.92189653e-02 5.83376423e+01] [-1.22611543e-01 9.92446471e-01 -4.05111108e-03 -5.34591297e+00] [-2.94952398e-02 4.36186033e-04 9.99564826e-01 -2.37915271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.77264 meters 0.021215419237315153 Centerline is valid? [True, True] Translation: X:58.37, Y:-5.35, Z:-2.38 [[ 9.92054383e-01 1.22480644e-01 2.87505400e-02 5.83656614e+01] [-1.22416584e-01 9.92470808e-01 -3.98444382e-03 -5.34925965e+00] [-2.90220889e-02 4.33242051e-04 9.99578677e-01 -2.38098218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.802640000000004 meters 0.02075227506003358 Centerline is valid? [True, True] Translation: X:58.39, Y:-5.35, Z:-2.38 [[ 9.92046891e-01 1.22610640e-01 2.84534169e-02 5.83935191e+01] [-1.22547993e-01 9.92454760e-01 -3.94179276e-03 -5.35178359e+00] [-2.87220348e-02 4.23534111e-04 9.99587348e-01 -2.38230440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.832640000000005 meters 0.02397009904047839 Centerline is valid? [True, True] Translation: X:58.43, Y:-5.34, Z:-2.38 [[ 9.92241090e-01 1.22368364e-01 2.19909892e-02 5.84294109e+01] [-1.21960384e-01 9.92352550e-01 -1.90284331e-02 -5.34426616e+00] [-2.41512925e-02 1.61987637e-02 9.99577068e-01 -2.37879240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.862640000000006 meters 0.020516606762130796 Centerline is valid? [True, True] Translation: X:58.45, Y:-5.37, Z:-2.39 [[ 9.92013340e-01 1.22568496e-01 2.97740846e-02 5.84485675e+01] [-1.22957614e-01 9.92344090e-01 1.16030707e-02 -5.36698268e+00] [-2.81239660e-02 -1.51713514e-02 9.99489306e-01 -2.38841259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.89264000000001 meters 0.020516606762130796 Centerline is valid? [True, True] Translation: X:58.48, Y:-5.36, Z:-2.39 [[ 9.91999748e-01 1.23175513e-01 2.76458525e-02 5.84771562e+01] [-1.23116751e-01 9.92384825e-01 -3.82421177e-03 -5.36158621e+00] [-2.79063737e-02 3.89949561e-04 9.99610465e-01 -2.38682890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92264 meters 0.019891865168024193 Centerline is valid? [True, True] Translation: X:58.51, Y:-5.36, Z:-2.39 [[ 9.92079881e-01 1.22751785e-01 2.66366075e-02 5.85055236e+01] [-1.22697140e-01 9.92437329e-01 -3.68249876e-03 -5.36434681e+00] [-2.68871969e-02 3.85097373e-04 9.99638400e-01 -2.38835755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.95264 meters 0.019718222039420637 Centerline is valid? [True, True] Translation: X:58.54, Y:-5.36, Z:-2.39 [[ 9.92310846e-01 1.21464660e-01 2.37806913e-02 5.85400513e+01] [-1.21165091e-01 9.92538343e-01 -1.36622669e-02 -5.36351900e+00] [-2.52627305e-02 1.06758260e-02 9.99623840e-01 -2.38547146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.98264 meters 0.022942386673300175 Centerline is valid? [True, True] Translation: X:58.56, Y:-5.39, Z:-2.39 [[ 9.92630108e-01 1.17970386e-01 2.77210584e-02 5.85607964e+01] [-1.18187525e-01 9.92971156e-01 6.32389854e-03 -5.38578076e+00] [-2.67801786e-02 -9.55357538e-03 9.99595694e-01 -2.39154253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.012640000000005 meters 0.026113911771271023 Centerline is valid? [True, True] Translation: X:58.59, Y:-5.39, Z:-2.39 [[ 9.92849608e-01 1.16401285e-01 2.64650212e-02 5.85883645e+01] [-1.16345268e-01 9.93202115e-01 -3.65193854e-03 -5.38843964e+00] [-2.67102054e-02 5.46745765e-04 9.99643069e-01 -2.39206037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.042640000000006 meters 0.027357671475817226 Centerline is valid? [True, True] Translation: X:58.62, Y:-5.40, Z:-2.39 [[ 9.93044460e-01 1.14654404e-01 2.67781337e-02 5.86160330e+01] [-1.14596460e-01 9.93405259e-01 -3.69362087e-03 -5.39503347e+00] [-2.70250288e-02 5.99250417e-04 9.99634578e-01 -2.39221114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.07264000000001 meters 0.03012183921503607 Centerline is valid? [True, True] Translation: X:58.64, Y:-5.41, Z:-2.39 [[ 9.93319436e-01 1.12121824e-01 2.72982675e-02 5.86423080e+01] [-1.12060707e-01 9.93694236e-01 -3.76333451e-03 -5.40585035e+00] [-2.75480831e-02 6.79130158e-04 9.99620249e-01 -2.39179344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10264 meters 0.028138667695085964 Centerline is valid? [True, True] Translation: X:58.67, Y:-5.41, Z:-2.39 [[ 9.93361751e-01 1.11769663e-01 2.72024619e-02 5.86709511e+01] [-1.11708904e-01 9.93733905e-01 -3.74786773e-03 -5.40844155e+00] [-2.74509066e-02 6.84231247e-04 9.99622919e-01 -2.39007071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.13264 meters 0.028736806068451987 Centerline is valid? [True, True] Translation: X:58.70, Y:-5.41, Z:-2.39 [[ 9.93328336e-01 1.12040541e-01 2.73081398e-02 5.86986647e+01] [-1.11979443e-01 9.93703405e-01 -3.76124673e-03 -5.41395967e+00] [-2.75576037e-02 6.78202659e-04 9.99619987e-01 -2.39075258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.16264 meters 0.027964342022481756 Centerline is valid? [True, True] Translation: X:58.73, Y:-5.42, Z:-2.39 [[ 9.93062478e-01 1.14366437e-01 2.73355702e-02 5.87266383e+01] [-1.14306149e-01 9.93438445e-01 -3.76314559e-03 -5.41885198e+00] [-2.75865839e-02 6.12414929e-04 9.99619230e-01 -2.39266969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.192640000000004 meters 0.03108503949967827 Centerline is valid? [True, True] Translation: X:58.76, Y:-5.42, Z:-2.39 [[ 9.92860817e-01 1.16247575e-01 2.67188927e-02 5.87558141e+01] [-1.16190691e-01 9.93220118e-01 -3.67702265e-03 -5.41987454e+00] [-2.69651868e-02 5.46285101e-04 9.99636224e-01 -2.39361207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.222640000000006 meters 0.023154907790811488 Centerline is valid? [True, True] Translation: X:58.78, Y:-5.42, Z:-2.39 [[ 9.92695377e-01 1.17718983e-01 2.64221364e-02 5.87846460e+01] [-1.17663910e-01 9.93046822e-01 -3.63492741e-03 -5.42129740e+00] [-2.66663185e-02 4.99443764e-04 9.99644266e-01 -2.39348515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.25264000000001 meters 0.021851824902587323 Centerline is valid? [True, True] Translation: X:58.81, Y:-5.42, Z:-2.39 [[ 9.92491401e-01 1.19386190e-01 2.66036908e-02 5.88136838e+01] [-1.19330992e-01 9.92847788e-01 -3.65856370e-03 -5.42363041e+00] [-2.68501975e-02 4.56448215e-04 9.99639364e-01 -2.39458785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.28264000000001 meters 0.020512329822883067 Centerline is valid? [True, True] Translation: X:58.84, Y:-5.43, Z:-2.40 [[ 9.92235278e-01 1.21656045e-01 2.58642529e-02 5.88416000e+01] [-1.21604676e-01 9.92572244e-01 -3.55564032e-03 -5.42771212e+00] [-2.61047047e-02 3.82817660e-04 9.99659141e-01 -2.39640555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.31264 meters 0.020506733120730897 Centerline is valid? [True, True] Translation: X:58.87, Y:-5.43, Z:-2.40 [[ 9.92223769e-01 1.21904389e-01 2.51259444e-02 5.88696145e+01] [-1.21856021e-01 9.92541781e-01 -3.45295951e-03 -5.43314155e+00] [-2.53594805e-02 3.64360890e-04 9.99678330e-01 -2.39823355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.34264 meters 0.022759555752360557 Centerline is valid? [True, True] Translation: X:58.90, Y:-5.44, Z:-2.40 [[ 9.92288556e-01 1.21428530e-01 2.48703188e-02 5.88963288e+01] [-1.21381017e-01 9.92600108e-01 -3.41683729e-03 -5.44127655e+00] [-2.51011826e-02 3.71703948e-04 9.99684847e-01 -2.39944888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.372640000000004 meters 0.020960960993259645 Centerline is valid? [True, True] Translation: X:58.93, Y:-5.45, Z:-2.40 [[ 9.92346598e-01 1.20928756e-01 2.49892908e-02 5.89251720e+01] [-1.20880673e-01 9.92661114e-01 -3.43142456e-03 -5.44603415e+00] [-2.52208551e-02 3.84440194e-04 9.99681830e-01 -2.39912220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.402640000000005 meters 0.021577343573324442 Centerline is valid? [True, True] Translation: X:58.95, Y:-5.45, Z:-2.40 [[ 9.92358500e-01 1.20795856e-01 2.51588867e-02 5.89522247e+01] [-1.20747103e-01 9.92677294e-01 -3.45364979e-03 -5.45185675e+00] [-2.53918422e-02 3.89396045e-04 9.99677499e-01 -2.40049235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.432640000000006 meters 0.021669077536134923 Centerline is valid? [True, True] Translation: X:58.98, Y:-5.46, Z:-2.40 [[ 9.92342997e-01 1.20975227e-01 2.49072522e-02 5.89790577e+01] [-1.20927534e-01 9.92655454e-01 -3.41775245e-03 -5.45726068e+00] [-2.51377831e-02 3.79610115e-04 9.99683924e-01 -2.40193536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.46264000000001 meters 0.019899982118118994 Centerline is valid? [True, True] Translation: X:59.01, Y:-5.46, Z:-2.40 [[ 9.92088026e-01 1.22926827e-01 2.55018278e-02 5.90073908e+01] [-1.22877532e-01 9.92415680e-01 -3.49710652e-03 -5.46308903e+00] [-2.57383020e-02 3.35835848e-04 9.99668659e-01 -2.40131495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.49264 meters 0.019677572966716857 Centerline is valid? [True, True] Translation: X:59.03, Y:-5.47, Z:-2.40 [[ 9.91939526e-01 1.24133694e-01 2.54323261e-02 5.90347702e+01] [-1.24085090e-01 9.92265456e-01 -3.48654411e-03 -5.46748538e+00] [-2.56684162e-02 3.02668439e-04 9.99670466e-01 -2.40328532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.52264 meters 0.026804753237912957 Centerline is valid? [True, True] Translation: X:59.06, Y:-5.47, Z:-2.41 [[ 9.91502228e-01 1.27858521e-01 2.39902189e-02 5.90632486e+01] [-1.27816401e-01 9.91792398e-01 -3.28729845e-03 -5.46785552e+00] [-2.42136259e-02 1.93020302e-04 9.99706789e-01 -2.40709628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.552640000000004 meters 0.01639800755326555 Centerline is valid? [True, True] Translation: X:59.09, Y:-5.47, Z:-2.41 [[ 9.91298484e-01 1.29508807e-01 2.35538477e-02 5.90922733e+01] [-1.29468696e-01 9.91578261e-01 -3.22645662e-03 -5.46840533e+00] [-2.37733378e-02 1.48895625e-04 9.99717363e-01 -2.40534337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.582640000000005 meters 0.016148383364949278 Centerline is valid? [True, True] Translation: X:59.12, Y:-5.47, Z:-2.41 [[ 9.91075535e-01 1.31236989e-01 2.33695771e-02 5.91201059e+01] [-1.31198005e-01 9.91351018e-01 -3.20030116e-03 -5.47056003e+00] [-2.35874519e-02 1.05698298e-04 9.99721772e-01 -2.40740589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.612640000000006 meters 0.01590208869180929 Centerline is valid? [True, True] Translation: X:59.15, Y:-5.47, Z:-2.41 [[ 9.90887336e-01 1.32619691e-01 2.35436984e-02 5.91479565e+01] [-1.32580537e-01 9.91166995e-01 -3.22318274e-03 -5.47317046e+00] [-2.37631943e-02 7.23747728e-05 9.99717613e-01 -2.40838621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.64264000000001 meters 0.014245267128190468 Centerline is valid? [True, True] Translation: X:59.17, Y:-5.49, Z:-2.41 [[ 9.90060172e-01 1.36112195e-01 3.54164754e-02 5.91712828e+01] [-1.36599714e-01 9.90557006e-01 1.17190753e-02 -5.48504455e+00] [-3.34869287e-02 -1.64404702e-02 9.99303926e-01 -2.40979025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.67264 meters 0.014525549725426806 Centerline is valid? [True, True] Translation: X:59.20, Y:-5.48, Z:-2.41 [[ 9.89935505e-01 1.37549706e-01 3.32832342e-02 5.92003817e+01] [-1.37412328e-01 9.90493313e-01 -6.39127381e-03 -5.47828393e+00] [-3.38459388e-02 1.75342218e-03 9.99425524e-01 -2.40928320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.70264 meters 0.015839710964121595 Centerline is valid? [True, True] Translation: X:59.23, Y:-5.48, Z:-2.41 [[ 9.90382645e-01 1.36693857e-01 2.13776829e-02 5.92346713e+01] [-1.36344046e-01 9.90514797e-01 -1.70510195e-02 -5.47617150e+00] [-2.35056809e-02 1.39723140e-02 9.99626059e-01 -2.40916763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.73264 meters 0.027093583002377925 Centerline is valid? [True, True] Translation: X:59.26, Y:-5.50, Z:-2.41 [[ 9.89724344e-01 1.38441177e-01 3.57737937e-02 5.92559291e+01] [-1.39074009e-01 9.90155293e-01 1.58403009e-02 -5.49875130e+00] [-3.32286613e-02 -2.06527363e-02 9.99234367e-01 -2.41327245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.762640000000005 meters 0.01604397625275928 Centerline is valid? [True, True] Translation: X:59.29, Y:-5.48, Z:-2.41 [[ 9.89208916e-01 1.42678440e-01 3.32954008e-02 5.92862354e+01] [-1.42481082e-01 9.89763235e-01 -8.23890399e-03 -5.48403062e+00] [-3.41300776e-02 3.40603255e-03 9.99411595e-01 -2.41019738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.792640000000006 meters 0.01664475099168613 Centerline is valid? [True, True] Translation: X:59.31, Y:-5.49, Z:-2.41 [[ 9.88993436e-01 1.44366824e-01 3.24068330e-02 5.93149354e+01] [-1.44277950e-01 9.89524179e-01 -5.07663127e-03 -5.48790315e+00] [-3.28002419e-02 3.45163566e-04 9.99461868e-01 -2.41090232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.82264000000001 meters 0.018917516555001433 Centerline is valid? [True, True] Translation: X:59.34, Y:-5.48, Z:-2.41 [[ 9.88842672e-01 1.45874382e-01 3.01800254e-02 5.93447297e+01] [-1.45567512e-01 9.89273851e-01 -1.21386455e-02 -5.48406880e+00] [-3.16270273e-02 7.60997942e-03 9.99470770e-01 -2.41345407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.85264 meters 0.018697126015750166 Centerline is valid? [True, True] Translation: X:59.38, Y:-5.49, Z:-2.41 [[ 9.89147418e-01 1.45136501e-01 2.28644389e-02 5.93780890e+01] [-1.44931706e-01 9.89387194e-01 -1.03817585e-02 -5.48838232e+00] [-2.41285552e-02 6.95530745e-03 9.99684669e-01 -2.41134715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88264 meters 0.01931114254704219 Centerline is valid? [True, True] Translation: X:59.40, Y:-5.51, Z:-2.42 [[ 9.88345458e-01 1.47483393e-01 3.77081577e-02 5.93983482e+01] [-1.48308874e-01 9.88736682e-01 2.01060135e-02 -5.50842421e+00] [-3.43181356e-02 -2.54641415e-02 9.99086504e-01 -2.41763773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.91264 meters 0.0209106508246922 Centerline is valid? [True, True] Translation: X:59.44, Y:-5.49, Z:-2.42 [[ 9.88523859e-01 1.47555362e-01 3.23727471e-02 5.94353916e+01] [-1.47286613e-01 9.89037608e-01 -1.05481361e-02 -5.49224482e+00] [-3.35742984e-02 5.65901191e-03 9.99420203e-01 -2.41861978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.942640000000004 meters 0.020158049696462847 Centerline is valid? [True, True] Translation: X:59.46, Y:-5.51, Z:-2.42 [[ 9.88269856e-01 1.48294492e-01 3.64888258e-02 5.94552344e+01] [-1.48529382e-01 9.88900702e-01 3.79797156e-03 -5.50600056e+00] [-3.55206072e-02 -9.17308354e-03 9.99326844e-01 -2.42071178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.972640000000006 meters 0.02060003389142625 Centerline is valid? [True, True] Translation: X:59.49, Y:-5.49, Z:-2.42 [[ 9.89176148e-01 1.45589175e-01 1.82849516e-02 5.94929230e+01] [-1.45013193e-01 9.88985599e-01 -2.96421833e-02 -5.49099818e+00] [-2.23991348e-02 2.66697815e-02 9.99393317e-01 -2.41817625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.00264000000001 meters 0.019460895782147148 Centerline is valid? [True, True] Translation: X:59.52, Y:-5.51, Z:-2.43 [[ 9.89486888e-01 1.43119674e-01 2.07956257e-02 5.95188244e+01] [-1.43091987e-01 9.89705373e-01 -2.82103499e-03 -5.51352393e+00] [-2.09852881e-02 -1.84310270e-04 9.99779768e-01 -2.42510158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.03264000000001 meters 0.018499019359233575 Centerline is valid? [True, True] Translation: X:59.55, Y:-5.52, Z:-2.43 [[ 9.89872796e-01 1.40637258e-01 1.93134565e-02 5.95468425e+01] [-1.40612921e-01 9.90061183e-01 -2.61918450e-03 -5.52207774e+00] [-1.94898585e-02 -1.23062041e-04 9.99810047e-01 -2.42739954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06264 meters 0.01854600517273761 Centerline is valid? [True, True] Translation: X:59.57, Y:-5.53, Z:-2.43 [[ 9.89981614e-01 1.39875864e-01 1.92651677e-02 5.95741682e+01] [-1.39851517e-01 9.90169042e-01 -2.61195914e-03 -5.52700777e+00] [-1.94411226e-02 -1.08471399e-04 9.99810998e-01 -2.42964524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.09264 meters 0.02002284377475347 Centerline is valid? [True, True] Translation: X:59.60, Y:-5.53, Z:-2.44 [[ 9.90084116e-01 1.39131362e-01 1.93883161e-02 5.96013593e+01] [-1.39106570e-01 9.90273929e-01 -2.62813933e-03 -5.53059751e+00] [-1.95654006e-02 -9.49631424e-05 9.99808575e-01 -2.43593936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.122640000000004 meters 0.016986370289809784 Centerline is valid? [True, True] Translation: X:59.62, Y:-5.56, Z:-2.44 [[ 9.89553917e-01 1.39126936e-01 3.77722371e-02 5.96209466e+01] [-1.40219760e-01 9.89724361e-01 2.80019221e-02 -5.55650113e+00] [-3.34882816e-02 -3.30058258e-02 9.98893964e-01 -2.43695076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.152640000000005 meters 0.017927894867153037 Centerline is valid? [True, True] Translation: X:59.66, Y:-5.52, Z:-2.43 [[ 9.90103089e-01 1.39450573e-01 1.57927385e-02 5.96626422e+01] [-1.38838648e-01 9.89702463e-01 -3.48262135e-02 -5.52375103e+00] [-2.04866476e-02 3.22888991e-02 9.99268595e-01 -2.42715779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.182640000000006 meters 0.01808522087617694 Centerline is valid? [True, True] Translation: X:59.69, Y:-5.55, Z:-2.43 [[ 9.90226987e-01 1.38049150e-01 1.98228909e-02 5.96881885e+01] [-1.38023094e-01 9.90425376e-01 -2.68320047e-03 -5.54599900e+00] [-2.00035077e-02 -7.90392171e-05 9.99799907e-01 -2.43430290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.21264000000001 meters 0.01734499452867382 Centerline is valid? [True, True] Translation: X:59.72, Y:-5.55, Z:-2.43 [[ 9.90229856e-01 1.37988995e-01 2.00965179e-02 5.97166379e+01] [-1.37962222e-01 9.90433759e-01 -2.71927842e-03 -5.55116833e+00] [-2.02795002e-02 -7.98495732e-05 9.99794347e-01 -2.43325863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24264 meters 0.017716101276085923 Centerline is valid? [True, True] Translation: X:59.74, Y:-5.56, Z:-2.44 [[ 9.90228497e-01 1.37836135e-01 2.11830782e-02 5.97444723e+01] [-1.37806372e-01 9.90455044e-01 -2.86538946e-03 -5.55526509e+00] [-2.13758409e-02 -8.17728636e-05 9.99771507e-01 -2.43514859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.27264 meters 0.017604703264689606 Centerline is valid? [True, True] Translation: X:59.77, Y:-5.56, Z:-2.44 [[ 9.90260496e-01 1.37593401e-01 2.12651181e-02 5.97732189e+01] [-1.37563387e-01 9.90488793e-01 -2.87486901e-03 -5.55962960e+00] [-2.14584242e-02 -7.84324506e-05 9.99769738e-01 -2.43535819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.302640000000004 meters 0.01709470420592698 Centerline is valid? [True, True] Translation: X:59.80, Y:-5.56, Z:-2.43 [[ 9.90308778e-01 1.37229105e-01 2.13704853e-02 5.98019153e+01] [-1.37198729e-01 9.90539332e-01 -2.88812231e-03 -5.56392620e+00] [-2.15646407e-02 -7.18705464e-05 9.99767454e-01 -2.43424628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.332640000000005 meters 0.016452954621022486 Centerline is valid? [True, True] Translation: X:59.82, Y:-5.59, Z:-2.44 [[ 9.89629575e-01 1.37021798e-01 4.31083769e-02 5.98205162e+01] [-1.38743078e-01 9.89526630e-01 3.98422808e-02 -5.59332789e+00] [-3.71976260e-02 -4.54100883e-02 9.98275644e-01 -2.44223256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.362640000000006 meters 0.016840083756722506 Centerline is valid? [True, True] Translation: X:59.86, Y:-5.55, Z:-2.43 [[ 9.90083989e-01 1.39491874e-01 1.66045699e-02 5.98648363e+01] [-1.38575858e-01 9.89219076e-01 -4.73534741e-02 -5.54658021e+00] [-2.30309821e-02 4.45829240e-02 9.98740175e-01 -2.42669689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.39264000000001 meters 0.017175566280715746 Centerline is valid? [True, True] Translation: X:59.89, Y:-5.57, Z:-2.44 [[ 9.90115233e-01 1.38335082e-01 2.31350681e-02 5.98887601e+01] [-1.38299868e-01 9.90385477e-01 -3.12294964e-03 -5.57475778e+00] [-2.33446489e-02 -1.07496861e-04 9.99727471e-01 -2.43559995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42264 meters 0.016652254129696002 Centerline is valid? [True, True] Translation: X:59.91, Y:-5.60, Z:-2.44 [[ 9.89337541e-01 1.39240028e-01 4.27018050e-02 5.99086842e+01] [-1.40815690e-01 9.89365974e-01 3.64130459e-02 -5.60100847e+00] [-3.71775594e-02 -4.20378775e-02 9.98424081e-01 -2.44168771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.45264 meters 0.018213282695239846 Centerline is valid? [True, True] Translation: X:59.95, Y:-5.55, Z:-2.43 [[ 9.89627216e-01 1.42571585e-01 1.76441438e-02 5.99520891e+01] [-1.41687161e-01 9.88933226e-01 -4.39979938e-02 -5.55401180e+00] [-2.37217437e-02 4.10416635e-02 9.98875798e-01 -2.42981145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.48264 meters 0.021897909898526715 Centerline is valid? [True, True] Translation: X:59.98, Y:-5.57, Z:-2.44 [[ 9.89315294e-01 1.44015243e-01 2.26905010e-02 5.99776645e+01] [-1.43982941e-01 9.89575440e-01 -3.05952892e-03 -5.57105806e+00] [-2.28945814e-02 -2.40206322e-04 9.99737856e-01 -2.44245237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.512640000000005 meters 0.02001867416794132 Centerline is valid? [True, True] Translation: X:60.00, Y:-5.59, Z:-2.45 [[ 9.88632296e-01 1.45131858e-01 3.92801022e-02 5.99981294e+01] [-1.46421452e-01 9.88697559e-01 3.22163703e-02 -5.59466647e+00] [-3.41605195e-02 -3.76015938e-02 9.98708756e-01 -2.44685708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.542640000000006 meters 0.02355886374773946 Centerline is valid? [True, True] Translation: X:60.04, Y:-5.55, Z:-2.44 [[ 9.88712476e-01 1.48833269e-01 1.72132920e-02 6.00401466e+01] [-1.48070668e-01 9.88194615e-01 -3.93253069e-02 -5.54809332e+00] [-2.28629964e-02 3.63326379e-02 9.99078187e-01 -2.43622615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.57264000000001 meters 0.021619483795787296 Centerline is valid? [True, True] Translation: X:60.06, Y:-5.58, Z:-2.44 [[ 9.88800940e-01 1.46902430e-01 2.63130475e-02 6.00634034e+01] [-1.47119870e-01 9.89097200e-01 6.51705847e-03 -5.57778787e+00] [-2.50687898e-02 -1.03152457e-02 9.99632508e-01 -2.44472381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60264000000001 meters 0.027529497813773566 Centerline is valid? [True, True] Translation: X:60.10, Y:-5.57, Z:-2.44 [[ 9.88758639e-01 1.48064150e-01 2.08173292e-02 6.00952906e+01] [-1.47821324e-01 9.88931709e-01 -1.27644406e-02 -5.56666553e+00] [-2.24768730e-02 9.54370573e-03 9.99701809e-01 -2.44471971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.63264 meters 0.022951353525401768 Centerline is valid? [True, True] Translation: X:60.12, Y:-5.57, Z:-2.45 [[ 9.88956756e-01 1.46546823e-01 2.21034511e-02 6.01233133e+01] [-1.46516995e-01 9.89203689e-01 -2.97172500e-03 -5.57263401e+00] [-2.23003122e-02 -2.99623721e-04 9.99751272e-01 -2.44676390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.66264 meters 0.02076111725784478 Centerline is valid? [True, True] Translation: X:60.14, Y:-5.60, Z:-2.45 [[ 9.88444930e-01 1.46502577e-01 3.89052191e-02 6.01421616e+01] [-1.47749286e-01 9.88527417e-01 3.13638927e-02 -5.59738841e+00] [-3.38639846e-02 -3.67496991e-02 9.98750565e-01 -2.45267538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.692640000000004 meters 0.021506233471982935 Centerline is valid? [True, True] Translation: X:60.18, Y:-5.56, Z:-2.44 [[ 9.89008523e-01 1.46793689e-01 1.77131321e-02 6.01842323e+01] [-1.46035211e-01 9.88533382e-01 -3.84118500e-02 -5.55723758e+00] [-2.31486395e-02 3.54029060e-02 9.99104987e-01 -2.43980591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.722640000000006 meters 0.02064739496802762 Centerline is valid? [True, True] Translation: X:60.21, Y:-5.58, Z:-2.45 [[ 9.89323265e-01 1.44027833e-01 2.22589254e-02 6.02101884e+01] [-1.43997023e-01 9.89573606e-01 -2.98926715e-03 -5.57634336e+00] [-2.24573828e-02 -2.47867448e-04 9.99747770e-01 -2.44872880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.75264000000001 meters 0.020102145775037942 Centerline is valid? [True, True] Translation: X:60.24, Y:-5.58, Z:-2.45 [[ 9.89418556e-01 1.43363262e-01 2.23135905e-02 6.02387051e+01] [-1.43332155e-01 9.89670107e-01 -2.99552119e-03 -5.57827201e+00] [-2.25125412e-02 -2.34430757e-04 9.99746533e-01 -2.44974843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.78264000000001 meters 0.018874588795679367 Centerline is valid? [True, True] Translation: X:60.27, Y:-5.58, Z:-2.45 [[ 9.89561147e-01 1.42349197e-01 2.24820549e-02 6.02676018e+01] [-1.42317382e-01 9.89816478e-01 -3.01704444e-03 -5.58107727e+00] [-2.26825823e-02 -2.14037243e-04 9.99742694e-01 -2.45006574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.81264 meters 0.018874588795679367 Centerline is valid? [True, True] Translation: X:60.29, Y:-5.58, Z:-2.45 [[ 9.89571570e-01 1.42276710e-01 2.24821375e-02 6.02948367e+01] [-1.42244890e-01 9.89826900e-01 -3.01642893e-03 -5.58459882e+00] [-2.26825921e-02 -2.12996859e-04 9.99742694e-01 -2.45123660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.84264 meters 0.018099369286590786 Centerline is valid? [True, True] Translation: X:60.32, Y:-5.58, Z:-2.45 [[ 9.89868795e-01 1.40069207e-01 2.32462113e-02 6.03228120e+01] [-1.40034627e-01 9.90141701e-01 -3.11686197e-03 -5.58370061e+00] [-2.34536196e-02 -1.69990122e-04 9.99724912e-01 -2.45302308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.872640000000004 meters 0.017323416392172906 Centerline is valid? [True, True] Translation: X:60.35, Y:-5.59, Z:-2.45 [[ 9.90100737e-01 1.38369841e-01 2.35439478e-02 6.03521004e+01] [-1.38333883e-01 9.90380619e-01 -3.15704314e-03 -5.58577562e+00] [-2.37543092e-02 -1.31134987e-04 9.99717818e-01 -2.45411237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.902640000000005 meters 0.016731211755452623 Centerline is valid? [True, True] Translation: X:60.38, Y:-5.59, Z:-2.46 [[ 9.90698602e-01 1.33909054e-01 2.41794545e-02 6.03792591e+01] [-1.33869937e-01 9.90993625e-01 -3.23658698e-03 -5.59062659e+00] [-2.43950936e-02 -3.04198668e-05 9.99702395e-01 -2.45937368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.932640000000006 meters 0.013932624210749287 Centerline is valid? [True, True] Translation: X:60.40, Y:-5.62, Z:-2.46 [[ 9.90890332e-01 1.29625330e-01 3.65188124e-02 6.04025552e+01] [-1.30741712e-01 9.90961258e-01 3.00397939e-02 -5.61568144e+00] [-3.22948101e-02 -3.45406734e-02 9.98881368e-01 -2.46049285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.96264000000001 meters 0.015998328531594858 Centerline is valid? [True, True] Translation: X:60.44, Y:-5.58, Z:-2.45 [[ 9.91351207e-01 1.29840859e-01 1.90823378e-02 6.04398295e+01] [-1.29069860e-01 9.90936323e-01 -3.72313656e-02 -5.58231618e+00] [-2.37435341e-02 3.44464046e-02 9.99124462e-01 -2.45039312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.99264 meters 0.01737213570594187 Centerline is valid? [True, True] Translation: X:60.46, Y:-5.61, Z:-2.46 [[ 9.91789745e-01 1.25738870e-01 2.32988797e-02 6.04641050e+01] [-1.25700381e-01 9.92063360e-01 -3.11502457e-03 -5.60640770e+00] [-2.35056446e-02 1.60771359e-04 9.99723691e-01 -2.45986348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02264000000001 meters 0.020195833271289668 Centerline is valid? [True, True] Translation: X:60.49, Y:-5.61, Z:-2.46 [[ 9.92435427e-01 1.20690866e-01 2.24863777e-02 6.04929602e+01] [-1.20653789e-01 9.92690104e-01 -3.00332415e-03 -5.61454514e+00] [-2.26844784e-02 2.67538608e-04 9.99742638e-01 -2.46196973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.05264000000001 meters 0.022653791904877006 Centerline is valid? [True, True] Translation: X:60.52, Y:-5.62, Z:-2.47 [[ 9.92700952e-01 1.18499329e-01 2.24216309e-02 6.05202642e+01] [-1.18461902e-01 9.92954082e-01 -2.99484469e-03 -5.62253294e+00] [-2.26185370e-02 3.16876123e-04 9.99744118e-01 -2.46544806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08264 meters 0.025530750972198958 Centerline is valid? [True, True] Translation: X:60.55, Y:-5.63, Z:-2.47 [[ 9.93177555e-01 1.14408369e-01 2.25625794e-02 6.05490206e+01] [-1.14369461e-01 9.93433720e-01 -3.01163704e-03 -5.63058663e+00] [-2.27589837e-02 4.10620265e-04 9.99740896e-01 -2.46560946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.11264 meters 0.02497825372728573 Centerline is valid? [True, True] Translation: X:60.58, Y:-5.63, Z:-2.46 [[ 9.93359712e-01 1.12766684e-01 2.28069754e-02 6.05778397e+01] [-1.12726497e-01 9.93621391e-01 -3.04420848e-03 -5.63401390e+00] [-2.30047839e-02 4.53043616e-04 9.99735252e-01 -2.46401484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14264 meters 0.02542208869373718 Centerline is valid? [True, True] Translation: X:60.61, Y:-5.64, Z:-2.46 [[ 9.93553185e-01 1.11019727e-01 2.29496870e-02 6.06064492e+01] [-1.10978595e-01 9.93818079e-01 -3.06215144e-03 -5.63904402e+00] [-2.31477731e-02 4.95486297e-04 9.99731932e-01 -2.46380553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.17264 meters 0.027470380505462553 Centerline is valid? [True, True] Translation: X:60.63, Y:-5.65, Z:-2.46 [[ 9.93864938e-01 1.08047226e-01 2.36280085e-02 6.06346409e+01] [-1.08002815e-01 9.94145593e-01 -3.15142887e-03 -5.64692120e+00] [-2.38301836e-02 5.80203229e-04 9.99715852e-01 -2.46384233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20264 meters 0.03518045121883415 Centerline is valid? [True, True] Translation: X:60.66, Y:-5.66, Z:-2.47 [[ 9.93950479e-01 1.07106935e-01 2.43012404e-02 6.06614384e+01] [-1.07059702e-01 9.94247314e-01 -3.24017008e-03 -5.65573249e+00] [-2.45084876e-02 6.18885052e-04 9.99699430e-01 -2.46738802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.23264 meters 0.0290028340533863 Centerline is valid? [True, True] Translation: X:60.69, Y:-5.66, Z:-2.47 [[ 9.94057402e-01 1.06292939e-01 2.34881370e-02 6.06900655e+01] [-1.06248625e-01 9.94334668e-01 -3.13017602e-03 -5.65989640e+00] [-2.36877845e-02 6.15992379e-04 9.99719215e-01 -2.46731832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26264 meters 0.04002881988397772 Centerline is valid? [True, True] Translation: X:60.72, Y:-5.67, Z:-2.47 [[ 9.94043397e-01 1.06107842e-01 2.48767109e-02 6.07166926e+01] [-1.06058100e-01 9.94354411e-01 -3.31421361e-03 -5.67009137e+00] [-2.50879313e-02 6.56095469e-04 9.99685033e-01 -2.46857792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29264 meters 0.0385395165468974 Centerline is valid? [True, True] Translation: X:60.74, Y:-5.68, Z:-2.47 [[ 9.93998583e-01 1.06441783e-01 2.52381363e-02 6.07436299e+01] [-1.06390741e-01 9.94318720e-01 -3.36045043e-03 -5.67525433e+00] [-2.54524437e-02 6.55178955e-04 9.99675819e-01 -2.46977034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32264 meters 0.04180596780296588 Centerline is valid? [True, True] Translation: X:60.77, Y:-5.69, Z:-2.48 [[ 9.93844144e-01 1.07847297e-01 2.53530658e-02 6.07701137e+01] [-1.07796286e-01 9.94167277e-01 -3.37418678e-03 -5.68823448e+00] [-2.55690853e-02 6.20449449e-04 9.99672865e-01 -2.47555178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35264000000001 meters 0.028618765675614714 Centerline is valid? [True, True] Translation: X:60.80, Y:-5.69, Z:-2.47 [[ 9.93793923e-01 1.08493970e-01 2.45498894e-02 6.07991336e+01] [-1.08446378e-01 9.94096936e-01 -3.26565736e-03 -5.68735144e+00] [-2.47592740e-02 5.83043852e-04 9.99693272e-01 -2.47223004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38264000000001 meters 0.027794886147963785 Centerline is valid? [True, True] Translation: X:60.83, Y:-5.69, Z:-2.47 [[ 9.93710475e-01 1.09296281e-01 2.43683127e-02 6.08269058e+01] [-1.09249660e-01 9.94009060e-01 -3.24036160e-03 -5.69366866e+00] [-2.45764831e-02 5.57751396e-04 9.99697797e-01 -2.47364635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.41264000000001 meters 0.03046429577183091 Centerline is valid? [True, True] Translation: X:60.85, Y:-5.70, Z:-2.48 [[ 9.93642257e-01 1.09845114e-01 2.46802891e-02 6.08535650e+01] [-1.09797485e-01 9.93948564e-01 -3.28084044e-03 -5.70190165e+00] [-2.48913222e-02 5.50148020e-04 9.99690012e-01 -2.47683332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44264000000001 meters 0.03425005759184944 Centerline is valid? [True, True] Translation: X:60.88, Y:-5.71, Z:-2.48 [[ 9.93437718e-01 1.11882352e-01 2.37453029e-02 6.08799684e+01] [-1.11838878e-01 9.93721344e-01 -3.15521021e-03 -5.71098876e+00] [-2.39492267e-02 4.78856789e-04 9.99713061e-01 -2.48082615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.47264 meters 0.035403855182192884 Centerline is valid? [True, True] Translation: X:60.91, Y:-5.72, Z:-2.48 [[ 9.93280492e-01 1.13344339e-01 2.33864418e-02 6.09089344e+01] [-1.13302617e-01 9.93555671e-01 -3.10572138e-03 -5.71540181e+00] [-2.35877478e-02 4.35107410e-04 9.99721676e-01 -2.48219754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.50264 meters 0.025894076934328936 Centerline is valid? [True, True] Translation: X:60.94, Y:-5.71, Z:-2.48 [[ 9.92603012e-01 1.19038999e-01 2.38532482e-02 6.09393278e+01] [-1.18997269e-01 9.92889533e-01 -3.16640416e-03 -5.71435581e+00] [-2.40605660e-02 3.04510927e-04 9.99710456e-01 -2.48005283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.53264 meters 0.018212197602883538 Centerline is valid? [True, True] Translation: X:60.97, Y:-5.72, Z:-2.48 [[ 9.92193888e-01 1.22367342e-01 2.40316838e-02 6.09671411e+01] [-1.22325945e-01 9.92484853e-01 -3.19068596e-03 -5.71518549e+00] [-2.42415179e-02 2.26080675e-04 9.99706106e-01 -2.48080050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56264 meters 0.02501819885520672 Centerline is valid? [True, True] Translation: X:61.00, Y:-5.71, Z:-2.48 [[ 9.91189960e-01 1.30091213e-01 2.48744832e-02 6.09961352e+01] [-1.30049337e-01 9.91502030e-01 -3.30074480e-03 -5.71395694e+00] [-2.50924985e-02 3.67550557e-05 9.99685133e-01 -2.48205605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.59264 meters 0.015765259468013847 Centerline is valid? [True, True] Translation: X:61.02, Y:-5.71, Z:-2.48 [[ 9.90667099e-01 1.34076748e-01 2.45382296e-02 6.10245483e+01] [-1.34037242e-01 9.90970949e-01 -3.25516189e-03 -5.71342198e+00] [-2.47531142e-02 -6.42548348e-05 9.99693593e-01 -2.48291201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62264 meters 0.01671116278030756 Centerline is valid? [True, True] Translation: X:61.05, Y:-5.71, Z:-2.48 [[ 9.90165727e-01 1.37542581e-01 2.55709013e-02 6.10528265e+01] [-1.37500873e-01 9.90495842e-01 -3.39067810e-03 -5.71258447e+00] [-2.57942341e-02 -1.58687997e-04 9.99667261e-01 -2.48239775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.65264 meters 0.01981462080562709 Centerline is valid? [True, True] Translation: X:61.08, Y:-5.71, Z:-2.48 [[ 9.89258667e-01 1.43695536e-01 2.68119937e-02 6.10826325e+01] [-1.43652004e-01 9.89621887e-01 -3.55279345e-03 -5.70957670e+00] [-2.70442564e-02 -3.36964910e-04 9.99634180e-01 -2.48129272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68264 meters 0.021956343496265646 Centerline is valid? [True, True] Translation: X:61.11, Y:-5.71, Z:-2.48 [[ 9.88949732e-01 1.45723620e-01 2.72590182e-02 6.11108342e+01] [-1.45679427e-01 9.89325258e-01 -3.61081955e-03 -5.71019907e+00] [-2.74942170e-02 -4.00159135e-04 9.99621882e-01 -2.48297227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71264000000001 meters 0.025576426351263507 Centerline is valid? [True, True] Translation: X:61.14, Y:-5.71, Z:-2.48 [[ 9.88554467e-01 1.48200239e-01 2.82268338e-02 6.11394569e+01] [-1.48153914e-01 9.88957255e-01 -3.73715792e-03 -5.70738110e+00] [-2.84689798e-02 -4.87531747e-04 9.99594558e-01 -2.48483087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74264000000001 meters 0.025306658168148265 Centerline is valid? [True, True] Translation: X:61.17, Y:-5.71, Z:-2.49 [[ 9.88526998e-01 1.48411044e-01 2.80809044e-02 6.11678277e+01] [-1.48365335e-01 9.88925639e-01 -3.71595147e-03 -5.71110045e+00] [-2.83214146e-02 -4.92914439e-04 9.99598747e-01 -2.48654864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.77264000000001 meters 0.026975835556782134 Centerline is valid? [True, True] Translation: X:61.20, Y:-5.72, Z:-2.49 [[ 9.88605463e-01 1.47910128e-01 2.79612555e-02 6.11959468e+01] [-1.47864645e-01 9.89000690e-01 -3.69879775e-03 -5.71649897e+00] [-2.82007907e-02 -4.77829465e-04 9.99602164e-01 -2.48910249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80264000000001 meters 0.02775270322134398 Centerline is valid? [True, True] Translation: X:61.22, Y:-5.72, Z:-2.49 [[ 9.88735573e-01 1.47030756e-01 2.79986498e-02 6.12242828e+01] [-1.46984836e-01 9.89131816e-01 -3.70241766e-03 -5.72402599e+00] [-2.82387246e-02 -4.54664899e-04 9.99601104e-01 -2.49021555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.83264 meters 0.03221115063241758 Centerline is valid? [True, True] Translation: X:61.25, Y:-5.73, Z:-2.49 [[ 9.89025025e-01 1.45067850e-01 2.80146048e-02 6.12517940e+01] [-1.45021125e-01 9.89421628e-01 -3.70330960e-03 -5.73032608e+00] [-2.82554871e-02 -4.00043632e-04 9.99600654e-01 -2.49264899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86264 meters 0.02242133333547155 Centerline is valid? [True, True] Translation: X:61.28, Y:-5.73, Z:-2.49 [[ 9.89190749e-01 1.44055108e-01 2.73822721e-02 6.12800069e+01] [-1.44010131e-01 9.89569600e-01 -3.61790415e-03 -5.73419720e+00] [-2.76178417e-02 -3.64527289e-04 9.99618488e-01 -2.49346574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.89264 meters 0.01916896391967815 Centerline is valid? [True, True] Translation: X:61.31, Y:-5.74, Z:-2.49 [[ 9.89557845e-01 1.41564682e-01 2.71055646e-02 6.13083318e+01] [-1.41519711e-01 9.89928964e-01 -3.58004811e-03 -5.74084556e+00] [-2.73393919e-02 -2.93306983e-04 9.99626166e-01 -2.49394280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.92264 meters 0.01827479461460504 Centerline is valid? [True, True] Translation: X:61.34, Y:-5.75, Z:-2.49 [[ 9.89740409e-01 1.40196329e-01 2.75483605e-02 6.13356905e+01] [-1.40149369e-01 9.90123690e-01 -3.63772199e-03 -5.74610640e+00] [-2.77862796e-02 -2.60484888e-04 9.99613853e-01 -2.49499972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.95264 meters 0.01754294565694108 Centerline is valid? [True, True] Translation: X:61.36, Y:-5.75, Z:-2.50 [[ 9.89896321e-01 1.38997954e-01 2.80150493e-02 6.13629369e+01] [-1.38948990e-01 9.90292641e-01 -3.69646518e-03 -5.75150775e+00] [-2.82568983e-02 -2.33545531e-04 9.99600667e-01 -2.49601744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98264 meters 0.016396448833852866 Centerline is valid? [True, True] Translation: X:61.39, Y:-5.76, Z:-2.50 [[ 9.90119044e-01 1.37369574e-01 2.81758375e-02 6.13917126e+01] [-1.37319446e-01 9.90519845e-01 -3.71563395e-03 -5.75794231e+00] [-2.84191413e-02 -1.90170459e-04 9.99596077e-01 -2.49628441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.01264 meters 0.015944556617246357 Centerline is valid? [True, True] Translation: X:61.42, Y:-5.76, Z:-2.50 [[ 9.90180445e-01 1.36812537e-01 2.87230850e-02 6.14206679e+01] [-1.36760234e-01 9.90596940e-01 -3.78690212e-03 -5.76185165e+00] [-2.89710958e-02 -1.78459386e-04 9.99580234e-01 -2.49640192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04264 meters 0.014958717653958474 Centerline is valid? [True, True] Translation: X:61.45, Y:-5.76, Z:-2.49 [[ 9.90150392e-01 1.36503171e-01 3.11301365e-02 6.14493247e+01] [-1.36441631e-01 9.90639617e-01 -4.10260929e-03 -5.76465859e+00] [-3.13987656e-02 -1.85246380e-04 9.99506920e-01 -2.49340789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07264 meters 0.01535910084694932 Centerline is valid? [True, True] Translation: X:61.48, Y:-5.77, Z:-2.50 [[ 9.90174170e-01 1.36372086e-01 3.09478058e-02 6.14762217e+01] [-1.36311235e-01 9.90657671e-01 -4.07749237e-03 -5.76792733e+00] [-3.12147373e-02 -1.81105992e-04 9.99512685e-01 -2.49608515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10264000000001 meters 0.014803122527565746 Centerline is valid? [True, True] Translation: X:61.50, Y:-5.77, Z:-2.50 [[ 9.90282580e-01 1.35719420e-01 3.03422343e-02 6.15046248e+01] [-1.35660711e-01 9.90747300e-01 -3.99477184e-03 -5.77484497e+00] [-3.06036549e-02 -1.60296124e-04 9.99531586e-01 -2.49783037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.13264000000001 meters 0.026764524394163783 Centerline is valid? [True, True] Translation: X:61.53, Y:-5.78, Z:-2.50 [[ 9.90329743e-01 1.35100737e-01 3.15403215e-02 6.15334399e+01] [-1.35037040e-01 9.90831857e-01 -4.15078883e-03 -5.78023816e+00] [-3.18119300e-02 -1.48462016e-04 9.99493861e-01 -2.49853389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16264000000001 meters 0.013797893681800358 Centerline is valid? [True, True] Translation: X:61.56, Y:-5.78, Z:-2.50 [[ 9.90327653e-01 1.34877602e-01 3.25449287e-02 6.15616910e+01] [-1.34809687e-01 9.90862256e-01 -4.28220948e-03 -5.78277282e+00] [-3.28251156e-02 -1.46581187e-04 9.99461100e-01 -2.49739050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.19264000000001 meters 0.013445122160606109 Centerline is valid? [True, True] Translation: X:61.59, Y:-5.79, Z:-2.50 [[ 9.90580676e-01 1.33035576e-01 3.24262101e-02 6.15888655e+01] [-1.32967269e-01 9.91111259e-01 -4.26354750e-03 -5.78831392e+00] [-3.27051854e-02 -8.82368171e-05 9.99465038e-01 -2.49936081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22264 meters 0.023720631224097434 Centerline is valid? [True, True] Translation: X:61.62, Y:-5.80, Z:-2.50 [[ 9.90777014e-01 1.31463213e-01 3.28379549e-02 6.16173336e+01] [-1.31392366e-01 9.91321049e-01 -4.31555397e-03 -5.79564039e+00] [-3.31202925e-02 -3.89049210e-05 9.99451372e-01 -2.50085797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.25264 meters 0.012994733134160016 Centerline is valid? [True, True] Translation: X:61.64, Y:-5.80, Z:-2.50 [[ 9.91012441e-01 1.29742827e-01 3.25751515e-02 6.16441559e+01] [-1.29672227e-01 9.91547678e-01 -4.27961650e-03 -5.80196321e+00] [-3.28550654e-02 1.70607655e-05 9.99460126e-01 -2.50099463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28264 meters 0.01335143384270176 Centerline is valid? [True, True] Translation: X:61.67, Y:-5.81, Z:-2.50 [[ 9.91478775e-01 1.26069447e-01 3.28075200e-02 6.16719801e+01] [-1.25995897e-01 9.92021409e-01 -4.30795223e-03 -5.81430075e+00] [-3.30888633e-02 1.37630301e-04 9.99452404e-01 -2.50110976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.31264 meters 0.014254483722831324 Centerline is valid? [True, True] Translation: X:61.70, Y:-5.82, Z:-2.50 [[ 9.91762034e-01 1.24009872e-01 3.20876765e-02 6.16999305e+01] [-1.23938485e-01 9.92280964e-01 -4.21192275e-03 -5.82298928e+00] [-3.23623105e-02 2.00327053e-04 9.99476183e-01 -2.50319161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34264 meters 0.016281371067635567 Centerline is valid? [True, True] Translation: X:61.73, Y:-5.84, Z:-2.51 [[ 9.92168049e-01 1.20753954e-01 3.19538021e-02 6.17259353e+01] [-1.20681520e-01 9.92682422e-01 -4.19292797e-03 -5.83579694e+00] [-3.22262902e-02 3.03855773e-04 9.99480552e-01 -2.50616568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.37264 meters 0.020846619048777347 Centerline is valid? [True, True] Translation: X:61.75, Y:-5.84, Z:-2.51 [[ 9.92333273e-01 1.19341544e-01 3.21289838e-02 6.17542904e+01] [-1.19267640e-01 9.92853198e-01 -4.21383852e-03 -5.84309119e+00] [-3.24022503e-02 3.49584101e-04 9.99474848e-01 -2.50808575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40264 meters 0.024328571910780264 Centerline is valid? [True, True] Translation: X:61.78, Y:-5.85, Z:-2.51 [[ 9.92415951e-01 1.18471439e-01 3.27886957e-02 6.17824727e+01] [-1.18394047e-01 9.92957386e-01 -4.29873998e-03 -5.84906593e+00] [-3.30670555e-02 3.84151768e-04 9.99453062e-01 -2.50892985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43264 meters 0.017609676020370228 Centerline is valid? [True, True] Translation: X:61.81, Y:-5.85, Z:-2.51 [[ 9.92494541e-01 1.17760368e-01 3.29709323e-02 6.18112097e+01] [-1.17681778e-01 9.93041957e-01 -4.32089673e-03 -5.85460369e+00] [-3.32503496e-02 4.08388482e-04 9.99446971e-01 -2.50797771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46264000000001 meters 0.018784243984222255 Centerline is valid? [True, True] Translation: X:61.84, Y:-5.87, Z:-2.51 [[ 9.92610101e-01 1.16675659e-01 3.33463441e-02 6.18383563e+01] [-1.16594699e-01 9.93169970e-01 -4.36884959e-03 -5.86531443e+00] [-3.36283260e-02 4.48557279e-04 9.99434307e-01 -2.51015276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.49264000000001 meters 0.018366668420323386 Centerline is valid? [True, True] Translation: X:61.87, Y:-5.87, Z:-2.51 [[ 9.92669567e-01 1.16294974e-01 3.29030456e-02 6.18672998e+01] [-1.16215987e-01 9.93214616e-01 -4.30947931e-03 -5.87125214e+00] [-3.31809566e-02 4.54029045e-04 9.99449257e-01 -2.51136287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52264000000001 meters 0.018936326787209568 Centerline is valid? [True, True] Translation: X:61.90, Y:-5.88, Z:-2.51 [[ 9.92720544e-01 1.16026645e-01 3.23069650e-02 6.18954315e+01] [-1.15950389e-01 9.93245998e-01 -4.23029522e-03 -5.88101163e+00] [-3.25795907e-02 4.53495821e-04 9.99469041e-01 -2.51462366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.55264000000001 meters 0.01976006247643063 Centerline is valid? [True, True] Translation: X:61.92, Y:-5.89, Z:-2.52 [[ 9.92741379e-01 1.15860336e-01 3.22635439e-02 6.19244735e+01] [-1.15784181e-01 9.93265409e-01 -4.22509272e-03 -5.88837754e+00] [-3.25357828e-02 4.58816375e-04 9.99470466e-01 -2.51681501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58264 meters 0.019021809375640398 Centerline is valid? [True, True] Translation: X:61.95, Y:-5.89, Z:-2.52 [[ 9.92710943e-01 1.16027643e-01 3.25970975e-02 6.19535449e+01] [-1.15950004e-01 9.93245879e-01 -4.26848821e-03 -5.89340011e+00] [-3.28721954e-02 4.57741378e-04 9.99459459e-01 -2.51707367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.61264 meters 0.02777590927697659 Centerline is valid? [True, True] Translation: X:61.98, Y:-5.90, Z:-2.52 [[ 9.92605302e-01 1.16864753e-01 3.28229239e-02 6.19833849e+01] [-1.16786526e-01 9.93147745e-01 -4.29702294e-03 -5.90144940e+00] [-3.31001834e-02 4.31972490e-04 9.99451945e-01 -2.51945678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.64264 meters 0.018637551773700696 Centerline is valid? [True, True] Translation: X:62.01, Y:-5.91, Z:-2.52 [[ 9.92440518e-01 1.18263650e-01 3.27952443e-02 6.20122700e+01] [-1.18186315e-01 9.92982155e-01 -4.29351271e-03 -5.90810036e+00] [-3.30728589e-02 3.85106911e-04 9.99452869e-01 -2.52072656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.67264 meters 0.018637551773700696 Centerline is valid? [True, True] Translation: X:62.04, Y:-5.91, Z:-2.52 [[ 9.92440518e-01 1.18263629e-01 3.27953097e-02 6.20419926e+01] [-1.18186310e-01 9.92982158e-01 -4.29301309e-03 -5.91199142e+00] [-3.30728647e-02 3.84603489e-04 9.99452869e-01 -2.52200425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70264 meters 0.01469157828813879 Centerline is valid? [True, True] Translation: X:62.07, Y:-5.92, Z:-2.52 [[ 9.92064117e-01 1.21332184e-01 3.29740798e-02 6.20724773e+01] [-1.21255713e-01 9.92611918e-01 -4.31641467e-03 -5.91545699e+00] [-3.32541846e-02 2.83864552e-04 9.99446886e-01 -2.52090201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.73264 meters 0.014117120206215307 Centerline is valid? [True, True] Translation: X:62.10, Y:-5.92, Z:-2.52 [[ 9.91813559e-01 1.23380009e-01 3.29125822e-02 6.21013114e+01] [-1.23304947e-01 9.92359475e-01 -4.30848257e-03 -5.91991421e+00] [-3.31926934e-02 2.14927236e-04 9.99448948e-01 -2.52266341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76264 meters 0.013262813908026161 Centerline is valid? [True, True] Translation: X:62.13, Y:-5.92, Z:-2.52 [[ 9.91539854e-01 1.25588647e-01 3.28056507e-02 6.21308314e+01] [-1.25515289e-01 9.92082392e-01 -4.29418054e-03 -5.92268467e+00] [-3.30852087e-02 1.40240404e-04 9.99452525e-01 -2.52449323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79264 meters 0.01226329242404224 Centerline is valid? [True, True] Translation: X:62.16, Y:-5.93, Z:-2.53 [[ 9.91061214e-01 1.29182038e-01 3.33117148e-02 6.21607427e+01] [-1.29108456e-01 9.91620896e-01 -4.35959289e-03 -5.92587467e+00] [-3.35957736e-02 1.97993618e-05 9.99435502e-01 -2.52570343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82264 meters 0.012549237709503683 Centerline is valid? [True, True] Translation: X:62.19, Y:-5.93, Z:-2.53 [[ 9.90817314e-01 1.30985441e-01 3.35240751e-02 6.21880625e+01] [-1.30911965e-01 9.91384291e-01 -4.38691599e-03 -5.92824555e+00] [-3.38098636e-02 -4.20702247e-05 9.99428282e-01 -2.52706680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85264000000001 meters 0.012808122752852263 Centerline is valid? [True, True] Translation: X:62.22, Y:-5.93, Z:-2.53 [[ 9.90570814e-01 1.32726918e-01 3.39562581e-02 6.22171399e+01] [-1.32652639e-01 9.91152639e-01 -4.44107562e-03 -5.93043157e+00] [-3.42452851e-02 -1.05187365e-04 9.99413453e-01 -2.52709930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88264000000001 meters 0.014281692695442397 Centerline is valid? [True, True] Translation: X:62.24, Y:-5.93, Z:-2.53 [[ 9.90135862e-01 1.35846077e-01 3.43047984e-02 6.22447100e+01] [-1.35772190e-01 9.90729931e-01 -4.48507322e-03 -5.93184334e+00] [-3.45960701e-02 -2.16805772e-04 9.99401353e-01 -2.52828604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.91264000000001 meters 0.015119977587934165 Centerline is valid? [True, True] Translation: X:62.27, Y:-5.93, Z:-2.53 [[ 9.89985070e-01 1.36942541e-01 3.42972582e-02 6.22727232e+01] [-1.36869414e-01 9.90578959e-01 -4.48206371e-03 -5.93452057e+00] [-3.45879275e-02 -2.57069482e-04 9.99401626e-01 -2.52973366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94264000000001 meters 0.015418998568415183 Centerline is valid? [True, True] Translation: X:62.30, Y:-5.94, Z:-2.53 [[ 9.89852050e-01 1.37917875e-01 3.42283334e-02 6.23007924e+01] [-1.37845707e-01 9.90443625e-01 -4.47069143e-03 -5.93990166e+00] [-3.45178229e-02 -2.92905754e-04 9.99404039e-01 -2.53083896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.97264 meters 0.015448753618181219 Centerline is valid? [True, True] Translation: X:62.33, Y:-5.94, Z:-2.53 [[ 9.89873849e-01 1.37736819e-01 3.43268477e-02 6.23293024e+01] [-1.37664185e-01 9.90468821e-01 -4.48185487e-03 -5.94481098e+00] [-3.46169888e-02 -2.89106589e-04 9.99400611e-01 -2.53244091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.00264 meters 0.015253657299469179 Centerline is valid? [True, True] Translation: X:62.36, Y:-5.95, Z:-2.53 [[ 9.89883547e-01 1.37584682e-01 3.46557272e-02 6.23570999e+01] [-1.37510613e-01 9.90489966e-01 -4.52315689e-03 -5.94940937e+00] [-3.49484672e-02 -2.88131710e-04 9.99389074e-01 -2.53321352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.03264 meters 0.029933734956884048 Centerline is valid? [True, True] Translation: X:62.39, Y:-5.96, Z:-2.53 [[ 9.90017319e-01 1.36430566e-01 3.53893885e-02 6.23858981e+01] [-1.36352679e-01 9.90649603e-01 -4.61642932e-03 -5.95599385e+00] [-3.56883057e-02 -2.55092945e-04 9.99362937e-01 -2.53420491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06264 meters 0.018018059649089584 Centerline is valid? [True, True] Translation: X:62.41, Y:-5.96, Z:-2.53 [[ 9.90119111e-01 1.35522231e-01 3.60259692e-02 6.24149204e+01] [-1.35440947e-01 9.90774280e-01 -4.69857282e-03 -5.96197086e+00] [-3.63303648e-02 -2.27244649e-04 9.99339809e-01 -2.53426123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.09264 meters 0.012812232705960753 Centerline is valid? [True, True] Translation: X:62.44, Y:-5.97, Z:-2.54 [[ 9.90463285e-01 1.33073634e-01 3.56915729e-02 6.24432559e+01] [-1.32992298e-01 9.91106144e-01 -4.65400312e-03 -5.97179190e+00] [-3.59934623e-02 -1.37085060e-04 9.99352016e-01 -2.53620729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12264 meters 0.014952672342258536 Centerline is valid? [True, True] Translation: X:62.47, Y:-5.98, Z:-2.54 [[ 9.90711523e-01 1.31371488e-01 3.51028424e-02 6.24719387e+01] [-1.31291760e-01 9.91333207e-01 -4.57681104e-03 -5.97917139e+00] [-3.53998758e-02 -7.44145356e-05 9.99373225e-01 -2.53944962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.15264 meters 0.027861422580325527 Centerline is valid? [True, True] Translation: X:62.50, Y:-5.99, Z:-2.54 [[ 9.90990760e-01 1.29449305e-01 3.43539013e-02 6.25017762e+01] [-1.29371806e-01 9.91586041e-01 -4.47866124e-03 -5.98746168e+00] [-3.46446085e-02 -6.11435792e-06 9.99399695e-01 -2.54196337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18264 meters 0.012774178073588244 Centerline is valid? [True, True] Translation: X:62.53, Y:-6.00, Z:-2.54 [[ 9.91439301e-01 1.25976897e-01 3.43210315e-02 6.25317760e+01] [-1.25897509e-01 9.92033169e-01 -4.47310462e-03 -5.99994454e+00] [-3.46111095e-02 1.13879327e-04 9.99400850e-01 -2.54300679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21264000000001 meters 0.02489845437259856 Centerline is valid? [True, True] Translation: X:62.56, Y:-6.01, Z:-2.55 [[ 9.91617146e-01 1.24662282e-01 3.39816416e-02 6.25617868e+01] [-1.24583499e-01 9.92199218e-01 -4.43429762e-03 -6.00923446e+00] [-3.42693479e-02 1.63573739e-04 9.99412620e-01 -2.54643442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24264000000001 meters 0.013844607076409136 Centerline is valid? [True, True] Translation: X:62.59, Y:-6.02, Z:-2.55 [[ 9.91684657e-01 1.23939272e-01 3.46496449e-02 6.25934844e+01] [-1.23856727e-01 9.92289785e-01 -4.52699219e-03 -6.01624838e+00] [-3.49435608e-02 1.97757096e-04 9.99389268e-01 -2.54571640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.27264000000001 meters 0.014284547350019834 Centerline is valid? [True, True] Translation: X:62.62, Y:-6.03, Z:-2.55 [[ 9.91750566e-01 1.23514426e-01 3.42782832e-02 6.26249428e+01] [-1.23433192e-01 9.92342753e-01 -4.48410751e-03 -6.02545159e+00] [-3.45696579e-02 2.16038270e-04 9.99402267e-01 -2.54811746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30264000000001 meters 0.013972498308897553 Centerline is valid? [True, True] Translation: X:62.66, Y:-6.03, Z:-2.55 [[ 9.91679772e-01 1.24099388e-01 3.42136064e-02 6.26565597e+01] [-1.24018612e-01 9.92269773e-01 -4.48132622e-03 -6.03123527e+00] [-3.45052573e-02 2.00916597e-04 9.99404496e-01 -2.54939274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.33264 meters 0.01310472078750856 Centerline is valid? [True, True] Translation: X:62.69, Y:-6.04, Z:-2.55 [[ 9.91377319e-01 1.26400543e-01 3.45530620e-02 6.26869978e+01] [-1.26319345e-01 9.91979277e-01 -4.53175533e-03 -6.03603879e+00] [-3.48487378e-02 1.27959293e-04 9.99392590e-01 -2.55061690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.36264 meters 0.012883347995843428 Centerline is valid? [True, True] Translation: X:62.72, Y:-6.04, Z:-2.55 [[ 9.91155258e-01 1.28266364e-01 3.40440165e-02 6.27180360e+01] [-1.28188464e-01 9.91739752e-01 -4.47017957e-03 -6.03917784e+00] [-3.43361781e-02 6.65918243e-05 9.99410337e-01 -2.55320946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.39264 meters 0.012757822643048448 Centerline is valid? [True, True] Translation: X:62.75, Y:-6.04, Z:-2.56 [[ 9.90959109e-01 1.29973259e-01 3.32715439e-02 6.27497275e+01] [-1.29899609e-01 9.91517500e-01 -4.37489980e-03 -6.04154130e+00] [-3.35579380e-02 1.33862645e-05 9.99436774e-01 -2.55570701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42264 meters 0.013748918154872752 Centerline is valid? [True, True] Translation: X:62.78, Y:-6.04, Z:-2.56 [[ 9.90492858e-01 1.33717414e-01 3.23040533e-02 6.27801971e+01] [-1.33649945e-01 9.91019496e-01 -4.24865173e-03 -6.04129338e+00] [-3.25820653e-02 -1.09175740e-04 9.99469058e-01 -2.55950079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.45264 meters 0.013831352613605599 Centerline is valid? [True, True] Translation: X:62.81, Y:-6.04, Z:-2.56 [[ 9.90280458e-01 1.35381334e-01 3.18827301e-02 6.28107361e+01] [-1.35316476e-01 9.90793555e-01 -4.19323901e-03 -6.04499800e+00] [-3.21568898e-02 -1.61776023e-04 9.99482820e-01 -2.55955561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48264 meters 0.015654737922132126 Centerline is valid? [True, True] Translation: X:62.84, Y:-6.05, Z:-2.56 [[ 9.90025746e-01 1.37291789e-01 3.16225808e-02 6.28399755e+01] [-1.37228954e-01 9.90530623e-01 -4.15916007e-03 -6.04618831e+00] [-3.18941532e-02 -2.21858150e-04 9.99491227e-01 -2.56351779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.51264 meters 0.01765236957066176 Centerline is valid? [True, True] Translation: X:62.87, Y:-6.05, Z:-2.56 [[ 9.89572680e-01 1.40515949e-01 3.16414204e-02 6.28696378e+01] [-1.40454695e-01 9.90078361e-01 -4.16135401e-03 -6.04769121e+00] [-3.19122222e-02 -3.26223812e-04 9.99490622e-01 -2.56474067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54264 meters 0.01811145635847066 Centerline is valid? [True, True] Translation: X:62.90, Y:-6.05, Z:-2.57 [[ 9.89425540e-01 1.41578517e-01 3.15059270e-02 6.28988510e+01] [-1.41518350e-01 9.89926964e-01 -4.14277439e-03 -6.05155313e+00] [-3.17750945e-02 -3.59700001e-04 9.99494979e-01 -2.56525032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57264 meters 0.020154434862411814 Centerline is valid? [True, True] Translation: X:62.93, Y:-6.05, Z:-2.57 [[ 9.89201095e-01 1.43026675e-01 3.20088168e-02 6.29270998e+01] [-1.42965354e-01 9.89718748e-01 -4.20812089e-03 -6.05499447e+00] [-3.22815997e-02 -4.13474052e-04 9.99478728e-01 -2.56784248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60264000000001 meters 0.02160809332053939 Centerline is valid? [True, True] Translation: X:62.96, Y:-6.06, Z:-2.57 [[ 9.89250030e-01 1.42778893e-01 3.16000867e-02 6.29554930e+01] [-1.42719032e-01 9.89754529e-01 -4.15346500e-03 -6.06135208e+00] [-3.18693560e-02 -4.01118406e-04 9.99491963e-01 -2.57017810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.63264000000001 meters 0.018696230487540072 Centerline is valid? [True, True] Translation: X:62.98, Y:-6.07, Z:-2.57 [[ 9.89305440e-01 1.42295814e-01 3.20413503e-02 6.29849381e+01] [-1.42234047e-01 9.89824099e-01 -4.21048363e-03 -6.06908591e+00] [-3.23144349e-02 -3.91916552e-04 9.99477675e-01 -2.56943678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66264000000001 meters 0.018951689999075004 Centerline is valid? [True, True] Translation: X:63.01, Y:-6.07, Z:-2.57 [[ 9.89348576e-01 1.41894983e-01 3.24839808e-02 6.30139691e+01] [-1.41831304e-01 9.89881642e-01 -4.26797660e-03 -6.07396243e+00] [-3.27609008e-02 -3.84728778e-04 9.99463144e-01 -2.57088767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.69264000000001 meters 0.01795296867405742 Centerline is valid? [True, True] Translation: X:63.04, Y:-6.08, Z:-2.57 [[ 9.89418251e-01 1.41351193e-01 3.27316985e-02 6.30437283e+01] [-1.41286221e-01 9.89959446e-01 -4.30111790e-03 -6.08170375e+00] [-3.30110222e-02 -3.68933419e-04 9.99454920e-01 -2.57063168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72264 meters 0.0185214832331791 Centerline is valid? [True, True] Translation: X:63.07, Y:-6.09, Z:-2.57 [[ 9.89403413e-01 1.41441953e-01 3.27881268e-02 6.30724821e+01] [-1.41376803e-01 9.89946481e-01 -4.30865059e-03 -6.08582585e+00] [-3.30679147e-02 -3.72486938e-04 9.99453038e-01 -2.57258413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.75264 meters 0.018406536174792806 Centerline is valid? [True, True] Translation: X:63.10, Y:-6.09, Z:-2.57 [[ 9.89235522e-01 1.42329569e-01 3.39908299e-02 6.31028444e+01] [-1.42260092e-01 9.89819236e-01 -4.46615015e-03 -6.09316234e+00] [-3.42804425e-02 -4.17464238e-04 9.99412166e-01 -2.57117882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78264 meters 0.019320093337883905 Centerline is valid? [True, True] Translation: X:63.13, Y:-6.10, Z:-2.57 [[ 9.89067695e-01 1.43441374e-01 3.42004053e-02 6.31331179e+01] [-1.43371703e-01 9.89658710e-01 -4.49368684e-03 -6.09784854e+00] [-3.44913096e-02 -4.58809862e-04 9.99404892e-01 -2.57221722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.81264 meters 0.0367060868688572 Centerline is valid? [True, True] Translation: X:63.16, Y:-6.10, Z:-2.57 [[ 9.88627407e-01 1.46751982e-01 3.28588674e-02 6.31637302e+01] [-1.46689497e-01 9.89173166e-01 -4.31741843e-03 -6.10007914e+00] [-3.31366996e-02 -5.51732532e-04 9.99450676e-01 -2.57472944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84264 meters 0.024797325124265256 Centerline is valid? [True, True] Translation: X:63.19, Y:-6.10, Z:-2.57 [[ 9.88183812e-01 1.49398048e-01 3.42487622e-02 6.31939134e+01] [-1.49331745e-01 9.88776910e-01 -4.50023891e-03 -6.09908228e+00] [-3.45367122e-02 -6.67364175e-04 9.99403207e-01 -2.57421580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.87264 meters 0.02728631832364095 Centerline is valid? [True, True] Translation: X:63.22, Y:-6.10, Z:-2.58 [[ 9.87763774e-01 1.52105476e-01 3.44478058e-02 6.32235909e+01] [-1.52040071e-01 9.88363969e-01 -4.52562640e-03 -6.09816470e+00] [-3.47353426e-02 -7.67197002e-04 9.99396251e-01 -2.57512469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90264 meters 0.03223539171643822 Centerline is valid? [True, True] Translation: X:63.25, Y:-6.09, Z:-2.58 [[ 9.87312514e-01 1.55036405e-01 3.43178112e-02 6.32525326e+01] [-1.54973302e-01 9.87908376e-01 -4.50736919e-03 -6.09443429e+00] [-3.46016595e-02 -8.68162501e-04 9.99400806e-01 -2.57738401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.93264 meters 0.045820470780966155 Centerline is valid? [True, True] Translation: X:63.28, Y:-6.09, Z:-2.58 [[ 9.86576049e-01 1.59911341e-01 3.31068366e-02 6.32820796e+01] [-1.59855413e-01 9.87130870e-01 -4.34651666e-03 -6.08926404e+00] [-3.33758377e-02 -1.00413780e-03 9.99442367e-01 -2.58072278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96264000000001 meters 0.04084660321042238 Centerline is valid? [True, True] Translation: X:63.31, Y:-6.09, Z:-2.58 [[ 9.85973693e-01 1.63393903e-01 3.40339404e-02 6.33120988e+01] [-1.63336894e-01 9.86560237e-01 -4.46750268e-03 -6.08659115e+00] [-3.43064950e-02 -1.15415801e-03 9.99410693e-01 -2.57973684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.99264000000001 meters 0.04490741074120537 Centerline is valid? [True, True] Translation: X:63.34, Y:-6.08, Z:-2.58 [[ 9.85834274e-01 1.64222685e-01 3.40836312e-02 6.33403863e+01] [-1.64166040e-01 9.86422579e-01 -4.47299670e-03 -6.08368138e+00] [-3.43554309e-02 -1.18574130e-03 9.99408975e-01 -2.58169108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02264000000001 meters 0.04358034097938802 Centerline is valid? [True, True] Translation: X:63.37, Y:-6.09, Z:-2.58 [[ 9.85737243e-01 1.64760051e-01 3.42959798e-02 6.33684166e+01] [-1.64703094e-01 9.86332932e-01 -4.49879033e-03 -6.08783075e+00] [-3.45684752e-02 -1.21402881e-03 9.99401594e-01 -2.58268928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.05264000000001 meters 0.04633830528318325 Centerline is valid? [True, True] Translation: X:63.40, Y:-6.09, Z:-2.59 [[ 9.85855502e-01 1.64259024e-01 3.32851767e-02 6.33961283e+01] [-1.64205154e-01 9.86416555e-01 -4.36431380e-03 -6.09032220e+00] [-3.35499273e-02 -1.16301479e-03 9.99436366e-01 -2.58523087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08264 meters 0.04066053789610532 Centerline is valid? [True, True] Translation: X:63.43, Y:-6.09, Z:-2.59 [[ 9.86056541e-01 1.62946688e-01 3.37768239e-02 6.34250221e+01] [-1.62890517e-01 9.86634220e-01 -4.42667819e-03 -6.09368344e+00] [-3.40466829e-02 -1.13696933e-03 9.99419597e-01 -2.58527239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.11264 meters 0.03823944573326969 Centerline is valid? [True, True] Translation: X:63.45, Y:-6.10, Z:-2.59 [[ 9.86399242e-01 1.60649106e-01 3.47620489e-02 6.34539914e+01] [-1.60588250e-01 9.87010981e-01 -4.55389723e-03 -6.09876314e+00] [-3.50421035e-02 -1.09041584e-03 9.99385242e-01 -2.58526312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14264 meters 0.03457896590964077 Centerline is valid? [True, True] Translation: X:63.48, Y:-6.11, Z:-2.59 [[ 9.86595928e-01 1.59335514e-01 3.52231134e-02 6.34818124e+01] [-1.59272222e-01 9.87223923e-01 -4.61362209e-03 -6.10629283e+00] [-3.55082141e-02 -1.05828276e-03 9.99368824e-01 -2.58500794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.17264 meters 0.03635630676754875 Centerline is valid? [True, True] Translation: X:63.51, Y:-6.11, Z:-2.59 [[ 9.86838976e-01 1.57878067e-01 3.49764431e-02 6.35099373e+01] [-1.57814801e-01 9.87458108e-01 -4.57967994e-03 -6.10544988e+00] [-3.52608034e-02 -1.00039374e-03 9.99377644e-01 -2.58732513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20264 meters 0.0323263904818189 Centerline is valid? [True, True] Translation: X:63.54, Y:-6.11, Z:-2.59 [[ 9.87378177e-01 1.54655482e-01 3.41469969e-02 6.35397029e+01] [-1.54593339e-01 9.87968082e-01 -4.46862319e-03 -6.10898932e+00] [-3.44272401e-02 -8.66677263e-04 9.99406831e-01 -2.58989582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.23264 meters 0.03104263140636383 Centerline is valid? [True, True] Translation: X:63.57, Y:-6.11, Z:-2.59 [[ 9.87636821e-01 1.53045007e-01 3.39224952e-02 6.35676186e+01] [-1.52982730e-01 9.88218891e-01 -4.43923767e-03 -6.11206962e+00] [-3.42022537e-02 -8.05201339e-04 9.99414607e-01 -2.59192158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26264 meters 0.02901810725472151 Centerline is valid? [True, True] Translation: X:63.60, Y:-6.12, Z:-2.59 [[ 9.87919665e-01 1.51173779e-01 3.40767400e-02 6.35964087e+01] [-1.51109898e-01 9.88506921e-01 -4.45719358e-03 -6.11701601e+00] [-3.43589041e-02 -7.45983511e-04 9.99409280e-01 -2.59374630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.29264 meters 0.025780809573086937 Centerline is valid? [True, True] Translation: X:63.62, Y:-6.12, Z:-2.59 [[ 9.88162088e-01 1.49714294e-01 3.34860818e-02 6.36246878e+01] [-1.49651807e-01 9.88729064e-01 -4.37888895e-03 -6.12420524e+00] [-3.37642446e-02 -6.84200604e-04 9.99429591e-01 -2.59458092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32264 meters 0.024720812239136847 Centerline is valid? [True, True] Translation: X:63.65, Y:-6.12, Z:-2.60 [[ 9.88555886e-01 1.47216587e-01 3.29323206e-02 6.36527650e+01] [-1.47154814e-01 9.89104104e-01 -4.30498575e-03 -6.12486063e+00] [-3.32072588e-02 -5.90430506e-04 9.99448312e-01 -2.59807687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.35264000000001 meters 0.021944383328711 Centerline is valid? [True, True] Translation: X:63.68, Y:-6.13, Z:-2.60 [[ 9.88926774e-01 1.44892259e-01 3.20946769e-02 6.36810198e+01] [-1.44832431e-01 9.89447311e-01 -4.19344585e-03 -6.12777249e+00] [-3.23635896e-02 -5.01339199e-04 9.99476036e-01 -2.60003704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38264000000001 meters 0.0216841064343635 Centerline is valid? [True, True] Translation: X:63.71, Y:-6.13, Z:-2.60 [[ 9.89103756e-01 1.43721206e-01 3.19057049e-02 6.37090603e+01] [-1.43661517e-01 9.89618109e-01 -4.16735885e-03 -6.12975451e+00] [-3.21734012e-02 -4.61671661e-04 9.99482195e-01 -2.60291055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.41264000000001 meters 0.02091064222487129 Centerline is valid? [True, True] Translation: X:63.74, Y:-6.13, Z:-2.60 [[ 9.89317249e-01 1.42276123e-01 3.17629738e-02 6.37371523e+01] [-1.42216291e-01 9.89826921e-01 -4.14654899e-03 -6.13283965e+00] [-3.20298014e-02 -4.14959891e-04 9.99486828e-01 -2.60476663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44264000000001 meters 0.018650216386480997 Centerline is valid? [True, True] Translation: X:63.77, Y:-6.14, Z:-2.60 [[ 9.89546609e-01 1.40654214e-01 3.18418177e-02 6.37659765e+01] [-1.40593298e-01 9.90058715e-01 -4.15520889e-03 -6.13847716e+00] [-3.21097168e-02 -3.64973296e-04 9.99484283e-01 -2.60489192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.47264 meters 0.015619977730590363 Centerline is valid? [True, True] Translation: X:63.79, Y:-6.14, Z:-2.60 [[ 9.90055240e-01 1.36768207e-01 3.29405299e-02 6.37929463e+01] [-1.36700896e-01 9.90603047e-01 -4.29756581e-03 -6.14445157e+00] [-3.32187597e-02 -2.48172397e-04 9.99448074e-01 -2.60405130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.50264 meters 0.01410831826979202 Centerline is valid? [True, True] Translation: X:63.82, Y:-6.15, Z:-2.60 [[ 9.90314179e-01 1.34583879e-01 3.41321934e-02 6.38215007e+01] [-1.34510395e-01 9.90902188e-01 -4.45058388e-03 -6.14924859e+00] [-3.44206420e-02 -1.83658500e-04 9.99407417e-01 -2.60320996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.53264 meters 0.012313817899589175 Centerline is valid? [True, True] Translation: X:63.85, Y:-6.16, Z:-2.60 [[ 9.90918959e-01 1.29822814e-01 3.50093241e-02 6.38509741e+01] [-1.29742564e-01 9.91537209e-01 -4.56404887e-03 -6.15865566e+00] [-3.53055652e-02 -1.95969125e-05 9.99376564e-01 -2.60252777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56264 meters 0.012545846501353305 Centerline is valid? [True, True] Translation: X:63.88, Y:-6.17, Z:-2.60 [[ 9.91211134e-01 1.27606707e-01 3.48857598e-02 6.38801333e+01] [-1.27525647e-01 9.91824846e-01 -4.54802965e-03 -6.16614476e+00] [-3.51809224e-02 5.92285552e-05 9.99380958e-01 -2.60486669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.59264 meters 0.012545846501353305 Centerline is valid? [True, True] Translation: X:63.91, Y:-6.17, Z:-2.61 [[ 9.91211134e-01 1.27606685e-01 3.48858257e-02 6.39098555e+01] [-1.27525643e-01 9.91824849e-01 -4.54752358e-03 -6.17001947e+00] [-3.51809232e-02 5.87186516e-05 9.99380958e-01 -2.60614427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62264 meters 0.019727161040363757 Centerline is valid? [True, True] Translation: X:63.94, Y:-6.18, Z:-2.61 [[ 9.91559210e-01 1.25164630e-01 3.38252661e-02 6.39401769e+01] [-1.25087027e-01 9.92135976e-01 -4.40907031e-03 -6.17761398e+00] [-3.41111231e-02 1.40752284e-04 9.99418036e-01 -2.60778897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.65264 meters 0.021027501867837306 Centerline is valid? [True, True] Translation: X:63.97, Y:-6.19, Z:-2.61 [[ 9.91891356e-01 1.22788909e-01 3.27783814e-02 6.39706676e+01] [-1.22714756e-01 9.92432787e-01 -4.27212304e-03 -6.18555789e+00] [-3.30549097e-02 2.15090833e-04 9.99453514e-01 -2.61207835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68264 meters 0.014509768922635018 Centerline is valid? [True, True] Translation: X:64.00, Y:-6.19, Z:-2.61 [[ 9.91919366e-01 1.22449028e-01 3.31995064e-02 6.40019113e+01] [-1.22372550e-01 9.92474775e-01 -4.33350550e-03 -6.18853077e+00] [-3.34803062e-02 2.35779783e-04 9.99439350e-01 -2.61190633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71264000000001 meters 0.015356185707696673 Centerline is valid? [True, True] Translation: X:64.03, Y:-6.19, Z:-2.62 [[ 9.91950849e-01 1.22222791e-01 3.30923263e-02 6.40316557e+01] [-1.22146648e-01 9.92502660e-01 -4.32044694e-03 -6.19409210e+00] [-3.33722789e-02 2.43554284e-04 9.99442961e-01 -2.61520907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74264000000001 meters 0.015555878211644596 Centerline is valid? [True, True] Translation: X:64.06, Y:-6.20, Z:-2.62 [[ 9.91913159e-01 1.22671746e-01 3.25565460e-02 6.40622121e+01] [-1.22598291e-01 9.92447274e-01 -4.25049135e-03 -6.19743215e+00] [-3.28320705e-02 2.24741395e-04 9.99460857e-01 -2.61807005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.77264000000001 meters 0.019153885527752785 Centerline is valid? [True, True] Translation: X:64.09, Y:-6.20, Z:-2.62 [[ 9.91938358e-01 1.22670786e-01 3.17832224e-02 6.40930048e+01] [-1.22600729e-01 9.92447394e-01 -4.15112987e-03 -6.20013589e+00] [-3.20523986e-02 2.21018725e-04 9.99486165e-01 -2.61831639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80264000000001 meters 0.022480424684103384 Centerline is valid? [True, True] Translation: X:64.12, Y:-6.21, Z:-2.62 [[ 9.91897080e-01 1.23070228e-01 3.15262107e-02 6.41228262e+01] [-1.23001429e-01 9.92397942e-01 -4.11984336e-03 -6.20554620e+00] [-3.17935766e-02 2.08691643e-04 9.99494435e-01 -2.62154429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.83264 meters 0.015428786145098938 Centerline is valid? [True, True] Translation: X:64.15, Y:-6.21, Z:-2.62 [[ 9.91837408e-01 1.23425541e-01 3.20108144e-02 6.41521985e+01] [-1.23354782e-01 9.92353816e-01 -4.18356102e-03 -6.21125193e+00] [-3.22824121e-02 2.00725276e-04 9.99478767e-01 -2.62480700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.86264 meters 0.015091999486032234 Centerline is valid? [True, True] Translation: X:64.18, Y:-6.22, Z:-2.62 [[ 9.91915596e-01 1.22791422e-01 3.20268095e-02 6.41827059e+01] [-1.22720250e-01 9.92432475e-01 -4.18603104e-03 -6.21616874e+00] [-3.22984545e-02 2.21851412e-04 9.99478244e-01 -2.62442845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.89264 meters 0.03163795377100839 Centerline is valid? [True, True] Translation: X:64.21, Y:-6.22, Z:-2.62 [[ 9.92123041e-01 1.21225311e-01 3.15641500e-02 6.42136335e+01] [-1.21155381e-01 9.92624980e-01 -4.12579259e-03 -6.22414373e+00] [-3.18315143e-02 2.69127275e-04 9.99493213e-01 -2.62453081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.92264 meters 0.029493940566799555 Centerline is valid? [True, True] Translation: X:64.24, Y:-6.23, Z:-2.63 [[ 9.92174426e-01 1.20794277e-01 3.16014353e-02 6.42445527e+01] [-1.20723939e-01 9.92677522e-01 -4.13143834e-03 -6.22943642e+00] [-3.18690886e-02 2.84057732e-04 9.99492011e-01 -2.62560442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.95264 meters 0.015616553835535299 Centerline is valid? [True, True] Translation: X:64.27, Y:-6.24, Z:-2.63 [[ 9.92091628e-01 1.21135254e-01 3.28702386e-02 6.42748860e+01] [-1.21059352e-01 9.92635970e-01 -4.29690355e-03 -6.23602180e+00] [-3.31486877e-02 2.83672236e-04 9.99450391e-01 -2.62525724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98264 meters 0.01963267751956915 Centerline is valid? [True, True] Translation: X:64.31, Y:-6.24, Z:-2.63 [[ 9.92098670e-01 1.21171731e-01 3.25213940e-02 6.43073629e+01] [-1.21097294e-01 9.92631518e-01 -4.25610615e-03 -6.24274531e+00] [-3.27974804e-02 2.84224435e-04 9.99461978e-01 -2.62652334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.01264 meters 0.024613643548729715 Centerline is valid? [True, True] Translation: X:64.34, Y:-6.25, Z:-2.63 [[ 9.92044793e-01 1.21673759e-01 3.22896961e-02 6.43384968e+01] [-1.21600435e-01 9.92570110e-01 -4.23224367e-03 -6.25033325e+00] [-3.25647401e-02 2.72134230e-04 9.99469591e-01 -2.63011706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04264 meters 0.014718851605317631 Centerline is valid? [True, True] Translation: X:64.37, Y:-6.26, Z:-2.63 [[ 9.91856298e-01 1.23178729e-01 3.23741319e-02 6.43705565e+01] [-1.23105590e-01 9.92384476e-01 -4.25040472e-03 -6.25713389e+00] [-3.26511453e-02 2.30354076e-04 9.99466783e-01 -2.63074266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07264 meters 0.026380762360880525 Centerline is valid? [True, True] Translation: X:64.40, Y:-6.26, Z:-2.63 [[ 9.91768664e-01 1.23790704e-01 3.27227455e-02 6.44011721e+01] [-1.23716261e-01 9.92308327e-01 -4.29780024e-03 -6.26311093e+00] [-3.30030806e-02 2.14087878e-04 9.99455227e-01 -2.63233295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10264000000001 meters 0.01412743867517296 Centerline is valid? [True, True] Translation: X:64.43, Y:-6.27, Z:-2.63 [[ 9.91611086e-01 1.25018955e-01 3.28285695e-02 6.44319673e+01] [-1.24944486e-01 9.92154337e-01 -4.31822425e-03 -6.26612941e+00] [-3.31108675e-02 1.80250298e-04 9.99451669e-01 -2.63321549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.13264000000001 meters 0.025631126334457282 Centerline is valid? [True, True] Translation: X:64.46, Y:-6.27, Z:-2.63 [[ 9.91341895e-01 1.27211191e-01 3.25355252e-02 6.44641131e+01] [-1.27139248e-01 9.91875648e-01 -4.27900278e-03 -6.26959868e+00] [-3.28155322e-02 1.05412528e-04 9.99461420e-01 -2.63397034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16264000000001 meters 0.012917553177730605 Centerline is valid? [True, True] Translation: X:64.50, Y:-6.27, Z:-2.64 [[ 9.91117857e-01 1.28980289e-01 3.23956570e-02 6.44952545e+01] [-1.28909722e-01 9.91647156e-01 -4.26627553e-03 -6.27397905e+00] [-3.26753266e-02 5.22667163e-05 9.99466018e-01 -2.63656795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.19264000000001 meters 0.02131306072289739 Centerline is valid? [True, True] Translation: X:64.53, Y:-6.28, Z:-2.64 [[ 9.90911905e-01 1.31009919e-01 3.04958626e-02 6.45254909e+01] [-1.30948211e-01 9.91381057e-01 -4.02059165e-03 -6.27907372e+00] [-3.07597579e-02 -9.32650239e-06 9.99526807e-01 -2.64140791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22264 meters 0.013413324578078449 Centerline is valid? [True, True] Translation: X:64.56, Y:-6.28, Z:-2.64 [[ 9.90769271e-01 1.32207282e-01 2.99580647e-02 6.45556086e+01] [-1.32148082e-01 9.91222091e-01 -3.95615373e-03 -6.28189998e+00] [-3.02181278e-02 -3.92652505e-05 9.99543327e-01 -2.64302761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.25264 meters 0.013670248040303725 Centerline is valid? [True, True] Translation: X:64.58, Y:-6.28, Z:-2.64 [[ 9.90568682e-01 1.33653398e-01 3.01737482e-02 6.45846119e+01] [-1.33594009e-01 9.91028134e-01 -3.98478316e-03 -6.28405362e+00] [-3.04356132e-02 -8.38305993e-05 9.99536726e-01 -2.64447460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28264 meters 0.025971693014438524 Centerline is valid? [True, True] Translation: X:64.61, Y:-6.29, Z:-2.65 [[ 9.90390434e-01 1.34975184e-01 3.01411313e-02 6.46149801e+01] [-1.34916552e-01 9.90848971e-01 -3.97996073e-03 -6.28660922e+00] [-3.04025048e-02 -1.24822463e-04 9.99537729e-01 -2.64568705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.31264 meters 0.016437011822089894 Centerline is valid? [True, True] Translation: X:64.64, Y:-6.29, Z:-2.65 [[ 9.89909807e-01 1.38551814e-01 2.96979632e-02 6.46437029e+01] [-1.38496488e-01 9.90355159e-01 -3.92189584e-03 -6.28550948e+00] [-2.99549169e-02 -2.30740452e-04 9.99551224e-01 -2.64804218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34264 meters 0.017488614334628907 Centerline is valid? [True, True] Translation: X:64.67, Y:-6.29, Z:-2.65 [[ 9.89662581e-01 1.40209953e-01 3.01520417e-02 6.46731896e+01] [-1.40153730e-01 9.90121754e-01 -3.98059964e-03 -6.28794116e+00] [-3.04123121e-02 -2.86470590e-04 9.99537398e-01 -2.64907635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.37264 meters 0.01995564548683739 Centerline is valid? [True, True] Translation: X:64.70, Y:-6.29, Z:-2.65 [[ 9.89219994e-01 1.43148228e-01 3.08607922e-02 6.47016792e+01] [-1.43090792e-01 9.89701185e-01 -4.07309842e-03 -6.28749474e+00] [-3.11260195e-02 -3.86704801e-04 9.99515393e-01 -2.64878425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40264 meters 0.02133441873094713 Centerline is valid? [True, True] Translation: X:64.73, Y:-6.29, Z:-2.65 [[ 9.89018549e-01 1.44445812e-01 3.12684638e-02 6.47300020e+01] [-1.44387469e-01 9.89512618e-01 -4.12774887e-03 -6.28862922e+00] [-3.15367755e-02 -4.32354154e-04 9.99502499e-01 -2.64922790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.43264 meters 0.02178644469373236 Centerline is valid? [True, True] Translation: X:64.76, Y:-6.29, Z:-2.65 [[ 9.88883107e-01 1.45529411e-01 3.05186988e-02 6.47586950e+01] [-1.45474415e-01 9.89353820e-01 -4.02662267e-03 -6.28971669e+00] [-3.07797832e-02 -4.57830699e-04 9.99526085e-01 -2.65011322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46264000000001 meters 0.022330800610458276 Centerline is valid? [True, True] Translation: X:64.79, Y:-6.29, Z:-2.65 [[ 9.88902120e-01 1.45372669e-01 3.06493723e-02 6.47868993e+01] [-1.45317168e-01 9.89376864e-01 -4.04249992e-03 -6.29166754e+00] [-3.09114489e-02 -4.56243226e-04 9.99522023e-01 -2.65183295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.49264000000001 meters 0.024800062849959014 Centerline is valid? [True, True] Translation: X:64.82, Y:-6.30, Z:-2.65 [[ 9.89019157e-01 1.44474696e-01 3.11154254e-02 6.48151529e+01] [-1.44417114e-01 9.89508399e-01 -4.10191083e-03 -6.29723397e+00] [-3.13815971e-02 -4.36731543e-04 9.99507381e-01 -2.65159070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52264000000001 meters 0.02100377291218433 Centerline is valid? [True, True] Translation: X:64.84, Y:-6.30, Z:-2.65 [[ 9.89366126e-01 1.41905213e-01 3.18995125e-02 6.48432091e+01] [-1.41843412e-01 9.89880183e-01 -4.20354214e-03 -6.30298013e+00] [-3.21731998e-02 -3.65893501e-04 9.99482242e-01 -2.65255091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.55264000000001 meters 0.018071859455869418 Centerline is valid? [True, True] Translation: X:64.87, Y:-6.31, Z:-2.65 [[ 9.89603322e-01 1.40235960e-01 3.19239776e-02 6.48721632e+01] [-1.40173237e-01 9.90118062e-01 -4.20547733e-03 -6.30940114e+00] [-3.21982660e-02 -3.13132936e-04 9.99481452e-01 -2.65354030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58264 meters 0.015215820305711438 Centerline is valid? [True, True] Translation: X:64.90, Y:-6.32, Z:-2.65 [[ 9.90108844e-01 1.36591675e-01 3.20498248e-02 6.49008404e+01] [-1.36526572e-01 9.90627415e-01 -4.22130937e-03 -6.32140795e+00] [-3.23260308e-02 -1.96096961e-04 9.99477358e-01 -2.65494810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.61264 meters 0.024385978412576323 Centerline is valid? [True, True] Translation: X:64.93, Y:-6.33, Z:-2.65 [[ 9.90358538e-01 1.34724859e-01 3.22362833e-02 6.49301010e+01] [-1.34658039e-01 9.90883037e-01 -4.24488010e-03 -6.33034143e+00] [-3.25142771e-02 -1.36921439e-04 9.99471262e-01 -2.65424147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64264 meters 0.013554939590465002 Centerline is valid? [True, True] Translation: X:64.96, Y:-6.34, Z:-2.66 [[ 9.90501106e-01 1.33699048e-01 3.21266852e-02 6.49602414e+01] [-1.33632146e-01 9.91021974e-01 -4.23032305e-03 -6.33647583e+00] [-3.24038411e-02 -1.03018223e-04 9.99474852e-01 -2.65632214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.67264 meters 0.012880392819319764 Centerline is valid? [True, True] Translation: X:64.99, Y:-6.35, Z:-2.66 [[ 9.90763618e-01 1.31774227e-01 3.19844805e-02 6.49911338e+01] [-1.31706952e-01 9.91279754e-01 -4.21037514e-03 -6.34672435e+00] [-3.22603869e-02 -4.10919516e-05 9.99479497e-01 -2.65722427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70264 meters 0.012986950631569886 Centerline is valid? [True, True] Translation: X:65.02, Y:-6.35, Z:-2.66 [[ 9.90847564e-01 1.31262706e-01 3.14834285e-02 6.50212894e+01] [-1.31197094e-01 9.91347619e-01 -4.14981467e-03 -6.35301056e+00] [-3.17557378e-02 -1.87005703e-05 9.99495659e-01 -2.65937323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.73264 meters 0.012690306336757296 Centerline is valid? [True, True] Translation: X:65.05, Y:-6.36, Z:-2.66 [[ 9.90897933e-01 1.30809917e-01 3.17813105e-02 6.50529565e+01] [-1.30742667e-01 9.91407467e-01 -4.19395292e-03 -6.35887068e+00] [-3.20568392e-02 6.05979403e-07 9.99486047e-01 -2.65880891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76264 meters 0.012969166054177639 Centerline is valid? [True, True] Translation: X:65.08, Y:-6.36, Z:-2.66 [[ 9.90851592e-01 1.31232297e-01 3.14834307e-02 6.50834186e+01] [-1.31166339e-01 9.91351645e-01 -4.16022667e-03 -6.36381220e+00] [-3.17571069e-02 -7.39911298e-06 9.99495616e-01 -2.66164604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.79264 meters 0.028148723373832632 Centerline is valid? [True, True] Translation: X:65.12, Y:-6.37, Z:-2.66 [[ 9.90786590e-01 1.31662985e-01 3.17299755e-02 6.51151067e+01] [-1.31596049e-01 9.91294537e-01 -4.19782766e-03 -6.36933992e+00] [-3.20064499e-02 -1.63880605e-05 9.99487662e-01 -2.66205847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82264 meters 0.013841781666562742 Centerline is valid? [True, True] Translation: X:65.15, Y:-6.37, Z:-2.67 [[ 9.90349041e-01 1.35182894e-01 3.05673344e-02 6.51451584e+01] [-1.35122236e-01 9.90820655e-01 -4.05094737e-03 -6.37026961e+00] [-3.08343651e-02 -1.18474728e-04 9.99524501e-01 -2.66517636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85264000000001 meters 0.014999447748911687 Centerline is valid? [True, True] Translation: X:65.18, Y:-6.37, Z:-2.67 [[ 9.90022767e-01 1.37645199e-01 3.01449769e-02 6.51754223e+01] [-1.37587332e-01 9.90481581e-01 -3.99548801e-03 -6.37109378e+00] [-3.04080041e-02 -1.91942832e-04 9.99537551e-01 -2.66684316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88264000000001 meters 0.026522005971550532 Centerline is valid? [True, True] Translation: X:65.20, Y:-6.36, Z:-2.67 [[ 9.89170365e-01 1.43452641e-01 3.10375251e-02 6.52048525e+01] [-1.43394138e-01 9.89657110e-01 -4.11415734e-03 -6.36394585e+00] [-3.13066941e-02 -3.80996654e-04 9.99509753e-01 -2.66689821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.91264000000001 meters 0.02287573078664755 Centerline is valid? [True, True] Translation: X:65.24, Y:-6.36, Z:-2.67 [[ 9.88615075e-01 1.47289833e-01 3.07561245e-02 6.52353243e+01] [-1.47234276e-01 9.89093249e-01 -4.07575415e-03 -6.35968636e+00] [-3.10209923e-02 -4.99003740e-04 9.99518609e-01 -2.66783597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94264000000001 meters 0.03745916907839829 Centerline is valid? [True, True] Translation: X:65.27, Y:-6.35, Z:-2.67 [[ 9.87612156e-01 1.53811987e-01 3.10499893e-02 6.52657695e+01] [-1.53758605e-01 9.88099877e-01 -4.11393136e-03 -6.35043750e+00] [-3.13132626e-02 -7.11234435e-04 9.99509367e-01 -2.66988282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.97264 meters 0.03246348378515406 Centerline is valid? [True, True] Translation: X:65.30, Y:-6.35, Z:-2.67 [[ 9.87157002e-01 1.56795183e-01 3.05994183e-02 6.52953653e+01] [-1.56744785e-01 9.87630821e-01 -4.05376777e-03 -6.34973491e+00] [-3.08565399e-02 -7.94594007e-04 9.99523508e-01 -2.67065866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.00264 meters 0.03547115800670134 Centerline is valid? [True, True] Translation: X:65.33, Y:-6.35, Z:-2.67 [[ 9.86597567e-01 1.60168514e-01 3.11654989e-02 6.53254102e+01] [-1.60117959e-01 9.87089259e-01 -4.12732282e-03 -6.34608706e+00] [-3.14241964e-02 -9.18149439e-04 9.99505716e-01 -2.67127362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.03264 meters 0.03770093056484037 Centerline is valid? [True, True] Translation: X:65.35, Y:-6.35, Z:-2.67 [[ 9.86492389e-01 1.60818763e-01 3.11462957e-02 6.53537108e+01] [-1.60768636e-01 9.86983507e-01 -4.12347107e-03 -6.34500178e+00] [-3.14040117e-02 -9.39574670e-04 9.99506331e-01 -2.67267395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06264 meters 0.03776540125299063 Centerline is valid? [True, True] Translation: X:65.38, Y:-6.35, Z:-2.67 [[ 9.86511670e-01 1.60566677e-01 3.18287162e-02 6.53816212e+01] [-1.60514286e-01 9.87024534e-01 -4.21109944e-03 -6.34650015e+00] [-3.20918860e-02 -9.54664899e-04 9.99484467e-01 -2.67319554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.09264 meters 0.036043742201380985 Centerline is valid? [True, True] Translation: X:65.41, Y:-6.35, Z:-2.67 [[ 9.86633392e-01 1.59766643e-01 3.20806763e-02 6.54097267e+01] [-1.59713062e-01 9.87154365e-01 -4.24240154e-03 -6.35100259e+00] [-3.23463739e-02 -9.38008037e-04 9.99476279e-01 -2.67362724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12264 meters 0.033868837438589025 Centerline is valid? [True, True] Translation: X:65.44, Y:-6.36, Z:-2.68 [[ 9.87190297e-01 1.56289381e-01 3.20772076e-02 6.54377760e+01] [-1.56234030e-01 9.87710964e-01 -4.24028580e-03 -6.35539965e+00] [-3.23457212e-02 -8.25582414e-04 9.99476399e-01 -2.67600601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15264 meters 0.03022722747822198 Centerline is valid? [True, True] Translation: X:65.47, Y:-6.36, Z:-2.68 [[ 9.87518656e-01 1.54168308e-01 3.22340971e-02 6.54660125e+01] [-1.54111319e-01 9.88044308e-01 -4.25998836e-03 -6.36278681e+00] [-3.25054714e-02 -7.60821237e-04 9.99471268e-01 -2.67618748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18264 meters 0.024843712929208724 Centerline is valid? [True, True] Translation: X:65.50, Y:-6.37, Z:-2.68 [[ 9.88206524e-01 1.49672694e-01 3.23411665e-02 6.54952232e+01] [-1.49612974e-01 9.88735407e-01 -4.27242237e-03 -6.37061397e+00] [-3.26163213e-02 -6.16622442e-04 9.99467756e-01 -2.67680769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21264000000001 meters 0.02341335628500599 Centerline is valid? [True, True] Translation: X:65.52, Y:-6.38, Z:-2.68 [[ 9.88494974e-01 1.47847486e-01 3.19187556e-02 6.55221958e+01] [-1.47788388e-01 9.89010020e-01 -4.21589626e-03 -6.37547170e+00] [-3.21912788e-02 -5.49829154e-04 9.99481575e-01 -2.67886161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24264000000001 meters 0.023637664731233084 Centerline is valid? [True, True] Translation: X:65.55, Y:-6.38, Z:-2.68 [[ 9.88773586e-01 1.45954967e-01 3.19991184e-02 6.55497263e+01] [-1.45894644e-01 9.89291113e-01 -4.22453239e-03 -6.37823354e+00] [-3.22730349e-02 -4.91393949e-04 9.99478969e-01 -2.68197741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.27264000000001 meters 0.022718102314098376 Centerline is valid? [True, True] Translation: X:65.58, Y:-6.38, Z:-2.68 [[ 9.89173589e-01 1.43240745e-01 3.19014021e-02 6.55772643e+01] [-1.43179443e-01 9.89687792e-01 -4.20965471e-03 -6.38414888e+00] [-3.21754223e-02 -4.03545716e-04 9.99482156e-01 -2.68375915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30264000000001 meters 0.018736478901443695 Centerline is valid? [True, True] Translation: X:65.61, Y:-6.39, Z:-2.68 [[ 9.89283870e-01 1.42563911e-01 3.15112139e-02 6.56058903e+01] [-1.42503814e-01 9.89785526e-01 -4.15631341e-03 -6.39085982e+00] [-3.17818838e-02 -3.78694366e-04 9.99494757e-01 -2.68294111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.33264000000001 meters 0.018916288739300274 Centerline is valid? [True, True] Translation: X:65.63, Y:-6.39, Z:-2.69 [[ 9.89363365e-01 1.42091168e-01 3.11485314e-02 6.56338940e+01] [-1.42032256e-01 9.89853509e-01 -4.10710389e-03 -6.39275126e+00] [-3.14160663e-02 -3.60678068e-04 9.99506328e-01 -2.68509895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36264 meters 0.020269805092018346 Centerline is valid? [True, True] Translation: X:65.66, Y:-6.39, Z:-2.69 [[ 9.89379858e-01 1.42043540e-01 3.08403702e-02 6.56617225e+01] [-1.41985823e-01 9.89860346e-01 -4.06460056e-03 -6.39360508e+00] [-3.11050098e-02 -3.57461422e-04 9.99516058e-01 -2.68919639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.39264 meters 0.03044547328056492 Centerline is valid? [True, True] Translation: X:65.69, Y:-6.40, Z:-2.69 [[ 9.89539578e-01 1.40875975e-01 3.10706077e-02 6.56901982e+01] [-1.40816881e-01 9.90027199e-01 -4.09294209e-03 -6.39967054e+00] [-3.13373439e-02 -3.25137876e-04 9.99508812e-01 -2.68867155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42264 meters 0.01787585490967809 Centerline is valid? [True, True] Translation: X:65.72, Y:-6.40, Z:-2.69 [[ 9.89535286e-01 1.41007226e-01 3.06084862e-02 6.57184122e+01] [-1.40949985e-01 9.90008513e-01 -4.03061879e-03 -6.40315021e+00] [-3.08710083e-02 -3.25826144e-04 9.99523324e-01 -2.68971117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.45264 meters 0.017629616269825354 Centerline is valid? [True, True] Translation: X:65.75, Y:-6.41, Z:-2.69 [[ 9.89518964e-01 1.41192738e-01 3.02792266e-02 6.57473674e+01] [-1.41136852e-01 9.89982072e-01 -3.98581474e-03 -6.40705940e+00] [-3.05386596e-02 -3.29475465e-04 9.99533532e-01 -2.69040750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48264 meters 0.02579662136862378 Centerline is valid? [True, True] Translation: X:65.78, Y:-6.41, Z:-2.69 [[ 9.89573754e-01 1.40784922e-01 3.03873670e-02 6.57754130e+01] [-1.40728485e-01 9.90040153e-01 -3.99871936e-03 -6.40925724e+00] [-3.06476729e-02 -3.19340395e-04 9.99530199e-01 -2.69382582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51264 meters 0.02579662136862378 Centerline is valid? [True, True] Translation: X:65.80, Y:-6.41, Z:-2.70 [[ 9.89580389e-01 1.40738210e-01 3.03876551e-02 6.58034860e+01] [-1.40681818e-01 9.90046794e-01 -3.99652850e-03 -6.41285824e+00] [-3.06476648e-02 -3.20104327e-04 9.99530199e-01 -2.69503240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54264 meters 0.018366869773717615 Centerline is valid? [True, True] Translation: X:65.83, Y:-6.42, Z:-2.70 [[ 9.89559400e-01 1.40977148e-01 2.99606060e-02 6.58320709e+01] [-1.40922483e-01 9.90012797e-01 -3.93895949e-03 -6.41598043e+00] [-3.02166866e-02 -3.24288579e-04 9.99543319e-01 -2.69585705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57264 meters 0.018394466122231105 Centerline is valid? [True, True] Translation: X:65.86, Y:-6.42, Z:-2.70 [[ 9.89543937e-01 1.41021569e-01 3.02607730e-02 6.58602659e+01] [-1.40965868e-01 9.90006469e-01 -3.97694174e-03 -6.41894201e+00] [-3.05191955e-02 -3.30377544e-04 9.99534126e-01 -2.69640195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60264000000001 meters 0.01845644370081868 Centerline is valid? [True, True] Translation: X:65.89, Y:-6.42, Z:-2.70 [[ 9.89518928e-01 1.41131166e-01 3.05660649e-02 6.58894592e+01] [-1.41074434e-01 9.89990848e-01 -4.01556425e-03 -6.42171042e+00] [-3.08268458e-02 -3.38613489e-04 9.99524682e-01 -2.69692619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.63264000000001 meters 0.018414498608362726 Centerline is valid? [True, True] Translation: X:65.92, Y:-6.43, Z:-2.70 [[ 9.89539848e-01 1.41030508e-01 3.03526689e-02 6.59175739e+01] [-1.40974563e-01 9.90005194e-01 -3.98606985e-03 -6.42588602e+00] [-3.06114573e-02 -3.34579266e-04 9.99531304e-01 -2.69864543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66264000000001 meters 0.021221575838801174 Centerline is valid? [True, True] Translation: X:65.95, Y:-6.43, Z:-2.70 [[ 9.89636137e-01 1.40289091e-01 3.06478044e-02 6.59458895e+01] [-1.40231743e-01 9.90110535e-01 -4.02332546e-03 -6.43132195e+00] [-3.09091426e-02 -3.16166767e-04 9.99522148e-01 -2.70040719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.69264000000001 meters 0.016848111142116696 Centerline is valid? [True, True] Translation: X:65.97, Y:-6.44, Z:-2.70 [[ 9.89845363e-01 1.39123852e-01 2.91669666e-02 6.59735606e+01] [-1.39071445e-01 9.90274953e-01 -3.82762310e-03 -6.43855538e+00] [-2.94158301e-02 -2.67537227e-04 9.99567225e-01 -2.70214911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72264 meters 0.027187171819625537 Centerline is valid? [True, True] Translation: X:66.00, Y:-6.44, Z:-2.70 [[ 9.90028327e-01 1.37676476e-01 2.98177778e-02 6.60021036e+01] [-1.37621099e-01 9.90477226e-01 -3.91134553e-03 -6.44336478e+00] [-3.00723301e-02 -2.31212483e-04 9.99547698e-01 -2.70430517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.75264 meters 0.01483421875773595 Centerline is valid? [True, True] Translation: X:66.03, Y:-6.45, Z:-2.70 [[ 9.90297362e-01 1.35824992e-01 2.93718662e-02 6.60305132e+01] [-1.35770476e-01 9.90732831e-01 -3.85180081e-03 -6.45266993e+00] [-2.96228430e-02 -1.73404072e-04 9.99561132e-01 -2.70406772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78264 meters 0.014748486057512914 Centerline is valid? [True, True] Translation: X:66.06, Y:-6.46, Z:-2.71 [[ 9.90384606e-01 1.35200639e-01 2.93107377e-02 6.60583964e+01] [-1.35146109e-01 9.90818229e-01 -3.84267883e-03 -6.45781794e+00] [-2.95611458e-02 -1.55502183e-04 9.99562962e-01 -2.70554988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.81264 meters 0.014363803737558498 Centerline is valid? [True, True] Translation: X:66.09, Y:-6.46, Z:-2.71 [[ 9.90423473e-01 1.34862145e-01 2.95558244e-02 6.60877613e+01] [-1.34806587e-01 9.90864360e-01 -3.87353269e-03 -6.46295864e+00] [-2.98082060e-02 -1.47882122e-04 9.99555626e-01 -2.70588364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84264 meters 0.014495878513379584 Centerline is valid? [True, True] Translation: X:66.12, Y:-6.47, Z:-2.71 [[ 9.90402312e-01 1.34763858e-01 3.06914070e-02 6.61160626e+01] [-1.34703921e-01 9.90877732e-01 -4.02169879e-03 -6.46868255e+00] [-3.09534114e-02 -1.51153071e-04 9.99520817e-01 -2.70675463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87264 meters 0.014226966044532632 Centerline is valid? [True, True] Translation: X:66.14, Y:-6.47, Z:-2.71 [[ 9.90407749e-01 1.34769580e-01 3.04901904e-02 6.61448849e+01] [-1.34710468e-01 9.90876954e-01 -3.99407092e-03 -6.47402944e+00] [-3.07503063e-02 -1.51589020e-04 9.99527086e-01 -2.70695084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90264 meters 0.0286916920335952 Centerline is valid? [True, True] Translation: X:66.17, Y:-6.48, Z:-2.71 [[ 9.90369466e-01 1.35054439e-01 3.04732606e-02 6.61737932e+01] [-1.34995555e-01 9.90838167e-01 -3.99095623e-03 -6.47947083e+00] [-3.07330660e-02 -1.61233523e-04 9.99527615e-01 -2.71021373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93264 meters 0.016833912695828686 Centerline is valid? [True, True] Translation: X:66.20, Y:-6.48, Z:-2.71 [[ 9.90282202e-01 1.35720815e-01 3.03483275e-02 6.62030597e+01] [-1.35662732e-01 9.90747106e-01 -3.97437223e-03 -6.48386272e+00] [-3.06069227e-02 -1.81386945e-04 9.99531482e-01 -2.71045086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96264000000001 meters 0.015913123662618368 Centerline is valid? [True, True] Translation: X:66.23, Y:-6.49, Z:-2.71 [[ 9.90105162e-01 1.37015191e-01 3.03085158e-02 6.62314679e+01] [-1.36957885e-01 9.90568921e-01 -3.96855270e-03 -6.48649397e+00] [-3.05664258e-02 -2.21705725e-04 9.99532713e-01 -2.71230114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.99264000000001 meters 0.016436813634732848 Centerline is valid? [True, True] Translation: X:66.26, Y:-6.49, Z:-2.71 [[ 9.90013273e-01 1.37682429e-01 3.02864299e-02 6.62607110e+01] [-1.37625558e-01 9.90476395e-01 -3.96439205e-03 -6.48966251e+00] [-3.05438211e-02 -2.43386056e-04 9.99533399e-01 -2.71384024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02264000000001 meters 0.017018463575318426 Centerline is valid? [True, True] Translation: X:66.29, Y:-6.49, Z:-2.72 [[ 9.89913226e-01 1.38428066e-01 3.01575276e-02 6.62900674e+01] [-1.38372045e-01 9.90372455e-01 -3.94680520e-03 -6.49262527e+00] [-3.04135333e-02 -2.65964096e-04 9.99537366e-01 -2.71501544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.05264000000001 meters 0.018055491599865973 Centerline is valid? [True, True] Translation: X:66.32, Y:-6.50, Z:-2.72 [[ 9.89745226e-01 1.39742169e-01 2.96059816e-02 6.63196354e+01] [-1.39688787e-01 9.90187879e-01 -3.87393875e-03 -6.49660672e+00] [-2.98568367e-02 -3.01411268e-04 9.99554140e-01 -2.71766434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08264000000001 meters 0.018333999090860212 Centerline is valid? [True, True] Translation: X:66.35, Y:-6.50, Z:-2.72 [[ 9.89736782e-01 1.39939880e-01 2.89470474e-02 6.63492680e+01] [-1.39888952e-01 9.90159956e-01 -3.78704841e-03 -6.50163974e+00] [-2.91921663e-02 -3.01191013e-04 9.99573773e-01 -2.71998959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.11264 meters 0.0174355317208155 Centerline is valid? [True, True] Translation: X:66.38, Y:-6.51, Z:-2.72 [[ 9.89705560e-01 1.40132733e-01 2.90812807e-02 6.63774482e+01] [-1.40081426e-01 9.90132679e-01 -3.80425443e-03 -6.50848613e+00] [-2.93274269e-02 -3.08655501e-04 9.99569811e-01 -2.71919958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.14264 meters 0.01774731948752404 Centerline is valid? [True, True] Translation: X:66.41, Y:-6.51, Z:-2.72 [[ 9.89749665e-01 1.39670882e-01 2.97933819e-02 6.64058432e+01] [-1.39616873e-01 9.90197936e-01 -3.89568852e-03 -6.51214054e+00] [-3.00454595e-02 -3.03902427e-04 9.99548487e-01 -2.72079334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.17264 meters 0.016375401213040174 Centerline is valid? [True, True] Translation: X:66.44, Y:-6.52, Z:-2.72 [[ 9.89848968e-01 1.38771755e-01 3.06825760e-02 6.64352955e+01] [-1.38714088e-01 9.90324350e-01 -4.01045953e-03 -6.51996148e+00] [-3.09422406e-02 -2.86356327e-04 9.99521133e-01 -2.71955433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.20264 meters 0.01642615404981832 Centerline is valid? [True, True] Translation: X:66.46, Y:-6.52, Z:-2.72 [[ 9.89903125e-01 1.38284568e-01 3.11316736e-02 6.64644457e+01] [-1.38224972e-01 9.90392499e-01 -4.06876054e-03 -6.52474700e+00] [-3.13952229e-02 -2.75495929e-04 9.99507011e-01 -2.72071525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.23264 meters 0.01600389392295254 Centerline is valid? [True, True] Translation: X:66.49, Y:-6.53, Z:-2.72 [[ 9.89897187e-01 1.38194866e-01 3.17133822e-02 6.64945166e+01] [-1.38132992e-01 9.90405019e-01 -4.14424914e-03 -6.53010680e+00] [-3.19818068e-02 -2.78283805e-04 9.99488412e-01 -2.72044274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26264 meters 0.016491110061665284 Centerline is valid? [True, True] Translation: X:66.52, Y:-6.53, Z:-2.72 [[ 9.89803498e-01 1.38805890e-01 3.19681250e-02 6.65249514e+01] [-1.38743337e-01 9.90319562e-01 -4.17753849e-03 -6.53401189e+00] [-3.22385265e-02 -3.00422128e-04 9.99480158e-01 -2.72078325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.29264 meters 0.01792966322146354 Centerline is valid? [True, True] Translation: X:66.55, Y:-6.54, Z:-2.72 [[ 9.89720160e-01 1.39536794e-01 3.13606003e-02 6.65544598e+01] [-1.39476959e-01 9.90216836e-01 -4.09828095e-03 -6.53562023e+00] [-3.16256554e-02 -3.17929881e-04 9.99499733e-01 -2.72411685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32264 meters 0.01852289503476545 Centerline is valid? [True, True] Translation: X:66.58, Y:-6.54, Z:-2.73 [[ 9.89592943e-01 1.40561972e-01 3.07918725e-02 6.65839994e+01] [-1.40504791e-01 9.90071822e-01 -4.02372589e-03 -6.53773208e+00] [-3.10517482e-02 -3.44554861e-04 9.99517719e-01 -2.72555317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35264000000001 meters 0.021367983701187754 Centerline is valid? [True, True] Translation: X:66.61, Y:-6.54, Z:-2.73 [[ 9.89301413e-01 1.42809953e-01 2.97998767e-02 6.66124782e+01] [-1.42757428e-01 9.89750047e-01 -3.89371076e-03 -6.53595561e+00] [-3.00504900e-02 -4.02100200e-04 9.99548301e-01 -2.72965805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38264000000001 meters 0.022214393820029765 Centerline is valid? [True, True] Translation: X:66.64, Y:-6.54, Z:-2.73 [[ 9.89089294e-01 1.44411114e-01 2.91169821e-02 6.66407796e+01] [-1.44361694e-01 9.89517678e-01 -3.80342589e-03 -6.53727855e+00] [-2.93610255e-02 -4.41449032e-04 9.99568775e-01 -2.73102114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.41264000000001 meters 0.027436158547034958 Centerline is valid? [True, True] Translation: X:66.67, Y:-6.54, Z:-2.73 [[ 9.89030990e-01 1.44857665e-01 2.88783247e-02 6.66696882e+01] [-1.44809308e-01 9.89452400e-01 -3.76998519e-03 -6.54097425e+00] [-2.91198389e-02 -4.53218040e-04 9.99575825e-01 -2.73224370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44264000000001 meters 0.02213328479749039 Centerline is valid? [True, True] Translation: X:66.70, Y:-6.54, Z:-2.73 [[ 9.89062907e-01 1.44777467e-01 2.81789075e-02 6.66986064e+01] [-1.44731430e-01 9.89464143e-01 -3.67731742e-03 -6.54374516e+00] [-2.84144113e-02 -4.41275334e-04 9.99596132e-01 -2.73440594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.47264 meters 0.024056125520624375 Centerline is valid? [True, True] Translation: X:66.73, Y:-6.54, Z:-2.74 [[ 9.89146994e-01 1.44019871e-01 2.90946888e-02 6.67272488e+01] [-1.43970510e-01 9.89574701e-01 -3.79530583e-03 -6.54212687e+00] [-2.93379674e-02 -4.34661831e-04 9.99569455e-01 -2.73748569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.50264 meters 0.021446216796712575 Centerline is valid? [True, True] Translation: X:66.76, Y:-6.55, Z:-2.74 [[ 9.89276009e-01 1.43101600e-01 2.92388344e-02 6.67558223e+01] [-1.43051391e-01 9.89707918e-01 -3.81264057e-03 -6.54873807e+00] [-2.94835009e-02 -4.10902095e-04 9.99565183e-01 -2.73600569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.53264 meters 0.01875755263798746 Centerline is valid? [True, True] Translation: X:66.78, Y:-6.56, Z:-2.74 [[ 9.89613783e-01 1.40625038e-01 2.98187861e-02 6.67841857e+01] [-1.40571737e-01 9.90062866e-01 -3.88679814e-03 -6.55587642e+00] [-3.00690540e-02 -3.45249550e-04 9.99547764e-01 -2.73573395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56264 meters 0.017388801781193022 Centerline is valid? [True, True] Translation: X:66.81, Y:-6.56, Z:-2.74 [[ 9.89806725e-01 1.39279267e-01 2.97309985e-02 6.68136637e+01] [-1.39225725e-01 9.90253095e-01 -3.87360640e-03 -6.56127232e+00] [-2.99807264e-02 -3.05198151e-04 9.99550430e-01 -2.73620789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.59264 meters 0.029788245010089334 Centerline is valid? [True, True] Translation: X:66.84, Y:-6.57, Z:-2.74 [[ 9.89977497e-01 1.37989011e-01 3.00597401e-02 6.68420138e+01] [-1.37933702e-01 9.90433723e-01 -3.91582735e-03 -6.56623499e+00] [-3.03125214e-02 -2.69670272e-04 9.99540434e-01 -2.73863049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62264 meters 0.02112171937394624 Centerline is valid? [True, True] Translation: X:66.87, Y:-6.57, Z:-2.74 [[ 9.90149996e-01 1.36744401e-01 3.00658465e-02 6.68707095e+01] [-1.36688534e-01 9.90606337e-01 -3.91535860e-03 -6.57231960e+00] [-3.03188214e-02 -2.32864191e-04 9.99540252e-01 -2.73920131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.65264 meters 0.013983279366152873 Centerline is valid? [True, True] Translation: X:66.90, Y:-6.58, Z:-2.74 [[ 9.90521784e-01 1.33832070e-01 3.09123346e-02 6.68992781e+01] [-1.33771635e-01 9.91004013e-01 -4.02430042e-03 -6.58086469e+00] [-3.11728281e-02 -1.49036302e-04 9.99513998e-01 -2.73877078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68264 meters 0.01295114462546603 Centerline is valid? [True, True] Translation: X:66.93, Y:-6.59, Z:-2.74 [[ 9.90925314e-01 1.30820080e-01 3.08727748e-02 6.69290873e+01] [-1.30758313e-01 9.91406125e-01 -4.01993821e-03 -6.58942307e+00] [-3.11333467e-02 -5.34134084e-05 9.99515238e-01 -2.73950954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71264000000001 meters 0.012919796832765056 Centerline is valid? [True, True] Translation: X:66.96, Y:-6.60, Z:-2.74 [[ 9.91114191e-01 1.29424366e-01 3.06919347e-02 6.69591434e+01] [-1.29362685e-01 9.91589297e-01 -3.99527356e-03 -6.59608396e+00] [-3.09508797e-02 -1.06187585e-05 9.99520907e-01 -2.74139940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74264000000001 meters 0.017423182347054787 Centerline is valid? [True, True] Translation: X:66.99, Y:-6.60, Z:-2.74 [[ 9.91262450e-01 1.28321791e-01 3.05331492e-02 6.69911266e+01] [-1.28260160e-01 9.91732584e-01 -3.97666480e-03 -6.60277490e+00] [-3.07910117e-02 2.57318829e-05 9.99525844e-01 -2.74336502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.77264000000001 meters 0.013855457336270888 Centerline is valid? [True, True] Translation: X:67.02, Y:-6.61, Z:-2.75 [[ 9.91526305e-01 1.26462210e-01 2.97135506e-02 6.70207675e+01] [-1.26402849e-01 9.91971422e-01 -3.87529519e-03 -6.61178872e+00] [-2.99650714e-02 8.65796832e-05 9.99550943e-01 -2.74664331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80264000000001 meters 0.014003813097928655 Centerline is valid? [True, True] Translation: X:67.05, Y:-6.62, Z:-2.75 [[ 9.91618326e-01 1.25830576e-01 2.93217100e-02 6.70524608e+01] [-1.25772393e-01 9.92051740e-01 -3.82762057e-03 -6.61953492e+00] [-2.95702851e-02 1.07677070e-04 9.99562698e-01 -2.74795728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.83264000000001 meters 0.01441319905881394 Centerline is valid? [True, True] Translation: X:67.08, Y:-6.63, Z:-2.75 [[ 9.91691497e-01 1.25211463e-01 2.94968646e-02 6.70839070e+01] [-1.25152163e-01 9.92130068e-01 -3.85539968e-03 -6.62928602e+00] [-2.97474666e-02 1.31770672e-04 9.99557438e-01 -2.74891733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.86264 meters 0.014113756205588177 Centerline is valid? [True, True] Translation: X:67.12, Y:-6.63, Z:-2.75 [[ 9.91623832e-01 1.25695526e-01 2.97121172e-02 6.71158771e+01] [-1.25635407e-01 9.92068858e-01 -3.88909396e-03 -6.63321860e+00] [-2.99653079e-02 1.23624330e-04 9.99550932e-01 -2.74890021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.89264 meters 0.029497436212556148 Centerline is valid? [True, True] Translation: X:67.15, Y:-6.64, Z:-2.75 [[ 9.91464508e-01 1.26835346e-01 3.01815072e-02 6.71477454e+01] [-1.26773680e-01 9.91923780e-01 -3.95577925e-03 -6.63657011e+00] [-3.04394874e-02 9.57939769e-05 9.99536607e-01 -2.74918137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.92264 meters 0.03490794889646377 Centerline is valid? [True, True] Translation: X:67.18, Y:-6.64, Z:-2.75 [[ 9.91306863e-01 1.28035911e-01 3.02904111e-02 6.71789679e+01] [-1.27974203e-01 9.91769530e-01 -3.97518235e-03 -6.64104741e+00] [-3.05500729e-02 6.42343249e-05 9.99533236e-01 -2.75142114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.95264 meters 0.02579473954402844 Centerline is valid? [True, True] Translation: X:67.21, Y:-6.65, Z:-2.75 [[ 9.91145292e-01 1.29339964e-01 3.00363708e-02 6.72103226e+01] [-1.29279715e-01 9.91600309e-01 -3.94747963e-03 -6.64580681e+00] [-3.02946414e-02 2.94324115e-05 9.99541012e-01 -2.75186234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98264 meters 0.0131834707316652 Centerline is valid? [True, True] Translation: X:67.24, Y:-6.65, Z:-2.75 [[ 9.90833977e-01 1.31494362e-01 3.09396558e-02 6.72413153e+01] [-1.31431282e-01 9.91316918e-01 -4.07264365e-03 -6.65055855e+00] [-3.12065339e-02 -3.11249216e-05 9.99512957e-01 -2.75236847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.01264 meters 0.013058684331513151 Centerline is valid? [True, True] Translation: X:67.27, Y:-6.66, Z:-2.75 [[ 9.90513769e-01 1.33654580e-01 3.19206400e-02 6.72725636e+01] [-1.33588475e-01 9.91027973e-01 -4.20427968e-03 -6.65756378e+00] [-3.21961684e-02 -9.98327085e-05 9.99481564e-01 -2.75081944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04264 meters 0.013333769039550783 Centerline is valid? [True, True] Translation: X:67.31, Y:-6.66, Z:-2.75 [[ 9.90372177e-01 1.34660609e-01 3.20853877e-02 6.73051072e+01] [-1.34594173e-01 9.90891772e-01 -4.23138071e-03 -6.66367442e+00] [-3.23629470e-02 -1.27864499e-04 9.99476174e-01 -2.75192080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07264 meters 0.013670813958608865 Centerline is valid? [True, True] Translation: X:67.34, Y:-6.67, Z:-2.75 [[ 9.90210524e-01 1.35827025e-01 3.21579927e-02 6.73372445e+01] [-1.35760683e-01 9.90732554e-01 -4.24773095e-03 -6.66841185e+00] [-3.24369269e-02 -1.59643164e-04 9.99473772e-01 -2.75309594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10264000000001 meters 0.015506880155644488 Centerline is valid? [True, True] Translation: X:67.37, Y:-6.67, Z:-2.76 [[ 9.89977045e-01 1.37746510e-01 3.11664806e-02 6.73678934e+01] [-1.37684977e-01 9.90467493e-01 -4.12217066e-03 -6.67138657e+00] [-3.14372005e-02 -2.10301827e-04 9.99505707e-01 -2.75826233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.13264000000001 meters 0.015336098272107175 Centerline is valid? [True, True] Translation: X:67.40, Y:-6.68, Z:-2.76 [[ 9.89840296e-01 1.38871245e-01 3.05117360e-02 6.73990879e+01] [-1.38812662e-01 9.90310417e-01 -4.04020757e-03 -6.67781277e+00] [-3.07771587e-02 -2.36255035e-04 9.99526243e-01 -2.75844703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16264000000001 meters 0.01681608600824596 Centerline is valid? [True, True] Translation: X:67.43, Y:-6.68, Z:-2.76 [[ 9.89658297e-01 1.40121501e-01 3.06988501e-02 6.74294534e+01] [-1.40062595e-01 9.90134280e-01 -4.07156156e-03 -6.68140547e+00] [-3.09664972e-02 -2.70305921e-04 9.99520386e-01 -2.76169623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.19264000000001 meters 0.01971873062651063 Centerline is valid? [True, True] Translation: X:67.46, Y:-6.68, Z:-2.76 [[ 9.89127724e-01 1.43703127e-01 3.12371092e-02 6.74589077e+01] [-1.43643797e-01 9.89620767e-01 -4.14690352e-03 -6.68263916e+00] [-3.15088150e-02 -3.85199733e-04 9.99503400e-01 -2.76251467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22264 meters 0.020614836026328198 Centerline is valid? [True, True] Translation: X:67.49, Y:-6.69, Z:-2.76 [[ 9.88827860e-01 1.45826633e-01 3.08878139e-02 6.74895225e+01] [-1.45769673e-01 9.89310059e-01 -4.10002948e-03 -6.68585594e+00] [-3.11555185e-02 -4.48283166e-04 9.99514448e-01 -2.76242383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.25264 meters 0.024331609551915816 Centerline is valid? [True, True] Translation: X:67.52, Y:-6.69, Z:-2.76 [[ 9.88178593e-01 1.50150358e-01 3.09505827e-02 6.75205685e+01] [-1.50095285e-01 9.88663000e-01 -4.10836137e-03 -6.68597105e+00] [-3.12165679e-02 -5.85741774e-04 9.99512473e-01 -2.76392323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.28264 meters 0.02702951037427577 Centerline is valid? [True, True] Translation: X:67.55, Y:-6.69, Z:-2.77 [[ 9.87900156e-01 1.51968088e-01 3.09674205e-02 6.75498151e+01] [-1.51913860e-01 9.88385191e-01 -4.11018246e-03 -6.68619400e+00] [-3.12323564e-02 -6.43930496e-04 9.99511944e-01 -2.76602908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.31264 meters 0.028766775313886068 Centerline is valid? [True, True] Translation: X:67.58, Y:-6.69, Z:-2.77 [[ 9.87682306e-01 1.53485924e-01 3.04258592e-02 6.75781549e+01] [-1.53434237e-01 9.88150602e-01 -4.04020737e-03 -6.68729248e+00] [-3.06854461e-02 -6.77927169e-04 9.99528861e-01 -2.76833622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34264 meters 0.03143563402163439 Centerline is valid? [True, True] Translation: X:67.61, Y:-6.69, Z:-2.77 [[ 9.87463643e-01 1.55034405e-01 2.96629047e-02 6.76072242e+01] [-1.54986002e-01 9.87908817e-01 -3.93802886e-03 -6.68769810e+00] [-2.99147751e-02 -7.08674700e-04 9.99552202e-01 -2.77224304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37264 meters 0.029369948555182015 Centerline is valid? [True, True] Translation: X:67.63, Y:-6.69, Z:-2.77 [[ 9.87448601e-01 1.55140074e-01 2.96111203e-02 6.76349617e+01] [-1.55091914e-01 9.87892227e-01 -3.93026538e-03 -6.69450634e+00] [-2.98623372e-02 -7.11510266e-04 9.99553768e-01 -2.77262604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40264 meters 0.02829661041641247 Centerline is valid? [True, True] Translation: X:67.66, Y:-6.70, Z:-2.77 [[ 9.87622567e-01 1.54057754e-01 2.94596936e-02 6.76641518e+01] [-1.54009657e-01 9.88061612e-01 -3.90840209e-03 -6.70015725e+00] [-2.97101121e-02 -6.77051210e-04 9.99558328e-01 -2.77365771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.43264 meters 0.02829661041641247 Centerline is valid? [True, True] Translation: X:67.69, Y:-6.70, Z:-2.77 [[ 9.87626326e-01 1.54033637e-01 2.94597887e-02 6.76930515e+01] [-1.53985550e-01 9.88065372e-01 -3.90768582e-03 -6.70394612e+00] [-2.97101121e-02 -6.77048387e-04 9.99558328e-01 -2.77490006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46264000000001 meters 0.03491809196060592 Centerline is valid? [True, True] Translation: X:67.72, Y:-6.71, Z:-2.77 [[ 9.87723061e-01 1.53439569e-01 2.93164256e-02 6.77225578e+01] [-1.53391709e-01 9.88157815e-01 -3.88795003e-03 -6.70950819e+00] [-2.95658205e-02 -6.56678712e-04 9.99562620e-01 -2.77468022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.49264000000001 meters 0.026830753664967746 Centerline is valid? [True, True] Translation: X:67.75, Y:-6.71, Z:-2.78 [[ 9.87876366e-01 1.52438837e-01 2.93715126e-02 6.77508824e+01] [-1.52390378e-01 9.88312706e-01 -3.89448448e-03 -6.71375052e+00] [-2.96219098e-02 -6.28666729e-04 9.99560977e-01 -2.77656054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52264000000001 meters 0.026926440905146114 Centerline is valid? [True, True] Translation: X:67.78, Y:-6.72, Z:-2.78 [[ 9.88145511e-01 1.50598310e-01 2.98093710e-02 6.77794902e+01] [-1.50547573e-01 9.88594866e-01 -3.95203114e-03 -6.71727126e+00] [-3.00645603e-02 -5.82546612e-04 9.99547789e-01 -2.77920531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.55264000000001 meters 0.025463943816290247 Centerline is valid? [True, True] Translation: X:67.81, Y:-6.72, Z:-2.78 [[ 9.88283735e-01 1.49661460e-01 2.99450640e-02 6.78092460e+01] [-1.49609873e-01 9.88737142e-01 -3.96859489e-03 -6.72248050e+00] [-3.02017427e-02 -5.57979453e-04 9.99543668e-01 -2.77959989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58264000000001 meters 0.023351586793624233 Centerline is valid? [True, True] Translation: X:67.84, Y:-6.73, Z:-2.78 [[ 9.88575286e-01 1.47744169e-01 2.98423362e-02 6.78387142e+01] [-1.47692069e-01 9.89025486e-01 -3.95477399e-03 -6.72786050e+00] [-3.00991259e-02 -4.97884538e-04 9.99546795e-01 -2.78079231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.61264 meters 0.023117024997957848 Centerline is valid? [True, True] Translation: X:67.87, Y:-6.73, Z:-2.78 [[ 9.88718024e-01 1.46709621e-01 3.02151526e-02 6.78678525e+01] [-1.46655755e-01 9.89179490e-01 -4.00328116e-03 -6.73224298e+00] [-3.04755291e-02 -4.73109796e-04 9.99535401e-01 -2.78230033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64264 meters 0.020787425137840546 Centerline is valid? [True, True] Translation: X:67.90, Y:-6.74, Z:-2.78 [[ 9.88890476e-01 1.45480872e-01 3.05113395e-02 6.78980144e+01] [-1.45425376e-01 9.89360967e-01 -4.04200386e-03 -6.73996985e+00] [-3.07747626e-02 -4.40023886e-04 9.99526248e-01 -2.78133916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.67264 meters 0.01830499623850416 Centerline is valid? [True, True] Translation: X:67.93, Y:-6.75, Z:-2.78 [[ 9.89386830e-01 1.41938782e-01 3.10979577e-02 6.79274310e+01] [-1.41879386e-01 9.89875381e-01 -4.11958027e-03 -6.74907147e+00] [-3.13678309e-02 -3.36300662e-04 9.99507852e-01 -2.78254796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70264 meters 0.016207832389319155 Centerline is valid? [True, True] Translation: X:67.96, Y:-6.76, Z:-2.78 [[ 9.89703389e-01 1.39808812e-01 3.06707940e-02 6.79592434e+01] [-1.39750020e-01 9.90178482e-01 -4.06278051e-03 -6.75767277e+00] [-3.09375727e-02 -2.65296425e-04 9.99521284e-01 -2.78332258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.73264 meters 0.014776292364780154 Centerline is valid? [True, True] Translation: X:67.99, Y:-6.77, Z:-2.78 [[ 9.90002527e-01 1.37629050e-01 3.08746145e-02 6.79904783e+01] [-1.37568393e-01 9.90483824e-01 -4.09045099e-03 -6.76629992e+00] [-3.11437711e-02 -1.97814299e-04 9.99514896e-01 -2.78481739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76264 meters 0.013533346198836754 Centerline is valid? [True, True] Translation: X:68.02, Y:-6.78, Z:-2.79 [[ 9.90592962e-01 1.33321669e-01 3.08369242e-02 6.80203519e+01] [-1.33258877e-01 9.91072817e-01 -4.09172462e-03 -6.77830388e+00] [-3.11071529e-02 -5.60602760e-05 9.99516054e-01 -2.78767814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79264 meters 0.013188973361046977 Centerline is valid? [True, True] Translation: X:68.05, Y:-6.79, Z:-2.79 [[ 9.90818837e-01 1.31697019e-01 3.05602349e-02 6.80526490e+01] [-1.31634520e-01 9.91290016e-01 -4.05685054e-03 -6.78624080e+00] [-3.08283308e-02 -3.17791260e-06 9.99524694e-01 -2.78807449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82264 meters 0.014327539036995945 Centerline is valid? [True, True] Translation: X:68.08, Y:-6.80, Z:-2.79 [[ 9.91223287e-01 1.28848539e-01 2.95710836e-02 6.80822667e+01] [-1.28788570e-01 9.91664281e-01 -3.93165649e-03 -6.79765144e+00] [-2.98311755e-02 8.87318889e-05 9.99554948e-01 -2.79289490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85264000000001 meters 0.014346648381291585 Centerline is valid? [True, True] Translation: X:68.11, Y:-6.81, Z:-2.79 [[ 9.91396049e-01 1.27639454e-01 2.90180007e-02 6.81136420e+01] [-1.27581062e-01 9.91820626e-01 -3.86249450e-03 -6.80575797e+00] [-2.92736583e-02 1.27114435e-04 9.99571427e-01 -2.79299278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88264000000001 meters 0.015442816494074382 Centerline is valid? [True, True] Translation: X:68.14, Y:-6.81, Z:-2.80 [[ 9.91540642e-01 1.26534597e-01 2.89162895e-02 6.81441121e+01] [-1.26475968e-01 9.91962181e-01 -3.85500408e-03 -6.81464362e+00] [-2.91716569e-02 1.65177513e-04 9.99574403e-01 -2.79639686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.91264000000001 meters 0.015681841456095677 Centerline is valid? [True, True] Translation: X:68.17, Y:-6.82, Z:-2.80 [[ 9.91680187e-01 1.25690613e-01 2.77898505e-02 6.81749858e+01] [-1.25636094e-01 9.92069471e-01 -3.70622082e-03 -6.82441415e+00] [-2.80352995e-02 1.83977495e-04 9.99606917e-01 -2.79743490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94264000000001 meters 0.02424307546361636 Centerline is valid? [True, True] Translation: X:68.21, Y:-6.83, Z:-2.80 [[ 9.91662209e-01 1.25909691e-01 2.74374440e-02 6.82076385e+01] [-1.25856514e-01 9.92041691e-01 -3.66341644e-03 -6.83057738e+00] [-2.76803479e-02 1.79690597e-04 9.99616810e-01 -2.79780450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.97264 meters 0.015495020239066883 Centerline is valid? [True, True] Translation: X:68.24, Y:-6.84, Z:-2.80 [[ 9.91507557e-01 1.26828553e-01 2.87625272e-02 6.82381637e+01] [-1.26770305e-01 9.91924639e-01 -3.84705340e-03 -6.84103710e+00] [-2.90181756e-02 1.68148161e-04 9.99578870e-01 -2.79984565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.00264 meters 0.015212223152414486 Centerline is valid? [True, True] Translation: X:68.27, Y:-6.85, Z:-2.80 [[ 9.91408095e-01 1.27572686e-01 2.88998186e-02 6.82690975e+01] [-1.27514044e-01 9.91829212e-01 -3.87067166e-03 -6.84792298e+00] [-2.91574763e-02 1.52282483e-04 9.99574819e-01 -2.80038814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.03264 meters 0.013705208155663317 Centerline is valid? [True, True] Translation: X:68.30, Y:-6.86, Z:-2.80 [[ 9.91222534e-01 1.28793037e-01 2.98369239e-02 6.83004354e+01] [-1.28730913e-01 9.91671487e-01 -4.00178021e-03 -6.85659174e+00] [-3.01038282e-02 1.25720270e-04 9.99546769e-01 -2.79737390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06264 meters 0.013476424271982292 Centerline is valid? [True, True] Translation: X:68.33, Y:-6.86, Z:-2.80 [[ 9.91067687e-01 1.29763448e-01 3.07617919e-02 6.83307524e+01] [-1.29697694e-01 9.91544975e-01 -4.13180765e-03 -6.86406888e+00] [-3.10378578e-02 1.05167595e-04 9.99518204e-01 -2.79878068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.09264 meters 0.013603660624248998 Centerline is valid? [True, True] Translation: X:68.36, Y:-6.87, Z:-2.80 [[ 9.90928356e-01 1.30784741e-01 3.09248167e-02 6.83606803e+01] [-1.30718598e-01 9.91410785e-01 -4.15970381e-03 -6.87129208e+00] [-3.12032226e-02 7.95197934e-05 9.99513058e-01 -2.80146995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12264 meters 0.012971383324511598 Centerline is valid? [True, True] Translation: X:68.39, Y:-6.88, Z:-2.80 [[ 9.90532951e-01 1.33830063e-01 3.05612042e-02 6.83934388e+01] [-1.33766860e-01 9.91004296e-01 -4.11256214e-03 -6.87841967e+00] [-3.08366691e-02 -1.44480035e-05 9.99524437e-01 -2.80094016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.15264 meters 0.019739678360547613 Centerline is valid? [True, True] Translation: X:68.43, Y:-6.88, Z:-2.80 [[ 9.90235295e-01 1.36002977e-01 3.06145421e-02 6.84254221e+01] [-1.35940396e-01 9.90708425e-01 -4.12606214e-03 -6.88302380e+00] [-3.08912415e-02 -7.59806079e-05 9.99522749e-01 -2.80271525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18264 meters 0.015498603850854446 Centerline is valid? [True, True] Translation: X:68.46, Y:-6.89, Z:-2.81 [[ 9.89539834e-01 1.41166034e-01 2.97164433e-02 6.84571661e+01] [-1.41109232e-01 9.89985909e-01 -4.01052130e-03 -6.88540385e+00] [-2.99850095e-02 -2.24693920e-04 9.99550323e-01 -2.80610046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21264000000001 meters 0.02242837972981351 Centerline is valid? [True, True] Translation: X:68.49, Y:-6.89, Z:-2.81 [[ 9.89101268e-01 1.44256104e-01 2.94764066e-02 6.84886406e+01] [-1.44201432e-01 9.89540338e-01 -3.98334661e-03 -6.88859459e+00] [-2.97427154e-02 -3.10606866e-04 9.99557539e-01 -2.80717558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24264000000001 meters 0.019327173740899553 Centerline is valid? [True, True] Translation: X:68.52, Y:-6.89, Z:-2.81 [[ 9.88663616e-01 1.47170573e-01 2.97502281e-02 6.85207159e+01] [-1.47116057e-01 9.89111048e-01 -4.02507972e-03 -6.89160512e+00] [-3.00186526e-02 -3.97286375e-04 9.99549260e-01 -2.80801208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.27264000000001 meters 0.023934828748901946 Centerline is valid? [True, True] Translation: X:68.55, Y:-6.89, Z:-2.81 [[ 9.87868359e-01 1.52398539e-01 2.98461039e-02 6.85522620e+01] [-1.52345891e-01 9.88318967e-01 -4.04343200e-03 -6.89152051e+00] [-3.01136837e-02 -5.52552761e-04 9.99546327e-01 -2.80844070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30264000000001 meters 0.02682879961658579 Centerline is valid? [True, True] Translation: X:68.58, Y:-6.89, Z:-2.81 [[ 9.87529972e-01 1.54563780e-01 2.99097257e-02 6.85830731e+01] [-1.54511754e-01 9.87982621e-01 -4.05686079e-03 -6.89305765e+00] [-3.01773329e-02 -6.15132563e-04 9.99544371e-01 -2.81076704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.33264000000001 meters 0.029425513359333213 Centerline is valid? [True, True] Translation: X:68.62, Y:-6.90, Z:-2.81 [[ 9.87041875e-01 1.57652335e-01 2.99011397e-02 6.86150940e+01] [-1.57601571e-01 9.87494429e-01 -4.06179571e-03 -6.89570322e+00] [-3.01675605e-02 -7.03304137e-04 9.99544608e-01 -2.81160808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36264 meters 0.02970682744919968 Centerline is valid? [True, True] Translation: X:68.65, Y:-6.90, Z:-2.81 [[ 9.86882356e-01 1.58654468e-01 2.98659658e-02 6.86466420e+01] [-1.58604284e-01 9.87333896e-01 -4.05694814e-03 -6.89961752e+00] [-3.01313334e-02 -7.33139584e-04 9.99545679e-01 -2.81303322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.39264 meters 0.030471741280547384 Centerline is valid? [True, True] Translation: X:68.68, Y:-6.90, Z:-2.82 [[ 9.86809885e-01 1.59145960e-01 2.96447911e-02 6.86780990e+01] [-1.59096584e-01 9.87254789e-01 -4.03205333e-03 -6.90264777e+00] [-2.99086470e-02 -7.37514923e-04 9.99552364e-01 -2.81501266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42264 meters 0.03675679985409634 Centerline is valid? [True, True] Translation: X:68.71, Y:-6.91, Z:-2.82 [[ 9.86792410e-01 1.59287618e-01 2.94651372e-02 6.87101620e+01] [-1.59238781e-01 9.87231947e-01 -4.01166677e-03 -6.90979530e+00] [-2.97279336e-02 -7.33310217e-04 9.99557758e-01 -2.81586090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.45264 meters 0.026272310731220088 Centerline is valid? [True, True] Translation: X:68.74, Y:-6.92, Z:-2.82 [[ 9.87121528e-01 1.57438229e-01 2.83600494e-02 6.87413830e+01] [-1.57392063e-01 9.87528625e-01 -3.86686688e-03 -6.91796807e+00] [-2.86151533e-02 -6.46579121e-04 9.99590294e-01 -2.81849034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48264 meters 0.02564397645824522 Centerline is valid? [True, True] Translation: X:68.77, Y:-6.92, Z:-2.82 [[ 9.87352322e-01 1.56057278e-01 2.79556427e-02 6.87721950e+01] [-1.56011723e-01 9.87747829e-01 -3.81677300e-03 -6.92431578e+00] [-2.82087606e-02 -5.92908291e-04 9.99601878e-01 -2.82106921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.51264 meters 0.023790636883437813 Centerline is valid? [True, True] Translation: X:68.80, Y:-6.93, Z:-2.82 [[ 9.88033767e-01 1.51674179e-01 2.80039086e-02 6.88018747e+01] [-1.51626520e-01 9.88430438e-01 -3.82995458e-03 -6.93392553e+00] [-2.82608209e-02 -4.62010759e-04 9.99600476e-01 -2.82497366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54264 meters 0.020040405009671435 Centerline is valid? [True, True] Translation: X:68.83, Y:-6.94, Z:-2.82 [[ 9.88437914e-01 1.49056285e-01 2.77977365e-02 6.88335203e+01] [-1.49008285e-01 9.88828639e-01 -3.80191265e-03 -6.94467567e+00] [-2.80538969e-02 -3.84138447e-04 9.99606338e-01 -2.82416788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57264 meters 0.016434076923532437 Centerline is valid? [True, True] Translation: X:68.86, Y:-6.96, Z:-2.82 [[ 9.89160912e-01 1.44068037e-01 2.83741231e-02 6.88636818e+01] [-1.44015906e-01 9.89567754e-01 -3.88307458e-03 -6.95742260e+00] [-2.86375442e-02 -2.45339451e-04 9.99589831e-01 -2.82453653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60264000000001 meters 0.016209042640091112 Centerline is valid? [True, True] Translation: X:68.89, Y:-6.96, Z:-2.83 [[ 9.89457680e-01 1.41920348e-01 2.88464000e-02 6.88944655e+01] [-1.41865590e-01 9.89878063e-01 -3.94646527e-03 -6.96491024e+00] [-2.91145023e-02 -1.87451199e-04 9.99576065e-01 -2.82834032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.63264000000001 meters 0.01401274868841059 Centerline is valid? [True, True] Translation: X:68.93, Y:-6.98, Z:-2.83 [[ 9.89732205e-01 1.39959042e-01 2.90108378e-02 6.89259064e+01] [-1.39902668e-01 9.90157286e-01 -3.97400572e-03 -6.97513100e+00] [-2.92814904e-02 -1.25492152e-04 9.99571197e-01 -2.82571496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66264000000001 meters 0.01762237191991339 Centerline is valid? [True, True] Translation: X:68.96, Y:-6.99, Z:-2.83 [[ 9.90203845e-01 1.36506666e-01 2.93645259e-02 6.89570211e+01] [-1.36447235e-01 9.90639152e-01 -4.02769655e-03 -6.98719511e+00] [-2.96394565e-02 -1.84677399e-05 9.99560655e-01 -2.82615150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.69264000000001 meters 0.013674937253564667 Centerline is valid? [True, True] Translation: X:68.99, Y:-7.00, Z:-2.83 [[ 9.90393975e-01 1.35171243e-01 2.91291773e-02 6.89881851e+01] [-1.35112039e-01 9.90822252e-01 -4.00030975e-03 -6.99517442e+00] [-2.94025639e-02 2.61801301e-05 9.99567651e-01 -2.82913941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72264 meters 0.013817681516122482 Centerline is valid? [True, True] Translation: X:69.02, Y:-7.00, Z:-2.83 [[ 9.90567582e-01 1.34079859e-01 2.82569887e-02 6.90194370e+01] [-1.34023555e-01 9.90970528e-01 -3.88575717e-03 -7.00268929e+00] [-2.85228448e-02 6.20029924e-05 9.99593139e-01 -2.83021444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.75264 meters 0.025057552906779135 Centerline is valid? [True, True] Translation: X:69.05, Y:-7.01, Z:-2.83 [[ 9.90716566e-01 1.32880544e-01 2.86957558e-02 6.90514019e+01] [-1.32821836e-01 9.91132055e-01 -3.95087373e-03 -7.01154664e+00] [-2.89662777e-02 1.02773081e-04 9.99580384e-01 -2.83139602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78264 meters 0.01411606939219347 Centerline is valid? [True, True] Translation: X:69.08, Y:-7.02, Z:-2.83 [[ 9.90759336e-01 1.32666679e-01 2.82044527e-02 6.90836395e+01] [-1.32609723e-01 9.91160703e-01 -3.88865634e-03 -7.01755755e+00] [-2.84710403e-02 1.12537906e-04 9.99594611e-01 -2.83198807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.81264 meters 0.014217707647787011 Centerline is valid? [True, True] Translation: X:69.11, Y:-7.02, Z:-2.83 [[ 9.90598891e-01 1.33888932e-01 2.80640542e-02 6.91145325e+01] [-1.33832865e-01 9.90996341e-01 -3.87519527e-03 -7.02495294e+00] [-2.83302208e-02 8.28713544e-05 9.99598615e-01 -2.83485716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84264 meters 0.013948504449556223 Centerline is valid? [True, True] Translation: X:69.15, Y:-7.03, Z:-2.84 [[ 9.90391213e-01 1.35519898e-01 2.75608749e-02 6.91469139e+01] [-1.35466316e-01 9.90774624e-01 -3.81071951e-03 -7.02829740e+00] [-2.78230438e-02 4.05329322e-05 9.99612863e-01 -2.83628903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87264 meters 0.01382936104562606 Centerline is valid? [True, True] Translation: X:69.18, Y:-7.03, Z:-2.84 [[ 9.90082718e-01 1.37645378e-01 2.81062470e-02 6.91777433e+01] [-1.37590330e-01 9.90481575e-01 -3.89244283e-03 -7.03069289e+00] [-2.83744965e-02 -1.33074350e-05 9.99597363e-01 -2.83787868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90264 meters 0.014262514164025932 Centerline is valid? [True, True] Translation: X:69.21, Y:-7.03, Z:-2.84 [[ 9.89749124e-01 1.40002988e-01 2.82105529e-02 6.92092778e+01] [-1.39948366e-01 9.90151078e-01 -3.91117074e-03 -7.03264733e+00] [-2.84802849e-02 -7.69429701e-05 9.99594351e-01 -2.83932945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.93264 meters 0.02837506204137159 Centerline is valid? [True, True] Translation: X:69.24, Y:-7.03, Z:-2.84 [[ 9.89143049e-01 1.44204022e-01 2.83060004e-02 6.92417602e+01] [-1.44150595e-01 9.89547959e-01 -3.92976274e-03 -7.03464358e+00] [-2.85768325e-02 -1.93229313e-04 9.99591580e-01 -2.84151049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96264000000001 meters 0.017145066892239685 Centerline is valid? [True, True] Translation: X:69.27, Y:-7.04, Z:-2.84 [[ 9.88947507e-01 1.45757640e-01 2.71576531e-02 6.92730012e+01] [-1.45708922e-01 9.89320302e-01 -3.77487660e-03 -7.03714734e+00] [-2.74178347e-02 -2.23957558e-04 9.99624035e-01 -2.84487247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.99264000000001 meters 0.0179847478046293 Centerline is valid? [True, True] Translation: X:69.30, Y:-7.04, Z:-2.85 [[ 9.88743946e-01 1.47251709e-01 2.65017630e-02 6.93046964e+01] [-1.47205750e-01 9.89099019e-01 -3.68754838e-03 -7.04052885e+00] [-2.67558656e-02 -2.55170768e-04 9.99641965e-01 -2.84667830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02264000000001 meters 0.018501476513518366 Centerline is valid? [True, True] Translation: X:69.34, Y:-7.04, Z:-2.85 [[ 9.88477547e-01 1.48962279e-01 2.68771019e-02 6.93368652e+01] [-1.48915518e-01 9.88842833e-01 -3.74431249e-03 -7.04469950e+00] [-2.71349910e-02 -3.01248728e-04 9.99631733e-01 -2.84652695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.05264000000001 meters 0.01834841186706419 Centerline is valid? [True, True] Translation: X:69.37, Y:-7.05, Z:-2.85 [[ 9.88437423e-01 1.49121133e-01 2.74653941e-02 6.93681350e+01] [-1.49072228e-01 9.88818888e-01 -3.83113872e-03 -7.05106300e+00] [-2.77296042e-02 -3.07486605e-04 9.99615413e-01 -2.84700196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08264000000001 meters 0.03127150806127176 Centerline is valid? [True, True] Translation: X:69.40, Y:-7.06, Z:-2.85 [[ 9.88468038e-01 1.48739138e-01 2.84184323e-02 6.93995378e+01] [-1.48686478e-01 9.88876422e-01 -3.96910611e-03 -7.05961092e+00] [-2.86926790e-02 -3.02102066e-04 9.99588235e-01 -2.84618911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.11264 meters 0.016333069942204015 Centerline is valid? [True, True] Translation: X:69.43, Y:-7.07, Z:-2.85 [[ 9.88750686e-01 1.46976693e-01 2.77476544e-02 6.94294003e+01] [-1.46925658e-01 9.89139926e-01 -3.88035940e-03 -7.06900161e+00] [-2.80166352e-02 -2.40134344e-04 9.99607428e-01 -2.84766163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.14264 meters 0.016023540533910214 Centerline is valid? [True, True] Translation: X:69.46, Y:-7.08, Z:-2.85 [[ 9.88871940e-01 1.46049678e-01 2.83156903e-02 6.94599626e+01] [-1.45996014e-01 9.89277234e-01 -3.96460720e-03 -7.07555667e+00] [-2.85910974e-02 -2.13489104e-04 9.99591168e-01 -2.84930744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.17264 meters 0.01505311367581537 Centerline is valid? [True, True] Translation: X:69.49, Y:-7.08, Z:-2.85 [[ 9.88927883e-01 1.45508763e-01 2.91348777e-02 6.94917285e+01] [-1.45451574e-01 9.89356943e-01 -4.08403561e-03 -7.08316814e+00] [-2.94190565e-02 -1.98897123e-04 9.99567146e-01 -2.84837784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.20264 meters 0.014633707930604757 Centerline is valid? [True, True] Translation: X:69.52, Y:-7.09, Z:-2.85 [[ 9.88964358e-01 1.45118331e-01 2.98356990e-02 6.95225827e+01] [-1.45058012e-01 9.89414289e-01 -4.18780712e-03 -7.09092922e+00] [-3.01275945e-02 -1.86315213e-04 9.99546044e-01 -2.84882398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.23264 meters 0.014654993638807394 Centerline is valid? [True, True] Translation: X:69.56, Y:-7.10, Z:-2.85 [[ 9.88921600e-01 1.45369407e-01 3.00300553e-02 6.95555740e+01] [-1.45308280e-01 9.89377430e-01 -4.21953976e-03 -7.09672217e+00] [-3.03244510e-02 -1.90821697e-04 9.99540090e-01 -2.84972136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26264 meters 0.014935973434856056 Centerline is valid? [True, True] Translation: X:69.59, Y:-7.10, Z:-2.85 [[ 9.88762998e-01 1.46387530e-01 3.03055220e-02 6.95876967e+01] [-1.46325570e-01 9.89227296e-01 -4.26426180e-03 -7.10306179e+00] [-3.06032843e-02 -2.18128510e-04 9.99531586e-01 -2.85035943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.29264 meters 0.028184039606995493 Centerline is valid? [True, True] Translation: X:69.62, Y:-7.11, Z:-2.85 [[ 9.88656074e-01 1.47137275e-01 3.01627266e-02 6.96201529e+01] [-1.47076065e-01 9.89116054e-01 -4.25013617e-03 -7.10844016e+00] [-3.04597905e-02 -2.34292184e-04 9.99535965e-01 -2.85289178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32264 meters 0.028184039606995493 Centerline is valid? [True, True] Translation: X:69.65, Y:-7.11, Z:-2.85 [[ 9.88627389e-01 1.47330058e-01 3.01619013e-02 6.96522835e+01] [-1.47268760e-01 9.89087357e-01 -4.25598313e-03 -7.11316277e+00] [-3.04597895e-02 -2.34324309e-04 9.99535965e-01 -2.85427663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.35264000000001 meters 0.01583425350248672 Centerline is valid? [True, True] Translation: X:69.68, Y:-7.12, Z:-2.86 [[ 9.88511062e-01 1.48210286e-01 2.96579197e-02 6.96830425e+01] [-1.48151228e-01 9.88955837e-01 -4.19110384e-03 -7.11756319e+00] [-2.99515375e-02 -2.50904727e-04 9.99551321e-01 -2.85625316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38264000000001 meters 0.030282518290509246 Centerline is valid? [True, True] Translation: X:69.72, Y:-7.12, Z:-2.86 [[ 9.88176813e-01 1.50522374e-01 2.91479234e-02 6.97152579e+01] [-1.50466208e-01 9.88606554e-01 -4.12338073e-03 -7.12110480e+00] [-2.94364892e-02 -3.11148267e-04 9.99566604e-01 -2.85812545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.41264000000001 meters 0.01993628669034689 Centerline is valid? [True, True] Translation: X:69.75, Y:-7.12, Z:-2.86 [[ 9.87908269e-01 1.52268893e-01 2.91793786e-02 6.97467279e+01] [-1.52213209e-01 9.88339039e-01 -4.13318035e-03 -7.12064525e+00] [-2.94684738e-02 -3.58283813e-04 9.99565646e-01 -2.86183353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44264000000001 meters 0.020544916807850967 Centerline is valid? [True, True] Translation: X:69.78, Y:-7.12, Z:-2.86 [[ 9.87442169e-01 1.55291837e-01 2.90242552e-02 6.97787168e+01] [-1.55237914e-01 9.87868539e-01 -4.11578703e-03 -7.12412069e+00] [-2.93112967e-02 -4.41563155e-04 9.99570234e-01 -2.85988863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.47264 meters 0.022323749351376782 Centerline is valid? [True, True] Translation: X:69.81, Y:-7.13, Z:-2.86 [[ 9.87177747e-01 1.56930924e-01 2.92024121e-02 6.98097607e+01] [-1.56876897e-01 9.87609461e-01 -4.14634587e-03 -7.12649942e+00] [-2.94912684e-02 -4.88003436e-04 9.99564919e-01 -2.86137409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.50264 meters 0.022890647514504633 Centerline is valid? [True, True] Translation: X:69.84, Y:-7.13, Z:-2.86 [[ 9.86980378e-01 1.58182607e-01 2.91203595e-02 6.98421940e+01] [-1.58129295e-01 9.87409739e-01 -4.13921622e-03 -7.13001723e+00] [-2.94084786e-02 -5.19456724e-04 9.99567342e-01 -2.86228273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.53264 meters 0.027201540591329374 Centerline is valid? [True, True] Translation: X:69.87, Y:-7.13, Z:-2.86 [[ 9.86772178e-01 1.59384573e-01 2.96180243e-02 6.98735842e+01] [-1.59329778e-01 9.87216413e-01 -4.21615009e-03 -7.13136561e+00] [-2.99113890e-02 -5.58653643e-04 9.99552398e-01 -2.86442996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56264 meters 0.02616961279715506 Centerline is valid? [True, True] Translation: X:69.91, Y:-7.13, Z:-2.87 [[ 9.86487728e-01 1.61160936e-01 2.94807617e-02 6.99060279e+01] [-1.61107388e-01 9.86927952e-01 -4.19839871e-03 -7.13085397e+00] [-2.97720056e-02 -6.07899698e-04 9.99556531e-01 -2.86544638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.59264 meters 0.03558059314345902 Centerline is valid? [True, True] Translation: X:69.94, Y:-7.13, Z:-2.87 [[ 9.86387347e-01 1.61635722e-01 3.02306901e-02 6.99393220e+01] [-1.61579484e-01 9.86850289e-01 -4.31019283e-03 -7.13426966e+00] [-3.05298464e-02 -6.33139621e-04 9.99533655e-01 -2.86695901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62264 meters 0.02705981195216275 Centerline is valid? [True, True] Translation: X:69.97, Y:-7.14, Z:-2.87 [[ 9.86323571e-01 1.62008050e-01 3.03184107e-02 6.99711352e+01] [-1.61951477e-01 9.86789229e-01 -4.32870966e-03 -7.13741529e+00] [-3.06191669e-02 -6.40603014e-04 9.99530918e-01 -2.86795136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65264 meters 0.026746319891594882 Centerline is valid? [True, True] Translation: X:70.00, Y:-7.14, Z:-2.87 [[ 9.86363173e-01 1.61751520e-01 3.03996049e-02 7.00028119e+01] [-1.61694348e-01 9.86831318e-01 -4.34595339e-03 -7.14037228e+00] [-3.07022468e-02 -6.28755921e-04 9.99528377e-01 -2.86885128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68264 meters 0.024545522086062234 Centerline is valid? [True, True] Translation: X:70.04, Y:-7.15, Z:-2.87 [[ 9.86417689e-01 1.61506673e-01 2.99288646e-02 7.00355553e+01] [-1.61451011e-01 9.86871433e-01 -4.28312626e-03 -7.14648441e+00] [-3.02276949e-02 -6.07093933e-04 9.99542854e-01 -2.86913539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71264000000001 meters 0.02351988492502823 Centerline is valid? [True, True] Translation: X:70.07, Y:-7.15, Z:-2.87 [[ 9.86648475e-01 1.60142060e-01 2.96531040e-02 7.00666583e+01] [-1.60086613e-01 9.87093822e-01 -4.24998015e-03 -7.14824375e+00] [-2.99509964e-02 -5.53828553e-04 9.99551215e-01 -2.87216346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74264000000001 meters 0.022924798760623498 Centerline is valid? [True, True] Translation: X:70.10, Y:-7.15, Z:-2.87 [[ 9.86854663e-01 1.58937954e-01 2.92677469e-02 7.00976377e+01] [-1.58883272e-01 9.87288444e-01 -4.19941392e-03 -7.15224335e+00] [-2.95631545e-02 -5.05944183e-04 9.99562786e-01 -2.87479131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.77264000000001 meters 0.021106707689570302 Centerline is valid? [True, True] Translation: X:70.13, Y:-7.16, Z:-2.88 [[ 9.87077928e-01 1.57553152e-01 2.92261539e-02 7.01294095e+01] [-1.57497886e-01 9.87510402e-01 -4.19794165e-03 -7.15898229e+00] [-2.95225299e-02 -4.59361907e-04 9.99564010e-01 -2.87652336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80264000000001 meters 0.017711433522983263 Centerline is valid? [True, True] Translation: X:70.16, Y:-7.17, Z:-2.88 [[ 9.87743662e-01 1.53435839e-01 2.86339364e-02 7.01600851e+01] [-1.53380920e-01 9.88158559e-01 -4.11770146e-03 -7.16918471e+00] [-2.89266723e-02 -3.24665978e-04 9.99581484e-01 -2.87827566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.83264000000001 meters 0.02366033472219094 Centerline is valid? [True, True] Translation: X:70.19, Y:-7.18, Z:-2.88 [[ 9.88058629e-01 1.51331297e-01 2.89652238e-02 7.01910199e+01] [-1.51274044e-01 9.88483065e-01 -4.17052276e-03 -7.17604139e+00] [-2.92627639e-02 -2.60965554e-04 9.99571720e-01 -2.88101545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86264 meters 0.014427342156697383 Centerline is valid? [True, True] Translation: X:70.22, Y:-7.19, Z:-2.88 [[ 9.88800093e-01 1.46627812e-01 2.78327227e-02 7.02220027e+01] [-1.46572911e-01 9.89191727e-01 -4.01366259e-03 -7.18625433e+00] [-2.81204136e-02 -1.10813229e-04 9.99604537e-01 -2.88295675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.89264 meters 0.014050732525978604 Centerline is valid? [True, True] Translation: X:70.25, Y:-7.19, Z:-2.89 [[ 9.89084295e-01 1.44742696e-01 2.76008921e-02 7.02538367e+01] [-1.44687980e-01 9.89469327e-01 -3.97990987e-03 -7.19297765e+00] [-2.78862990e-02 -5.70509833e-05 9.99611100e-01 -2.88520694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92264 meters 0.014022480577135458 Centerline is valid? [True, True] Translation: X:70.28, Y:-7.20, Z:-2.89 [[ 9.89432797e-01 1.42174648e-01 2.84448395e-02 7.02840378e+01] [-1.42115286e-01 9.89841588e-01 -4.10808665e-03 -7.20011031e+00] [-2.87399508e-02 2.22291665e-05 9.99586922e-01 -2.88650356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.95264 meters 0.026263372488834487 Centerline is valid? [True, True] Translation: X:70.31, Y:-7.21, Z:-2.89 [[ 9.89449361e-01 1.41967555e-01 2.88994156e-02 7.03148745e+01] [-1.41906050e-01 9.89871311e-01 -4.17861487e-03 -7.20615807e+00] [-2.91999302e-02 3.35258987e-05 9.99573591e-01 -2.88808587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98264 meters 0.01363674508802554 Centerline is valid? [True, True] Translation: X:70.35, Y:-7.21, Z:-2.89 [[ 9.89395714e-01 1.42386920e-01 2.86720442e-02 7.03474596e+01] [-1.42326444e-01 9.89811075e-01 -4.14955254e-03 -7.21082209e+00] [-2.89707489e-02 2.47593986e-05 9.99580259e-01 -2.88753713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.01264 meters 0.028598875069870182 Centerline is valid? [True, True] Translation: X:70.38, Y:-7.21, Z:-2.89 [[ 9.89255659e-01 1.43362649e-01 2.86424972e-02 7.03793057e+01] [-1.43302535e-01 9.89670223e-01 -4.15121289e-03 -7.21493077e+00] [-2.89417555e-02 2.06838340e-06 9.99581100e-01 -2.88880405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04264 meters 0.013928585629550214 Centerline is valid? [True, True] Translation: X:70.41, Y:-7.21, Z:-2.89 [[ 9.88896195e-01 1.45804198e-01 2.87306723e-02 7.04111654e+01] [-1.45744562e-01 9.89313465e-01 -4.17025309e-03 -7.21439893e+00] [-2.90316814e-02 -6.33918234e-05 9.99578490e-01 -2.89090840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07264 meters 0.013788684838251986 Centerline is valid? [True, True] Translation: X:70.44, Y:-7.22, Z:-2.89 [[ 9.88673412e-01 1.47293090e-01 2.88032836e-02 7.04443643e+01] [-1.47233709e-01 9.89092885e-01 -4.18332003e-03 -7.21721869e+00] [-2.91052970e-02 -1.04876991e-04 9.99576346e-01 -2.89069732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10264000000001 meters 0.01493726576937845 Centerline is valid? [True, True] Translation: X:70.48, Y:-7.22, Z:-2.89 [[ 9.88256684e-01 1.50001106e-01 2.91272265e-02 7.04767528e+01] [-1.49941374e-01 9.88685812e-01 -4.23659085e-03 -7.21795791e+00] [-2.94331689e-02 -1.80537147e-04 9.99566734e-01 -2.89246582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.13264000000001 meters 0.015825666938839248 Centerline is valid? [True, True] Translation: X:70.51, Y:-7.22, Z:-2.90 [[ 9.88092893e-01 1.51094337e-01 2.90333721e-02 7.05088542e+01] [-1.51035299e-01 9.88519326e-01 -4.22849349e-03 -7.22095086e+00] [-2.93389509e-02 -2.06919667e-04 9.99569499e-01 -2.89525515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16264000000001 meters 0.02778622275485647 Centerline is valid? [True, True] Translation: X:70.54, Y:-7.22, Z:-2.90 [[ 9.87932210e-01 1.52139818e-01 2.90417628e-02 7.05421305e+01] [-1.52081041e-01 9.88358954e-01 -4.23500311e-03 -7.22456972e+00] [-2.93479989e-02 -2.32805546e-04 9.99569228e-01 -2.89580429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.19264000000001 meters 0.01634070187023795 Centerline is valid? [True, True] Translation: X:70.58, Y:-7.23, Z:-2.90 [[ 9.87698019e-01 1.53537957e-01 2.96432059e-02 7.05750668e+01] [-1.53477175e-01 9.88142713e-01 -4.32855098e-03 -7.22755241e+00] [-2.99563148e-02 -2.74254263e-04 9.99551171e-01 -2.89608063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22264 meters 0.016527860933936395 Centerline is valid? [True, True] Translation: X:70.61, Y:-7.23, Z:-2.90 [[ 9.87555346e-01 1.54360433e-01 3.01213253e-02 7.06075226e+01] [-1.54297868e-01 9.88014559e-01 -4.40455593e-03 -7.23178105e+00] [-3.04401971e-02 -2.97913522e-04 9.99536545e-01 -2.89627848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.25264 meters 0.018718164456033984 Centerline is valid? [True, True] Translation: X:70.64, Y:-7.23, Z:-2.90 [[ 9.87246527e-01 1.56184032e-01 3.08357414e-02 7.06392073e+01] [-1.56119138e-01 9.87727909e-01 -4.51588622e-03 -7.23152650e+00] [-3.11626317e-02 -3.55756381e-04 9.99514264e-01 -2.89845351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28264 meters 0.018642985113050393 Centerline is valid? [True, True] Translation: X:70.67, Y:-7.24, Z:-2.90 [[ 9.87076967e-01 1.57214246e-01 3.10280822e-02 7.06715043e+01] [-1.57148896e-01 9.87564444e-01 -4.54888563e-03 -7.23549247e+00] [-3.13573804e-02 -3.85928655e-04 9.99508162e-01 -2.89838052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.31264 meters 0.018842123062746068 Centerline is valid? [True, True] Translation: X:70.70, Y:-7.24, Z:-2.90 [[ 9.86936839e-01 1.58090298e-01 3.10343791e-02 7.07035014e+01] [-1.58025172e-01 9.87424575e-01 -4.55564814e-03 -7.23940247e+00] [-3.13643123e-02 -4.08076115e-04 9.99507936e-01 -2.89971047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34264 meters 0.021166448476809 Centerline is valid? [True, True] Translation: X:70.73, Y:-7.24, Z:-2.90 [[ 9.86768746e-01 1.59210669e-01 3.06497226e-02 7.07349413e+01] [-1.59147519e-01 9.87244537e-01 -4.50462671e-03 -7.24022495e+00] [-3.09759558e-02 -4.32802450e-04 9.99520036e-01 -2.90346735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37264 meters 0.020225069542468787 Centerline is valid? [True, True] Translation: X:70.77, Y:-7.25, Z:-2.90 [[ 9.86708074e-01 1.59603486e-01 3.05598284e-02 7.07675017e+01] [-1.59540754e-01 9.87181105e-01 -4.49594025e-03 -7.24545135e+00] [-3.08856529e-02 -4.39357533e-04 9.99522828e-01 -2.90387868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40264 meters 0.021197121547960787 Centerline is valid? [True, True] Translation: X:70.80, Y:-7.25, Z:-2.91 [[ 9.86670625e-01 1.59910007e-01 3.01640025e-02 7.07998705e+01] [-1.59848850e-01 9.87131500e-01 -4.44372806e-03 -7.24704989e+00] [-3.04864337e-02 -4.37185163e-04 9.99535085e-01 -2.90762172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.43264 meters 0.02008606413836181 Centerline is valid? [True, True] Translation: X:70.83, Y:-7.25, Z:-2.91 [[ 9.86691000e-01 1.59808416e-01 3.00356417e-02 7.08323427e+01] [-1.59747569e-01 9.87147956e-01 -4.43016165e-03 -7.25363504e+00] [-3.03575995e-02 -4.26920111e-04 9.99539011e-01 -2.90819450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46264000000001 meters 0.020876227431450723 Centerline is valid? [True, True] Translation: X:70.86, Y:-7.26, Z:-2.91 [[ 9.86681908e-01 1.59865156e-01 3.00323844e-02 7.08638715e+01] [-1.59804167e-01 9.87138771e-01 -4.43564516e-03 -7.25786269e+00] [-3.03552362e-02 -4.22729355e-04 9.99539084e-01 -2.91053110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.49264000000001 meters 0.0290890281333153 Centerline is valid? [True, True] Translation: X:70.90, Y:-7.26, Z:-2.91 [[ 9.86650057e-01 1.60072552e-01 2.99740268e-02 7.08964669e+01] [-1.60011716e-01 9.87105161e-01 -4.43295169e-03 -7.26338435e+00] [-3.02971104e-02 -4.22423420e-04 9.99540848e-01 -2.91072250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52264000000001 meters 0.03374910386981612 Centerline is valid? [True, True] Translation: X:70.93, Y:-7.27, Z:-2.91 [[ 9.86588460e-01 1.60421165e-01 3.01373774e-02 7.09294786e+01] [-1.60359650e-01 9.87048563e-01 -4.46289933e-03 -7.26906621e+00] [-3.04629985e-02 -4.29774305e-04 9.99535803e-01 -2.91037418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.55264000000001 meters 0.019823205299246322 Centerline is valid? [True, True] Translation: X:70.96, Y:-7.27, Z:-2.91 [[ 9.86499287e-01 1.60830231e-01 3.08673582e-02 7.09630798e+01] [-1.60765699e-01 9.86981984e-01 -4.57742912e-03 -7.27010104e+00] [-3.12017155e-02 -4.46781876e-04 9.99513008e-01 -2.91304325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58264000000001 meters 0.021155739963078374 Centerline is valid? [True, True] Translation: X:70.99, Y:-7.27, Z:-2.92 [[ 9.86381413e-01 1.61488037e-01 3.11980997e-02 7.09947507e+01] [-1.61422236e-01 9.86874560e-01 -4.63305587e-03 -7.27168519e+00] [-3.15367940e-02 -4.66106810e-04 9.99502483e-01 -2.91505762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.61264 meters 0.020121908920772383 Centerline is valid? [True, True] Translation: X:71.03, Y:-7.28, Z:-2.91 [[ 9.86294353e-01 1.61914420e-01 3.17359366e-02 7.10272029e+01] [-1.61846356e-01 9.86804686e-01 -4.71897879e-03 -7.27730136e+00] [-3.20812417e-02 -4.82043559e-04 9.99485148e-01 -2.91450473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64264 meters 0.021312079357780574 Centerline is valid? [True, True] Translation: X:71.06, Y:-7.28, Z:-2.92 [[ 9.86135455e-01 1.62742042e-01 3.24328809e-02 7.10596332e+01] [-1.62671154e-01 9.86668518e-01 -4.83017149e-03 -7.27894610e+00] [-3.27865745e-02 -5.12690811e-04 9.99462244e-01 -2.91565588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.67264 meters 0.021567116958262585 Centerline is valid? [True, True] Translation: X:71.09, Y:-7.28, Z:-2.92 [[ 9.86014763e-01 1.63436547e-01 3.26095275e-02 7.10920092e+01] [-1.63365151e-01 9.86553703e-01 -4.85994140e-03 -7.28261220e+00] [-3.29653422e-02 -5.35286412e-04 9.99456352e-01 -2.91688405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.70264 meters 0.023395831361018166 Centerline is valid? [True, True] Translation: X:71.12, Y:-7.28, Z:-2.92 [[ 9.85878956e-01 1.64241383e-01 3.26718892e-02 7.11235932e+01] [-1.64169926e-01 9.86420021e-01 -4.87616172e-03 -7.28373339e+00] [-3.30290732e-02 -5.56436416e-04 9.99454236e-01 -2.91967300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.73264 meters 0.023276349126984286 Centerline is valid? [True, True] Translation: X:71.16, Y:-7.29, Z:-2.92 [[ 9.85725942e-01 1.65086729e-01 3.30263534e-02 7.11562803e+01] [-1.65014016e-01 9.86278880e-01 -4.93416616e-03 -7.28780159e+00] [-3.33877602e-02 -5.86075626e-04 9.99442301e-01 -2.92081497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76264 meters 0.02982720959708723 Centerline is valid? [True, True] Translation: X:71.19, Y:-7.29, Z:-2.92 [[ 9.85518822e-01 1.66312807e-01 3.30560302e-02 7.11890124e+01] [-1.66240429e-01 9.86072849e-01 -4.94530017e-03 -7.28889590e+00] [-3.34181207e-02 -6.21562235e-04 9.99441265e-01 -2.91934623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.79264 meters 0.02696274074853832 Centerline is valid? [True, True] Translation: X:71.22, Y:-7.29, Z:-2.92 [[ 9.85432006e-01 1.66720367e-01 3.35869056e-02 7.12209231e+01] [-1.66645666e-01 9.86004011e-01 -5.03107169e-03 -7.29006549e+00] [-3.39556058e-02 -6.39333166e-04 9.99423138e-01 -2.92151737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82264 meters 0.023578641617482247 Centerline is valid? [True, True] Translation: X:71.25, Y:-7.29, Z:-2.92 [[ 9.85296735e-01 1.67388642e-01 3.42255255e-02 7.12542737e+01] [-1.67311348e-01 9.85890761e-01 -5.13041012e-03 -7.29316988e+00] [-3.46014017e-02 -6.71342470e-04 9.99400967e-01 -2.92357066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.85264000000001 meters 0.024203876748551796 Centerline is valid? [True, True] Translation: X:71.29, Y:-7.30, Z:-2.93 [[ 9.85295654e-01 1.67603964e-01 3.31871252e-02 7.12857564e+01] [-1.67531181e-01 9.85854191e-01 -4.98163039e-03 -7.29500953e+00] [-3.35526075e-02 -6.51499503e-04 9.99436740e-01 -2.92714692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88264000000001 meters 0.02444172606030998 Centerline is valid? [True, True] Translation: X:71.32, Y:-7.30, Z:-2.93 [[ 9.85315970e-01 1.67499344e-01 3.31120720e-02 7.13178282e+01] [-1.67426656e-01 9.85871979e-01 -4.97560085e-03 -7.29772373e+00] [-3.34776738e-02 -6.41304505e-04 9.99439260e-01 -2.92938157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.91264000000001 meters 0.023905234030265485 Centerline is valid? [True, True] Translation: X:71.35, Y:-7.30, Z:-2.93 [[ 9.85354194e-01 1.67230040e-01 3.33350641e-02 7.13495754e+01] [-1.67155999e-01 9.85917703e-01 -5.01551420e-03 -7.30125931e+00] [-3.37043744e-02 -6.30097969e-04 9.99431648e-01 -2.93080549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94264000000001 meters 0.02346793232838507 Centerline is valid? [True, True] Translation: X:71.38, Y:-7.30, Z:-2.93 [[ 9.85579787e-01 1.66051938e-01 3.25459103e-02 7.13806034e+01] [-1.65980535e-01 9.86116843e-01 -4.90239193e-03 -7.30318892e+00] [-3.29081220e-02 -5.70289207e-04 9.99458218e-01 -2.93421797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.97264 meters 0.021847186582910676 Centerline is valid? [True, True] Translation: X:71.41, Y:-7.31, Z:-2.94 [[ 9.85724332e-01 1.65223500e-01 3.23841848e-02 7.14122639e+01] [-1.65152193e-01 9.86256006e-01 -4.88308991e-03 -7.30934239e+00] [-3.27458980e-02 -5.34938580e-04 9.99463566e-01 -2.93552253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.00264 meters 0.02122088635998741 Centerline is valid? [True, True] Translation: X:71.44, Y:-7.31, Z:-2.94 [[ 9.85943698e-01 1.63660744e-01 3.36182388e-02 7.14435036e+01] [-1.63582774e-01 9.86516556e-01 -5.07547063e-03 -7.31194440e+00] [-3.39956045e-02 -4.95236501e-04 9.99421860e-01 -2.93573436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.03264 meters 0.020653284974413887 Centerline is valid? [True, True] Translation: X:71.47, Y:-7.32, Z:-2.94 [[ 9.86055492e-01 1.62871163e-01 3.41694515e-02 7.14746223e+01] [-1.62789944e-01 9.86647233e-01 -5.16438466e-03 -7.31604604e+00] [-3.45543241e-02 -4.70073246e-04 9.99402710e-01 -2.93701573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06264 meters 0.019577238728043102 Centerline is valid? [True, True] Translation: X:71.51, Y:-7.32, Z:-2.94 [[ 9.86176959e-01 1.62130982e-01 3.41840728e-02 7.15067772e+01] [-1.62049067e-01 9.86769148e-01 -5.17184269e-03 -7.32162584e+00] [-3.45703044e-02 -4.39145004e-04 9.99402172e-01 -2.93766109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.09264 meters 0.018438657143488912 Centerline is valid? [True, True] Translation: X:71.54, Y:-7.33, Z:-2.94 [[ 9.86252932e-01 1.61586855e-01 3.45665013e-02 7.15383168e+01] [-1.61502556e-01 9.86858406e-01 -5.23560730e-03 -7.32712933e+00] [-3.49582477e-02 -4.18945257e-04 9.99388686e-01 -2.93801836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12264 meters 0.018498057986856747 Centerline is valid? [True, True] Translation: X:71.57, Y:-7.33, Z:-2.94 [[ 9.86393968e-01 1.60806747e-01 3.41779074e-02 7.15694178e+01] [-1.60723643e-01 9.86985838e-01 -5.18319598e-03 -7.32785532e+00] [-3.45666035e-02 -3.80524521e-04 9.99402324e-01 -2.94061016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.15264 meters 0.0184705622146387 Centerline is valid? [True, True] Translation: X:71.60, Y:-7.33, Z:-2.94 [[ 9.86378960e-01 1.60912592e-01 3.41128230e-02 7.16025504e+01] [-1.60829777e-01 9.86968588e-01 -5.17590615e-03 -7.33079062e+00] [-3.45011532e-02 -3.80952801e-04 9.99404585e-01 -2.94270829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18264 meters 0.01763569630783699 Centerline is valid? [True, True] Translation: X:71.64, Y:-7.33, Z:-2.94 [[ 9.86351391e-01 1.60987212e-01 3.45550483e-02 7.16357406e+01] [-1.60902049e-01 9.86956418e-01 -5.24965950e-03 -7.33273543e+00] [-3.49494547e-02 -3.81969136e-04 9.99389008e-01 -2.94300066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21264000000001 meters 0.017621398622364885 Centerline is valid? [True, True] Translation: X:71.67, Y:-7.34, Z:-2.94 [[ 9.86329387e-01 1.61048528e-01 3.48957183e-02 7.16686983e+01] [-1.60961468e-01 9.86946415e-01 -5.30841991e-03 -7.33567316e+00] [-3.52951173e-02 -3.81015499e-04 9.99376861e-01 -2.94417932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24264000000001 meters 0.017621398622364885 Centerline is valid? [True, True] Translation: X:71.70, Y:-7.34, Z:-2.95 [[ 9.86298123e-01 1.61240111e-01 3.48946906e-02 7.17007903e+01] [-1.61152932e-01 9.86915134e-01 -5.31516628e-03 -7.34075304e+00] [-3.52951162e-02 -3.81043183e-04 9.99376861e-01 -2.94556416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.27264000000001 meters 0.01808700019023722 Centerline is valid? [True, True] Translation: X:71.73, Y:-7.34, Z:-2.95 [[ 9.86233322e-01 1.61562724e-01 3.52323916e-02 7.17330937e+01] [-1.61473799e-01 9.86862369e-01 -5.37377606e-03 -7.34213677e+00] [-3.56377234e-02 -3.89311124e-04 9.99364699e-01 -2.94693640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30264000000001 meters 0.018516458123758933 Centerline is valid? [True, True] Translation: X:71.77, Y:-7.34, Z:-2.95 [[ 9.86075047e-01 1.62407326e-01 3.57751641e-02 7.17652185e+01] [-1.62315947e-01 9.86723712e-01 -5.46341272e-03 -7.34194496e+00] [-3.61875010e-02 -4.19544689e-04 9.99344930e-01 -2.94741173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.33264000000001 meters 0.01840767297283823 Centerline is valid? [True, True] Translation: X:71.80, Y:-7.35, Z:-2.95 [[ 9.86002533e-01 1.62720923e-01 3.63442723e-02 7.17973681e+01] [-1.62626596e-01 9.86672040e-01 -5.55657357e-03 -7.34558673e+00] [-3.67640480e-02 -4.31749654e-04 9.99323881e-01 -2.94786045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.36264 meters 0.018820024262181618 Centerline is valid? [True, True] Translation: X:71.83, Y:-7.34, Z:-2.95 [[ 9.85903382e-01 1.63249440e-01 3.66625398e-02 7.18288972e+01] [-1.63153554e-01 9.86584725e-01 -5.61236310e-03 -7.34481648e+00] [-3.70869169e-02 -4.48375908e-04 9.99311943e-01 -2.94836092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.39264 meters 0.019148406729843928 Centerline is valid? [True, True] Translation: X:71.86, Y:-7.35, Z:-2.95 [[ 9.85888717e-01 1.63429760e-01 3.62512174e-02 7.18591524e+01] [-1.63336110e-01 9.86554870e-01 -5.55008590e-03 -7.34558812e+00] [-3.66708643e-02 -4.49365757e-04 9.99327297e-01 -2.95035027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.42264 meters 0.017952468646427362 Centerline is valid? [True, True] Translation: X:71.89, Y:-7.35, Z:-2.95 [[ 9.85957588e-01 1.63117454e-01 3.57817213e-02 7.18906172e+01] [-1.63025966e-01 9.86606563e-01 -5.47939103e-03 -7.34947991e+00] [-3.61962654e-02 -4.30902525e-04 9.99344608e-01 -2.95195064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.45264 meters 0.018047754825344563 Centerline is valid? [True, True] Translation: X:71.92, Y:-7.35, Z:-2.95 [[ 9.86087402e-01 1.62242562e-01 3.61799207e-02 7.19217143e+01] [-1.62148164e-01 9.86750827e-01 -5.54785900e-03 -7.34914218e+00] [-3.66006655e-02 -3.95833834e-04 9.99329893e-01 -2.95369250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48264 meters 0.01745331145519537 Centerline is valid? [True, True] Translation: X:71.95, Y:-7.35, Z:-2.96 [[ 9.86238154e-01 1.61363297e-01 3.60026302e-02 7.19518211e+01] [-1.61269219e-01 9.86895008e-01 -5.52112910e-03 -7.35160774e+00] [-3.64217236e-02 -3.60967875e-04 9.99336444e-01 -2.95537310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.51264 meters 0.015506796469875973 Centerline is valid? [True, True] Translation: X:71.98, Y:-7.36, Z:-2.96 [[ 9.86550482e-01 1.59491744e-01 3.57844929e-02 7.19824066e+01] [-1.59397560e-01 9.87199220e-01 -5.48802492e-03 -7.35569562e+00] [-3.62017181e-02 -2.89747207e-04 9.99344461e-01 -2.95650049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54264 meters 0.015179381627986602 Centerline is valid? [True, True] Translation: X:72.01, Y:-7.36, Z:-2.96 [[ 9.86726020e-01 1.58339633e-01 3.60599840e-02 7.20123790e+01] [-1.58243187e-01 9.87384676e-01 -5.53126841e-03 -7.35939560e+00] [-3.64808946e-02 -2.48400317e-04 9.99334320e-01 -2.95823448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57264 meters 0.02474438514679209 Centerline is valid? [True, True] Translation: X:72.04, Y:-7.36, Z:-2.96 [[ 9.87033496e-01 1.56471576e-01 3.57983625e-02 7.20426540e+01] [-1.56375280e-01 9.87682446e-01 -5.49158595e-03 -7.36151435e+00] [-3.62166914e-02 -1.77599687e-04 9.99343945e-01 -2.95823461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60264000000001 meters 0.013566676652181846 Centerline is valid? [True, True] Translation: X:72.07, Y:-7.36, Z:-2.96 [[ 9.87138178e-01 1.55756733e-01 3.60285602e-02 7.20736757e+01] [-1.55658705e-01 9.87795433e-01 -5.52725221e-03 -7.36444648e+00] [-3.64497539e-02 -1.51997356e-04 9.99335475e-01 -2.96019745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.63264000000001 meters 0.013343528971575428 Centerline is valid? [True, True] Translation: X:72.10, Y:-7.37, Z:-2.96 [[ 9.87213863e-01 1.55207641e-01 3.63232181e-02 7.21042415e+01] [-1.55107595e-01 9.87881861e-01 -5.57343563e-03 -7.36715499e+00] [-3.67480881e-02 -1.31834060e-04 9.99324552e-01 -2.96183950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66264000000001 meters 0.022567679807669588 Centerline is valid? [True, True] Translation: X:72.14, Y:-7.37, Z:-2.96 [[ 9.87409160e-01 1.54063037e-01 3.58849883e-02 7.21355271e+01] [-1.53964622e-01 9.88061017e-01 -5.50655364e-03 -7.37020462e+00] [-3.63049144e-02 -8.77971463e-05 9.99340755e-01 -2.96269542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.69264000000001 meters 0.012836851459603657 Centerline is valid? [True, True] Translation: X:72.17, Y:-7.37, Z:-2.97 [[ 9.87467305e-01 1.53625577e-01 3.61594308e-02 7.21670466e+01] [-1.53525324e-01 9.88129130e-01 -5.54956657e-03 -7.37296231e+00] [-3.65827423e-02 -7.13728019e-05 9.99330625e-01 -2.96561571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72264 meters 0.012812666902991455 Centerline is valid? [True, True] Translation: X:72.20, Y:-7.37, Z:-2.97 [[ 9.87680964e-01 1.52424586e-01 3.53985835e-02 7.21985816e+01] [-1.52327708e-01 9.88315104e-01 -5.43363740e-03 -7.37497354e+00] [-3.58131747e-02 -2.54848632e-05 9.99358502e-01 -2.96817918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.75264 meters 0.012740436844091143 Centerline is valid? [True, True] Translation: X:72.23, Y:-7.38, Z:-2.97 [[ 9.87820709e-01 1.51574475e-01 3.51486170e-02 7.22283817e+01] [-1.51478389e-01 9.88445840e-01 -5.39622131e-03 -7.37863041e+00] [-3.55604337e-02 6.24328391e-06 9.99367528e-01 -2.97049067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78264 meters 0.012809523044638373 Centerline is valid? [True, True] Translation: X:72.26, Y:-7.38, Z:-2.97 [[ 9.87996223e-01 1.50510456e-01 3.47859959e-02 7.22597327e+01] [-1.50415672e-01 9.88608416e-01 -5.34087986e-03 -7.38314576e+00] [-3.51935865e-02 4.44101838e-05 9.99380513e-01 -2.97151135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.81264 meters 0.013042176853886684 Centerline is valid? [True, True] Translation: X:72.29, Y:-7.39, Z:-2.97 [[ 9.88277517e-01 1.48421013e-01 3.57596408e-02 7.22908170e+01] [-1.48319477e-01 9.88924258e-01 -5.49043046e-03 -7.38870060e+00] [-3.61784715e-02 1.22217770e-04 9.99345337e-01 -2.97199553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84264 meters 0.013464495304619158 Centerline is valid? [True, True] Translation: X:72.32, Y:-7.39, Z:-2.97 [[ 9.88350106e-01 1.47742956e-01 3.65525119e-02 7.23218444e+01] [-1.47636174e-01 9.89025781e-01 -5.61832979e-03 -7.39429388e+00] [-3.69814453e-02 1.56403859e-04 9.99315940e-01 -2.97272304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87264 meters 0.014234872834932218 Centerline is valid? [True, True] Translation: X:72.35, Y:-7.40, Z:-2.98 [[ 9.88595187e-01 1.46306327e-01 3.56933350e-02 7.23534516e+01] [-1.46203372e-01 9.89239311e-01 -5.49179204e-03 -7.40067657e+00] [-3.61127341e-02 2.10673239e-04 9.99347700e-01 -2.97510445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90264 meters 0.01430262326483692 Centerline is valid? [True, True] Translation: X:72.38, Y:-7.41, Z:-2.98 [[ 9.88639170e-01 1.45948549e-01 3.59389992e-02 7.23849010e+01] [-1.45843712e-01 9.89292155e-01 -5.53572176e-03 -7.40541512e+00] [-3.63621005e-02 2.31354336e-04 9.99338653e-01 -2.97592904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.93264 meters 0.019012512155098662 Centerline is valid? [True, True] Translation: X:72.42, Y:-7.41, Z:-2.98 [[ 9.88680851e-01 1.45520304e-01 3.65241840e-02 7.24159930e+01] [-1.45411480e-01 9.89355232e-01 -5.63265639e-03 -7.41063341e+00] [-3.69550584e-02 2.57863857e-04 9.99316895e-01 -2.97598679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96264000000001 meters 0.015219153941013272 Centerline is valid? [True, True] Translation: X:72.45, Y:-7.42, Z:-2.98 [[ 9.88755683e-01 1.44908814e-01 3.69274178e-02 7.24472582e+01] [-1.44797014e-01 9.89444972e-01 -5.69841163e-03 -7.41534377e+00] [-3.73633980e-02 2.87357056e-04 9.99301703e-01 -2.97757882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.99264000000001 meters 0.01501435620370771 Centerline is valid? [True, True] Translation: X:72.48, Y:-7.42, Z:-2.98 [[ 9.88735562e-01 1.45152749e-01 3.65057348e-02 7.24791123e+01] [-1.45043547e-01 9.89409219e-01 -5.63625766e-03 -7.41955790e+00] [-3.69372289e-02 2.77847133e-04 9.99317549e-01 -2.97925133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02264000000001 meters 0.014813945795499224 Centerline is valid? [True, True] Translation: X:72.51, Y:-7.42, Z:-2.98 [[ 9.88653036e-01 1.46047526e-01 3.51467522e-02 7.25106333e+01] [-1.45946669e-01 9.89277546e-01 -5.43210250e-03 -7.42275510e+00] [-3.55632378e-02 2.40913231e-04 9.99367399e-01 -2.98314049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.05264000000001 meters 0.014697706135101352 Centerline is valid? [True, True] Translation: X:72.54, Y:-7.43, Z:-2.99 [[ 9.88596738e-01 1.46578227e-01 3.45153959e-02 7.25409693e+01] [-1.46481045e-01 9.89199056e-01 -5.34139386e-03 -7.42734551e+00] [-3.49255291e-02 2.24633286e-04 9.99389892e-01 -2.98633999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08264000000001 meters 0.014250174216506354 Centerline is valid? [True, True] Translation: X:72.57, Y:-7.43, Z:-2.99 [[ 9.88513031e-01 1.47141718e-01 3.45152374e-02 7.25722388e+01] [-1.47044870e-01 9.89115399e-01 -5.34168790e-03 -7.43212569e+00] [-3.49255380e-02 2.05039502e-04 9.99389896e-01 -2.98742407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.11264 meters 0.013733790086416871 Centerline is valid? [True, True] Translation: X:72.60, Y:-7.44, Z:-2.99 [[ 9.88373023e-01 1.48027438e-01 3.47367977e-02 7.26035027e+01] [-1.47929858e-01 9.88983239e-01 -5.37682929e-03 -7.43572000e+00] [-3.51500290e-02 1.75703472e-04 9.99382031e-01 -2.98819343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14264 meters 0.02158484779792348 Centerline is valid? [True, True] Translation: X:72.63, Y:-7.44, Z:-2.99 [[ 9.88296346e-01 1.48344296e-01 3.55570193e-02 7.26345944e+01] [-1.48242225e-01 9.88935762e-01 -5.50469192e-03 -7.44016098e+00] [-3.59801976e-02 1.69215267e-04 9.99352489e-01 -2.98731783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.17264 meters 0.013111362705640379 Centerline is valid? [True, True] Translation: X:72.67, Y:-7.44, Z:-2.99 [[ 9.88107062e-01 1.49183171e-01 3.72668218e-02 7.26650119e+01] [-1.49071601e-01 9.88809567e-01 -5.77042757e-03 -7.44433636e+00] [-3.77106406e-02 1.46375450e-04 9.99288690e-01 -2.98764125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.20264 meters 0.01758621655653304 Centerline is valid? [True, True] Translation: X:72.70, Y:-7.45, Z:-2.99 [[ 9.88079145e-01 1.49366852e-01 3.72712549e-02 7.26956053e+01] [-1.49255371e-01 9.88781838e-01 -5.77151734e-03 -7.44980421e+00] [-3.77152133e-02 1.39780940e-04 9.99288518e-01 -2.98800444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.23264 meters 0.012854723874949356 Centerline is valid? [True, True] Translation: X:72.73, Y:-7.46, Z:-2.99 [[ 9.88039041e-01 1.49645735e-01 3.72156924e-02 7.27256447e+01] [-1.49534773e-01 9.88739671e-01 -5.76316745e-03 -7.45734222e+00] [-3.76590649e-02 1.29194315e-04 9.99290637e-01 -2.99060586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26264 meters 0.01307466947270981 Centerline is valid? [True, True] Translation: X:72.76, Y:-7.46, Z:-2.99 [[ 9.88097972e-01 1.49434600e-01 3.64924396e-02 7.27558205e+01] [-1.49327534e-01 9.88771602e-01 -5.65747041e-03 -7.46424194e+00] [-3.69281098e-02 1.40809029e-04 9.99317915e-01 -2.99356625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.29264 meters 0.013297652535828925 Centerline is valid? [True, True] Translation: X:72.79, Y:-7.47, Z:-3.00 [[ 9.88195019e-01 1.49245592e-01 3.45884006e-02 7.27867015e+01] [-1.49149307e-01 9.88800149e-01 -5.36194900e-03 -7.47171579e+00] [-3.50012629e-02 1.39815300e-04 9.99387258e-01 -2.99723411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32264 meters 0.013297652535828925 Centerline is valid? [True, True] Translation: X:72.82, Y:-7.48, Z:-3.00 [[ 9.88191437e-01 1.49269554e-01 3.45873300e-02 7.28171403e+01] [-1.49173042e-01 9.88796531e-01 -5.36884590e-03 -7.47648121e+00] [-3.50012372e-02 1.45950312e-04 9.99387258e-01 -2.99854701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.35264000000001 meters 0.012741248167484186 Centerline is valid? [True, True] Translation: X:72.85, Y:-7.48, Z:-3.00 [[ 9.87930676e-01 1.50746997e-01 3.56135094e-02 7.28477378e+01] [-1.50645630e-01 9.88572371e-01 -5.52817248e-03 -7.48213755e+00] [-3.60398868e-02 9.64316199e-05 9.99350348e-01 -2.99942766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38264000000001 meters 0.012405468204391005 Centerline is valid? [True, True] Translation: X:72.88, Y:-7.49, Z:-3.00 [[ 9.87749176e-01 1.51892079e-01 3.57821314e-02 7.28781926e+01] [-1.51790262e-01 9.88397082e-01 -5.56091023e-03 -7.48727646e+00] [-3.62116125e-02 6.14053809e-05 9.99344143e-01 -3.00045419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.41264000000001 meters 0.02660238397708166 Centerline is valid? [True, True] Translation: X:72.91, Y:-7.49, Z:-3.00 [[ 9.87341455e-01 1.54504620e-01 3.58493250e-02 7.29088681e+01] [-1.54404111e-01 9.87992065e-01 -5.57220643e-03 -7.49259889e+00] [-3.62797803e-02 -3.36127378e-05 9.99341672e-01 -2.99956501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44264000000001 meters 0.012467136140908053 Centerline is valid? [True, True] Translation: X:72.94, Y:-7.50, Z:-3.00 [[ 9.87044686e-01 1.56169008e-01 3.67971400e-02 7.29389040e+01] [-1.56064230e-01 9.87730344e-01 -5.72053004e-03 -7.49548904e+00] [-3.72390212e-02 -9.62985477e-05 9.99306382e-01 -3.00077117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.47264000000001 meters 0.02253018368697395 Centerline is valid? [True, True] Translation: X:72.97, Y:-7.50, Z:-3.00 [[ 9.86662493e-01 1.58401978e-01 3.74958496e-02 7.29702265e+01] [-1.58294777e-01 9.87374691e-01 -5.82956484e-03 -7.50095844e+00] [-3.79458675e-02 -1.83584175e-04 9.99279779e-01 -2.99991341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.50264 meters 0.013933878078277798 Centerline is valid? [True, True] Translation: X:73.00, Y:-7.51, Z:-3.00 [[ 9.86515291e-01 1.59388214e-01 3.71883971e-02 7.30000277e+01] [-1.59283428e-01 9.87215959e-01 -5.78274968e-03 -7.50578317e+00] [-3.76346813e-02 -2.18724394e-04 9.99291541e-01 -3.00384786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.53264 meters 0.014508538532019109 Centerline is valid? [True, True] Translation: X:73.03, Y:-7.51, Z:-3.01 [[ 9.86344073e-01 1.60597535e-01 3.65212527e-02 7.30310678e+01] [-1.60497291e-01 9.87019941e-01 -5.67938915e-03 -7.51244495e+00] [-3.69593006e-02 -2.59730294e-04 9.99316738e-01 -3.00629355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56264 meters 0.015071409181689789 Centerline is valid? [True, True] Translation: X:73.06, Y:-7.52, Z:-3.01 [[ 9.86231316e-01 1.61271260e-01 3.65974217e-02 7.30607544e+01] [-1.61171025e-01 9.86910077e-01 -5.69220736e-03 -7.51686810e+00] [-3.70363538e-02 -2.84610806e-04 9.99313878e-01 -3.00801135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.59264 meters 0.0161600641665423 Centerline is valid? [True, True] Translation: X:73.09, Y:-7.52, Z:-3.01 [[ 9.85952062e-01 1.63015847e-01 3.63918403e-02 7.30907165e+01] [-1.62917903e-01 9.86623390e-01 -5.66074379e-03 -7.52317877e+00] [-3.68278317e-02 -3.47660300e-04 9.99321565e-01 -3.01063290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62264 meters 0.016723122739547777 Centerline is valid? [True, True] Translation: X:73.12, Y:-7.53, Z:-3.01 [[ 9.85822826e-01 1.63894008e-01 3.59459172e-02 7.31206098e+01] [-1.63799034e-01 9.86477883e-01 -5.59138054e-03 -7.52826716e+00] [-3.63762460e-02 -3.75795956e-04 9.99338095e-01 -3.01210639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.65264 meters 0.01790514676320918 Centerline is valid? [True, True] Translation: X:73.15, Y:-7.53, Z:-3.01 [[ 9.85614016e-01 1.65289005e-01 3.52782660e-02 7.31506818e+01] [-1.65198421e-01 9.86245086e-01 -5.48752753e-03 -7.53175437e+00] [-3.57000445e-02 -4.19329781e-04 9.99362462e-01 -3.01401103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68264 meters 0.01995077184911339 Centerline is valid? [True, True] Translation: X:73.18, Y:-7.53, Z:-3.02 [[ 9.85349068e-01 1.66772416e-01 3.56955833e-02 7.31803632e+01] [-1.66680645e-01 9.85995300e-01 -5.55252037e-03 -7.53270644e+00] [-3.61216846e-02 -4.78592070e-04 9.99347284e-01 -3.01574875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71264000000001 meters 0.023600515403503834 Centerline is valid? [True, True] Translation: X:73.21, Y:-7.53, Z:-3.02 [[ 9.84806966e-01 1.69668116e-01 3.69860706e-02 7.32092494e+01] [-1.69571639e-01 9.85501072e-01 -5.75296159e-03 -7.53063955e+00] [-3.74259064e-02 -6.06231959e-04 9.99299221e-01 -3.01606975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74264000000001 meters 0.023733233327091964 Centerline is valid? [True, True] Translation: X:73.24, Y:-7.54, Z:-3.02 [[ 9.84601754e-01 1.70903439e-01 3.67613994e-02 7.32382978e+01] [-1.70809061e-01 9.85287567e-01 -5.71613443e-03 -7.53525269e+00] [-3.71974568e-02 -6.51064109e-04 9.99307723e-01 -3.01681758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.77264000000001 meters 0.025147693719064067 Centerline is valid? [True, True] Translation: X:73.27, Y:-7.54, Z:-3.02 [[ 9.84285465e-01 1.72855745e-01 3.60973042e-02 7.32677994e+01] [-1.72766089e-01 9.84946894e-01 -5.61202115e-03 -7.53810995e+00] [-3.65239977e-02 -7.12559217e-04 9.99332522e-01 -3.01986469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80264000000001 meters 0.032328199593349684 Centerline is valid? [True, True] Translation: X:73.30, Y:-7.54, Z:-3.02 [[ 9.84223312e-01 1.73303101e-01 3.56441840e-02 7.32961389e+01] [-1.73216006e-01 9.84868273e-01 -5.54072390e-03 -7.53962552e+00] [-3.60650506e-02 -7.20833556e-04 9.99349184e-01 -3.02177530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.83264000000001 meters 0.02824054914636533 Centerline is valid? [True, True] Translation: X:73.32, Y:-7.54, Z:-3.02 [[ 9.84013864e-01 1.74333366e-01 3.63949617e-02 7.33237963e+01] [-1.74243297e-01 9.84686385e-01 -5.65661497e-03 -7.54043690e+00] [-3.68237600e-02 -7.75390567e-04 9.99321475e-01 -3.02353102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86264 meters 0.027042069816475237 Centerline is valid? [True, True] Translation: X:73.35, Y:-7.55, Z:-3.02 [[ 9.83972913e-01 1.74255899e-01 3.78442663e-02 7.33525994e+01] [-1.74158546e-01 9.84700072e-01 -5.87947668e-03 -7.54527902e+00] [-3.82897853e-02 -8.05656595e-04 9.99266353e-01 -3.02182649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.89264 meters 0.02760834004144501 Centerline is valid? [True, True] Translation: X:73.38, Y:-7.55, Z:-3.02 [[ 9.83917118e-01 1.74255048e-01 3.92719189e-02 7.33805366e+01] [-1.74150286e-01 9.84700196e-01 -6.09931926e-03 -7.54720193e+00] [-3.97339034e-02 -8.37991286e-04 9.99209945e-01 -3.02087434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92264 meters 0.025777118393010817 Centerline is valid? [True, True] Translation: X:73.41, Y:-7.55, Z:-3.02 [[ 9.83932149e-01 1.74189411e-01 3.91864218e-02 7.34093761e+01] [-1.74085152e-01 9.84711811e-01 -6.08357232e-03 -7.55246318e+00] [-3.96470263e-02 -8.35951801e-04 9.99213398e-01 -3.02184234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.95264 meters 0.024310325978516144 Centerline is valid? [True, True] Translation: X:73.44, Y:-7.56, Z:-3.03 [[ 9.84178720e-01 1.73384024e-01 3.64722735e-02 7.34397177e+01] [-1.73195009e-01 9.84852546e-01 -8.30370088e-03 -7.55556112e+00] [-3.73595405e-02 1.85550997e-03 9.99300166e-01 -3.02629009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98264 meters 0.026477707597164002 Centerline is valid? [True, True] Translation: X:73.47, Y:-7.56, Z:-3.03 [[ 9.84158425e-01 1.73152995e-01 3.80819589e-02 7.34670923e+01] [-1.73152019e-01 9.84889417e-01 -3.34895144e-03 -7.55886540e+00] [-3.80863993e-02 -3.29806929e-03 9.99269007e-01 -3.02902717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.01264 meters 0.02824905099396607 Centerline is valid? [True, True] Translation: X:73.50, Y:-7.56, Z:-3.03 [[ 9.84315429e-01 1.72512363e-01 3.69136956e-02 7.34956437e+01] [-1.72418772e-01 9.85007085e-01 -5.72801337e-03 -7.56275697e+00] [-3.73484048e-02 -7.26442125e-04 9.99302041e-01 -3.02964295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04264 meters 0.023832715166164 Centerline is valid? [True, True] Translation: X:73.52, Y:-7.56, Z:-3.03 [[ 9.84416024e-01 1.71913828e-01 3.70233352e-02 7.35241735e+01] [-1.71819327e-01 9.85111737e-01 -5.74316219e-03 -7.56387276e+00] [-3.74594510e-02 -7.07663657e-04 9.99297898e-01 -3.03270764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07264 meters 0.02566344554589199 Centerline is valid? [True, True] Translation: X:73.55, Y:-7.57, Z:-3.03 [[ 9.84856732e-01 1.69305176e-01 3.73225881e-02 7.35531988e+01] [-1.69207344e-01 9.85563483e-01 -5.78756978e-03 -7.56928564e+00] [-3.77636454e-02 -6.15328939e-04 9.99286510e-01 -3.03276556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10264000000001 meters 0.021853619686129516 Centerline is valid? [True, True] Translation: X:73.58, Y:-7.57, Z:-3.04 [[ 9.85091299e-01 1.67840636e-01 3.77445729e-02 7.35815720e+01] [-1.67739539e-01 9.85813978e-01 -5.85209622e-03 -7.57237894e+00] [-3.81913471e-02 -5.66408165e-04 9.99270284e-01 -3.03523060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.13264000000001 meters 0.021853619686129516 Centerline is valid? [True, True] Translation: X:73.61, Y:-7.58, Z:-3.04 [[ 9.85099081e-01 1.67794910e-01 3.77447819e-02 7.36095562e+01] [-1.67693831e-01 9.85821763e-01 -5.85074752e-03 -7.57662398e+00] [-3.81913531e-02 -5.66001067e-04 9.99270284e-01 -3.03643710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16264000000001 meters 0.01824267672772205 Centerline is valid? [True, True] Translation: X:73.64, Y:-7.59, Z:-3.04 [[ 9.85481475e-01 1.65490198e-01 3.79375270e-02 7.36381368e+01] [-1.65386449e-01 9.86211318e-01 -5.87872003e-03 -7.58617775e+00] [-3.83872890e-02 -4.80983201e-04 9.99262821e-01 -3.03723938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.19264000000001 meters 0.016615521628585993 Centerline is valid? [True, True] Translation: X:73.67, Y:-7.59, Z:-3.04 [[ 9.85892895e-01 1.63108652e-01 3.75601740e-02 7.36671929e+01] [-1.63005267e-01 9.86608037e-01 -5.81924589e-03 -7.59360609e+00] [-3.80063389e-02 -3.85353011e-04 9.99277424e-01 -3.03924056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22264000000001 meters 0.024420252919185172 Centerline is valid? [True, True] Translation: X:73.70, Y:-7.61, Z:-3.04 [[ 9.86822029e-01 1.57498397e-01 3.71017254e-02 7.36972623e+01] [-1.57393579e-01 9.87519229e-01 -5.74756645e-03 -7.60624376e+00] [-3.75438997e-02 -1.67748133e-04 9.99294965e-01 -3.04071979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.25264 meters 0.012657923140284731 Centerline is valid? [True, True] Translation: X:73.73, Y:-7.62, Z:-3.05 [[ 9.87529037e-01 1.53149564e-01 3.64912757e-02 7.37266041e+01] [-1.53045193e-01 9.88203021e-01 -5.65313394e-03 -7.61722164e+00] [-3.69265639e-02 -2.18040304e-06 9.99317982e-01 -3.04501360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.28264 meters 0.024163185578816495 Centerline is valid? [True, True] Translation: X:73.76, Y:-7.63, Z:-3.05 [[ 9.87865698e-01 1.51009677e-01 3.62965561e-02 7.37591109e+01] [-1.50904763e-01 9.88532281e-01 -5.62866524e-03 -7.62587737e+00] [-3.67303003e-02 8.30421031e-05 9.99325211e-01 -3.04582285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.31264 meters 0.013316628379198699 Centerline is valid? [True, True] Translation: X:73.79, Y:-7.63, Z:-3.05 [[ 9.87986122e-01 1.50261963e-01 3.61215332e-02 7.37899752e+01] [-1.50157293e-01 9.88646210e-01 -5.60880707e-03 -7.63359527e+00] [-3.65542072e-02 1.17511920e-04 9.99331665e-01 -3.04957137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34264 meters 0.03067771090681564 Centerline is valid? [True, True] Translation: X:73.82, Y:-7.64, Z:-3.05 [[ 9.88129303e-01 1.49415443e-01 3.57142370e-02 7.38224846e+01] [-1.49312331e-01 9.88774495e-01 -5.55210390e-03 -7.64061941e+00] [-3.61428967e-02 1.53620579e-04 9.99346620e-01 -3.05084083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37264 meters 0.013765880683688675 Centerline is valid? [True, True] Translation: X:73.85, Y:-7.65, Z:-3.06 [[ 9.88005045e-01 1.50529115e-01 3.44530965e-02 7.38534874e+01] [-1.50433610e-01 9.88605570e-01 -5.36254167e-03 -7.64613933e+00] [-3.48677418e-02 1.15314542e-04 9.99391929e-01 -3.05588719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40264 meters 0.015359090799347854 Centerline is valid? [True, True] Translation: X:73.89, Y:-7.65, Z:-3.06 [[ 9.87725556e-01 1.52398155e-01 3.42495114e-02 7.38851973e+01] [-1.52304684e-01 9.88319179e-01 -5.33700970e-03 -7.64941600e+00] [-3.46627994e-02 5.51398439e-05 9.99399063e-01 -3.05659807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.43264 meters 0.016186660332451162 Centerline is valid? [True, True] Translation: X:73.92, Y:-7.65, Z:-3.06 [[ 9.87479189e-01 1.53875503e-01 3.47445043e-02 7.39166447e+01] [-1.53779985e-01 9.88090244e-01 -5.42096972e-03 -7.65267804e+00] [-3.51648602e-02 1.00854420e-05 9.99381525e-01 -3.05698725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46264000000001 meters 0.012967411094559112 Centerline is valid? [True, True] Translation: X:73.95, Y:-7.66, Z:-3.06 [[ 9.87156009e-01 1.55791492e-01 3.53839600e-02 7.39486310e+01] [-1.55693543e-01 9.87789961e-01 -5.52381701e-03 -7.65606068e+00] [-3.58124842e-02 -5.61849527e-05 9.99358526e-01 -3.05832961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.49264000000001 meters 0.0132698089751987 Centerline is valid? [True, True] Translation: X:73.98, Y:-7.66, Z:-3.06 [[ 9.86895720e-01 1.57430671e-01 3.53895693e-02 7.39797331e+01] [-1.57333518e-01 9.87530036e-01 -5.53102594e-03 -7.65950722e+00] [-3.58190158e-02 -1.09419595e-04 9.99358287e-01 -3.05955600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52264000000001 meters 0.014460990523610088 Centerline is valid? [True, True] Translation: X:74.01, Y:-7.66, Z:-3.06 [[ 9.86496455e-01 1.60175473e-01 3.41842361e-02 7.40104230e+01] [-1.60086259e-01 9.87088537e-01 -5.34885301e-03 -7.66218835e+00] [-3.45996227e-02 -1.95801932e-04 9.99401235e-01 -3.06352809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.55264000000001 meters 0.01539566295848224 Centerline is valid? [True, True] Translation: X:74.04, Y:-7.66, Z:-3.06 [[ 9.86174463e-01 1.63262946e-01 2.83749723e-02 7.40428639e+01] [-1.62765808e-01 9.86480972e-01 -1.90416292e-02 -7.65782960e+00] [-3.11001627e-02 1.41598932e-02 9.99415968e-01 -3.06423146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58264000000001 meters 0.01611388322960438 Centerline is valid? [True, True] Translation: X:74.07, Y:-7.68, Z:-3.07 [[ 9.86095748e-01 1.62313450e-01 3.56303248e-02 7.40682339e+01] [-1.62726948e-01 9.86630001e-01 9.01008195e-03 -7.67774062e+00] [-3.36914899e-02 -1.46828175e-02 9.99324421e-01 -3.06864728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.61264 meters 0.016457353878352277 Centerline is valid? [True, True] Translation: X:74.10, Y:-7.67, Z:-3.07 [[ 9.85978426e-01 1.63415551e-01 3.37920192e-02 7.40991341e+01] [-1.63330022e-01 9.86557281e-01 -5.29485144e-03 -7.67490927e+00] [-3.42030237e-02 -2.98641944e-04 9.99414861e-01 -3.06966642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.64264 meters 0.02752031674727342 Centerline is valid? [True, True] Translation: X:74.13, Y:-7.68, Z:-3.07 [[ 9.85826783e-01 1.64022666e-01 3.52437070e-02 7.41274459e+01] [-1.63930046e-01 9.86456514e-01 -5.52147841e-03 -7.67976572e+00] [-3.56720319e-02 -3.34281217e-04 9.99363495e-01 -3.06766635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.67264 meters 0.017280197562593202 Centerline is valid? [True, True] Translation: X:74.16, Y:-7.69, Z:-3.07 [[ 9.85561648e-01 1.65357264e-01 3.64034662e-02 7.41570697e+01] [-1.65259416e-01 9.86233653e-01 -5.70156023e-03 -7.68527754e+00] [-3.68451179e-02 -3.96776458e-04 9.99320909e-01 -3.06743822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.70264 meters 0.017620057863741805 Centerline is valid? [True, True] Translation: X:74.19, Y:-7.69, Z:-3.07 [[ 9.85464384e-01 1.65890793e-01 3.66086395e-02 7.41874051e+01] [-1.65792206e-01 9.86144041e-01 -5.73369474e-03 -7.69040823e+00] [-3.70525588e-02 -4.19075138e-04 9.99313230e-01 -3.06867404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.73264 meters 0.019105715680262998 Centerline is valid? [True, True] Translation: X:74.22, Y:-7.70, Z:-3.07 [[ 9.85326422e-01 1.66856433e-01 3.59273201e-02 7.42161200e+01] [-1.66762126e-01 9.85981101e-01 -5.62692990e-03 -7.69695294e+00] [-3.63625481e-02 -4.46953576e-04 9.99338564e-01 -3.07200593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76264 meters 0.018911999272710193 Centerline is valid? [True, True] Translation: X:74.25, Y:-7.70, Z:-3.07 [[ 9.85203613e-01 1.67506311e-01 3.62695093e-02 7.42460763e+01] [-1.67410624e-01 9.85870889e-01 -5.68090835e-03 -7.70423706e+00] [-3.67086413e-02 -4.75049764e-04 9.99325898e-01 -3.07284001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.79264 meters 0.02129058986333139 Centerline is valid? [True, True] Translation: X:74.28, Y:-7.71, Z:-3.08 [[ 9.84931519e-01 1.69068933e-01 3.64087841e-02 7.42753353e+01] [-1.68973574e-01 9.85604083e-01 -5.70279383e-03 -7.71032731e+00] [-3.68488116e-02 -5.35261005e-04 9.99320709e-01 -3.07574082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82264 meters 0.020681724284222616 Centerline is valid? [True, True] Translation: X:74.31, Y:-7.72, Z:-3.08 [[ 9.84868008e-01 1.69463886e-01 3.62904695e-02 7.43050830e+01] [-1.69369433e-01 9.85536245e-01 -5.68373769e-03 -7.71867988e+00] [-3.67287613e-02 -5.48764832e-04 9.99325121e-01 -3.07706451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85264000000001 meters 0.02124042941240466 Centerline is valid? [True, True] Translation: X:74.33, Y:-7.73, Z:-3.08 [[ 9.84848622e-01 1.69589676e-01 3.62289075e-02 7.43342525e+01] [-1.69495631e-01 9.85514605e-01 -5.67402384e-03 -7.72696959e+00] [-3.66663733e-02 -5.52586974e-04 9.99327410e-01 -3.07946584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88264000000001 meters 0.02006672661332169 Centerline is valid? [True, True] Translation: X:74.37, Y:-7.74, Z:-3.08 [[ 9.84911302e-01 1.69339150e-01 3.56928374e-02 7.43650898e+01] [-1.69247726e-01 9.85557692e-01 -5.58945349e-03 -7.73623822e+00] [-3.61238638e-02 -5.35815650e-04 9.99347177e-01 -3.08194431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.91264000000001 meters 0.020100686175201523 Centerline is valid? [True, True] Translation: X:74.40, Y:-7.74, Z:-3.08 [[ 9.85025535e-01 1.68770517e-01 3.52307842e-02 7.43951916e+01] [-1.68680845e-01 9.85655244e-01 -5.52373988e-03 -7.74411994e+00] [-3.56576516e-02 -5.01733610e-04 9.99363938e-01 -3.08458736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94264000000001 meters 0.01932888432020228 Centerline is valid? [True, True] Translation: X:74.43, Y:-7.75, Z:-3.09 [[ 9.85139332e-01 1.68197745e-01 3.47852708e-02 7.44262583e+01] [-1.68109870e-01 9.85753162e-01 -5.45674182e-03 -7.75490950e+00] [-3.52075024e-02 -4.72096357e-04 9.99379912e-01 -3.08708039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.97264000000001 meters 0.01963832647461802 Centerline is valid? [True, True] Translation: X:74.46, Y:-7.76, Z:-3.09 [[ 9.84933567e-01 1.69502556e-01 3.42746536e-02 7.44569804e+01] [-1.69261627e-01 9.85522093e-01 -9.83394470e-03 -7.76033155e+00] [-3.54453071e-02 3.88439858e-03 9.99364069e-01 -3.08892760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.00264 meters 0.018683034872634677 Centerline is valid? [True, True] Translation: X:74.49, Y:-7.78, Z:-3.09 [[ 9.85244366e-01 1.67649072e-01 3.44576181e-02 7.44882995e+01] [-1.67710827e-01 9.85835607e-01 -1.11083577e-03 -7.77884914e+00] [-3.41557774e-02 -4.68447095e-03 9.99405543e-01 -3.09211542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.03264 meters 0.01895464927544328 Centerline is valid? [True, True] Translation: X:74.52, Y:-7.78, Z:-3.09 [[ 9.85110356e-01 1.69225313e-01 3.03377699e-02 7.45216351e+01] [-1.68762660e-01 9.85506101e-01 -1.72304941e-02 -7.77749360e+00] [-3.28138931e-02 1.18540555e-02 9.99391180e-01 -3.09479316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06264 meters 0.019611085724509893 Centerline is valid? [True, True] Translation: X:74.55, Y:-7.80, Z:-3.10 [[ 9.85209925e-01 1.67941945e-01 3.40133226e-02 7.45492669e+01] [-1.68274363e-01 9.85714354e-01 7.13798893e-03 -7.79854536e+00] [-3.23286525e-02 -1.27559877e-02 9.99395889e-01 -3.09873795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.09264 meters 0.021809395113525455 Centerline is valid? [True, True] Translation: X:74.58, Y:-7.80, Z:-3.10 [[ 9.84888951e-01 1.70250386e-01 3.17578466e-02 7.45811957e+01] [-1.70177617e-01 9.85400718e-01 -5.00029906e-03 -7.79797924e+00] [-3.21455078e-02 -4.79735356e-04 9.99483084e-01 -3.10268781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12264 meters 0.023226819577055736 Centerline is valid? [True, True] Translation: X:74.61, Y:-7.80, Z:-3.11 [[ 9.84647251e-01 1.71748104e-01 3.11829971e-02 7.46129585e+01] [-1.71678632e-01 9.85140762e-01 -4.91181829e-03 -7.80371387e+00] [-3.15632370e-02 -5.17045918e-04 9.99501623e-01 -3.10534937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15264 meters 0.02465015240941455 Centerline is valid? [True, True] Translation: X:74.64, Y:-7.81, Z:-3.11 [[ 9.84040625e-01 1.75120124e-01 3.15751658e-02 7.46438431e+01] [-1.75050452e-01 9.84546875e-01 -4.97906787e-03 -7.81164160e+00] [-3.19591658e-02 -6.27641990e-04 9.99488978e-01 -3.10581361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18264 meters 0.02609903958089733 Centerline is valid? [True, True] Translation: X:74.68, Y:-7.82, Z:-3.11 [[ 9.83668048e-01 1.77107230e-01 3.20967296e-02 7.46755626e+01] [-1.77036124e-01 9.84191313e-01 -5.06653634e-03 -7.81703035e+00] [-3.24866427e-02 -6.98490678e-04 9.99471926e-01 -3.10568500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21264000000001 meters 0.029938976217341984 Centerline is valid? [True, True] Translation: X:74.71, Y:-7.82, Z:-3.11 [[ 9.82971925e-01 1.80806325e-01 3.27912625e-02 7.47051043e+01] [-1.80733913e-01 9.83518369e-01 -5.18367983e-03 -7.82085562e+00] [-3.31880511e-02 -8.31081422e-04 9.99448779e-01 -3.10643626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24264000000001 meters 0.03185343037780282 Centerline is valid? [True, True] Translation: X:74.74, Y:-7.83, Z:-3.11 [[ 9.82669089e-01 1.82430552e-01 3.28717844e-02 7.47359169e+01] [-1.82358699e-01 9.83218340e-01 -5.19618443e-03 -7.82598248e+00] [-3.32680841e-02 -8.88326024e-04 9.99446069e-01 -3.10825720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.27264000000001 meters 0.03410435095595187 Centerline is valid? [True, True] Translation: X:74.77, Y:-7.83, Z:-3.11 [[ 9.82396490e-01 1.83986931e-01 3.23410970e-02 7.47666193e+01] [-1.83918217e-01 9.82928254e-01 -5.11245028e-03 -7.83019815e+00] [-3.27296021e-02 -9.25663682e-04 9.99463814e-01 -3.11112270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30264000000001 meters 0.03510247285037035 Centerline is valid? [True, True] Translation: X:74.80, Y:-7.84, Z:-3.11 [[ 9.81985089e-01 1.86179828e-01 3.22855517e-02 7.47972416e+01] [-1.86112418e-01 9.82515183e-01 -5.10717707e-03 -7.83629498e+00] [-3.26718981e-02 -9.93570357e-04 9.99465637e-01 -3.11317703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.33264000000001 meters 0.03752416979913562 Centerline is valid? [True, True] Translation: X:74.83, Y:-7.84, Z:-3.12 [[ 9.81897625e-01 1.86607675e-01 3.24750474e-02 7.48277772e+01] [-1.86539675e-01 9.82433993e-01 -5.13807643e-03 -7.83914709e+00] [-3.28633950e-02 -1.01281975e-03 9.99459340e-01 -3.11566982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.36264 meters 0.03563481861220697 Centerline is valid? [True, True] Translation: X:74.86, Y:-7.85, Z:-3.12 [[ 9.82003129e-01 1.86074904e-01 3.23416793e-02 7.48580567e+01] [-1.86007210e-01 9.82535061e-01 -5.11584523e-03 -7.85186708e+00] [-3.27287642e-02 -9.92009501e-04 9.99463778e-01 -3.11723732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.39264 meters 0.035198535276414415 Centerline is valid? [True, True] Translation: X:74.89, Y:-7.86, Z:-3.12 [[ 9.82188928e-01 1.85075187e-01 3.24358453e-02 7.48879370e+01] [-1.85006348e-01 9.82723899e-01 -5.13697898e-03 -7.86068213e+00] [-3.28262077e-02 -9.55353410e-04 9.99460618e-01 -3.11907716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.42264 meters 0.03316176791008053 Centerline is valid? [True, True] Translation: X:74.92, Y:-7.87, Z:-3.12 [[ 9.82445220e-01 1.83664031e-01 3.26942487e-02 7.49190152e+01] [-1.83593227e-01 9.82988652e-01 -5.18042432e-03 -7.87126592e+00] [-3.30895331e-02 -9.12959513e-04 9.99451974e-01 -3.11993985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.45264 meters 0.03268550793979869 Centerline is valid? [True, True] Translation: X:74.95, Y:-7.88, Z:-3.12 [[ 9.82852807e-01 1.81624702e-01 3.18249451e-02 7.49491993e+01] [-1.81556374e-01 9.83367582e-01 -5.04801099e-03 -7.88052548e+00] [-3.22124628e-02 -8.16569856e-04 9.99480710e-01 -3.12439991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48264 meters 0.03153201657146119 Centerline is valid? [True, True] Translation: X:74.98, Y:-7.89, Z:-3.13 [[ 9.82919940e-01 1.81287238e-01 3.16753732e-02 7.49798987e+01] [-1.81219222e-01 9.83429866e-01 -5.02908505e-03 -7.88917794e+00] [-3.20622170e-02 -7.96998518e-04 9.99485557e-01 -3.12628247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.51264 meters 0.02814717522706631 Centerline is valid? [True, True] Translation: X:75.01, Y:-7.90, Z:-3.13 [[ 9.83066071e-01 1.80421373e-01 3.20815916e-02 7.50103482e+01] [-1.80350965e-01 9.83589106e-01 -5.09895674e-03 -7.90354490e+00] [-3.24750648e-02 -7.73334640e-04 9.99472247e-01 -3.12602971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54264 meters 0.02959786445318453 Centerline is valid? [True, True] Translation: X:75.04, Y:-7.91, Z:-3.13 [[ 9.83082613e-01 1.80320548e-01 3.21415121e-02 7.50406018e+01] [-1.80249635e-01 9.83607601e-01 -5.11424522e-03 -7.90857560e+00] [-3.25368391e-02 -7.65770268e-04 9.99470244e-01 -3.12853996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57264 meters 0.02808077452846984 Centerline is valid? [True, True] Translation: X:75.07, Y:-7.92, Z:-3.13 [[ 9.82638932e-01 1.82140737e-01 3.52913729e-02 7.50679366e+01] [-1.82249201e-01 9.83252362e-01 -1.45915612e-04 -7.92281667e+00] [-3.47269030e-02 -6.28844216e-03 9.99377055e-01 -3.13012383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60264000000001 meters 0.02866335415818419 Centerline is valid? [True, True] Translation: X:75.10, Y:-7.92, Z:-3.14 [[ 9.83321642e-01 1.79467679e-01 2.94940760e-02 7.51028703e+01] [-1.79247744e-01 9.83753542e-01 -9.96063379e-03 -7.92393080e+00] [-3.08025136e-02 4.50776019e-03 9.99515325e-01 -3.13576901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.63264000000001 meters 0.026625941145213793 Centerline is valid? [True, True] Translation: X:75.13, Y:-7.94, Z:-3.14 [[ 9.83391082e-01 1.78976755e-01 3.01546167e-02 7.51331391e+01] [-1.78913420e-01 9.83853076e-01 -4.80755565e-03 -7.93628325e+00] [-3.05281532e-02 -6.67358246e-04 9.99533685e-01 -3.13643435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66264000000001 meters 0.026096983222657598 Centerline is valid? [True, True] Translation: X:75.16, Y:-7.95, Z:-3.14 [[ 9.83558199e-01 1.78133604e-01 2.96932295e-02 7.51636596e+01] [-1.78071655e-01 9.84006111e-01 -4.73907698e-03 -7.94546371e+00] [-3.00625082e-02 -6.26364522e-04 9.99547824e-01 -3.13921528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.69264000000001 meters 0.025228831709859727 Centerline is valid? [True, True] Translation: X:75.19, Y:-7.95, Z:-3.14 [[ 9.83688851e-01 1.77410994e-01 2.96914763e-02 7.51947507e+01] [-1.77348568e-01 9.84136667e-01 -4.74396777e-03 -7.95434605e+00] [-3.00621026e-02 -5.99152597e-04 9.99547853e-01 -3.14030953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72264000000001 meters 0.024517200255829062 Centerline is valid? [True, True] Translation: X:75.23, Y:-7.96, Z:-3.14 [[ 9.83843431e-01 1.76548033e-01 2.97135495e-02 7.52263213e+01] [-1.76484966e-01 9.84291862e-01 -4.75262842e-03 -7.96287385e+00] [-3.00858722e-02 -5.68152516e-04 9.99547156e-01 -3.14192223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.75264 meters 0.022725862345399372 Centerline is valid? [True, True] Translation: X:75.26, Y:-7.97, Z:-3.14 [[ 9.84255393e-01 1.74367417e-01 2.89365599e-02 7.52558380e+01] [-1.74306518e-01 9.84680542e-01 -4.63331061e-03 -7.97438710e+00] [-2.93011659e-02 -4.83470059e-04 9.99570512e-01 -3.14471184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.78264 meters 0.020833636166655588 Centerline is valid? [True, True] Translation: X:75.29, Y:-7.98, Z:-3.15 [[ 9.84486537e-01 1.73064556e-01 2.88949404e-02 7.52867100e+01] [-1.73003142e-01 9.84910385e-01 -4.63103529e-03 -7.98432258e+00] [-2.92603950e-02 -4.39723605e-04 9.99571726e-01 -3.14580467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.81264 meters 0.019483227861132255 Centerline is valid? [True, True] Translation: X:75.31, Y:-8.00, Z:-3.15 [[ 9.84649515e-01 1.71258190e-01 3.37040758e-02 7.53146107e+01] [-1.71286422e-01 9.85219102e-01 -2.06942014e-03 -8.00019307e+00] [-3.35603044e-02 -3.73539700e-03 9.99429714e-01 -3.14885468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84264 meters 0.017025555671068126 Centerline is valid? [True, True] Translation: X:75.35, Y:-8.01, Z:-3.15 [[ 9.85297694e-01 1.68390093e-01 2.88657285e-02 7.53467718e+01] [-1.68226736e-01 9.85715745e-01 -8.01474236e-03 -8.00867896e+00] [-2.98030063e-02 3.04091989e-03 9.99551166e-01 -3.14868783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.87264 meters 0.024504234980171322 Centerline is valid? [True, True] Translation: X:75.38, Y:-8.02, Z:-3.15 [[ 9.85506610e-01 1.66962365e-01 3.00048461e-02 7.53767619e+01] [-1.66892900e-01 9.85963236e-01 -4.82247704e-03 -8.01888119e+00] [-3.03888473e-02 -2.55012786e-04 9.99538120e-01 -3.15139997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90264 meters 0.015554779637552122 Centerline is valid? [True, True] Translation: X:75.41, Y:-8.03, Z:-3.15 [[ 9.85723134e-01 1.65684591e-01 2.99753112e-02 7.54072417e+01] [-1.65614527e-01 9.86178773e-01 -4.82250914e-03 -8.03114563e+00] [-3.03600311e-02 -2.10688168e-04 9.99539006e-01 -3.15125057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.93264 meters 0.015594602903272942 Centerline is valid? [True, True] Translation: X:75.44, Y:-8.04, Z:-3.15 [[ 9.85717432e-01 1.65763144e-01 2.97275127e-02 7.54390567e+01] [-1.65694124e-01 9.86165573e-01 -4.78745394e-03 -8.03923732e+00] [-3.01098330e-02 -2.06597380e-04 9.99546575e-01 -3.15323517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96264000000001 meters 0.02180464614960359 Centerline is valid? [True, True] Translation: X:75.47, Y:-8.05, Z:-3.16 [[ 9.85554395e-01 1.66909779e-01 2.86994849e-02 7.54688780e+01] [-1.66845765e-01 9.85972147e-01 -4.62783015e-03 -8.04828182e+00] [-2.90693229e-02 -2.27409179e-04 9.99577372e-01 -3.15801288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.99264000000001 meters 0.0169882443640242 Centerline is valid? [True, True] Translation: X:75.50, Y:-8.06, Z:-3.16 [[ 9.85486252e-01 1.67453738e-01 2.78584244e-02 7.54990083e+01] [-1.67393518e-01 9.85879907e-01 -4.49650046e-03 -8.05505859e+00] [-2.82180167e-02 -2.32080285e-04 9.99601766e-01 -3.16023766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02264000000001 meters 0.018063684701118136 Centerline is valid? [True, True] Translation: X:75.53, Y:-8.06, Z:-3.16 [[ 9.85274009e-01 1.68627397e-01 2.82829869e-02 7.55298885e+01] [-1.68565687e-01 9.85679832e-01 -4.56931814e-03 -8.06208535e+00] [-2.86484820e-02 -2.65510723e-04 9.99589513e-01 -3.16235089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.05264000000001 meters 0.018063684701118136 Centerline is valid? [True, True] Translation: X:75.56, Y:-8.07, Z:-3.16 [[ 9.85243119e-01 1.68807920e-01 2.82821852e-02 7.55619126e+01] [-1.68746142e-01 9.85648931e-01 -4.57427366e-03 -8.06746227e+00] [-2.86484793e-02 -2.65738006e-04 9.99589513e-01 -3.16373599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08264000000001 meters 0.018987043622507128 Centerline is valid? [True, True] Translation: X:75.59, Y:-8.07, Z:-3.17 [[ 9.85089396e-01 1.69772829e-01 2.78579996e-02 7.55929351e+01] [-1.69713117e-01 9.85483184e-01 -4.51129752e-03 -8.07311730e+00] [-2.82194859e-02 -2.83836606e-04 9.99601711e-01 -3.16674965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.11264 meters 0.018226511936192288 Centerline is valid? [True, True] Translation: X:75.62, Y:-8.08, Z:-3.17 [[ 9.84981890e-01 1.70540076e-01 2.69584673e-02 7.56243267e+01] [-1.70484349e-01 9.85350697e-01 -4.36918074e-03 -8.08111822e+00] [-2.73086650e-02 -2.92432862e-04 9.99627006e-01 -3.16710153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.14264 meters 0.021040080131186 Centerline is valid? [True, True] Translation: X:75.65, Y:-8.09, Z:-3.17 [[ 9.84646062e-01 1.72647645e-01 2.57860963e-02 7.56547483e+01] [-1.72597268e-01 9.84983594e-01 -4.18355667e-03 -8.08679855e+00] [-2.61211631e-02 -3.31287179e-04 9.99658729e-01 -3.17331768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.17264 meters 0.021023744938732745 Centerline is valid? [True, True] Translation: X:75.69, Y:-8.09, Z:-3.18 [[ 9.84500040e-01 1.73685482e-01 2.43520759e-02 7.56864308e+01] [-1.73640788e-01 9.84801117e-01 -3.95423923e-03 -8.09429158e+00] [-2.46687455e-02 -3.35564970e-04 9.99695624e-01 -3.17504145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.20264 meters 0.023067126369585963 Centerline is valid? [True, True] Translation: X:75.72, Y:-8.10, Z:-3.18 [[ 9.84064000e-01 1.76364960e-01 2.26593120e-02 7.57175991e+01] [-1.76326856e-01 9.84324776e-01 -3.68450658e-03 -8.09801732e+00] [-2.29539400e-02 -3.69654943e-04 9.99736455e-01 -3.17909719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.23264 meters 0.025545563388809693 Centerline is valid? [True, True] Translation: X:75.75, Y:-8.10, Z:-3.18 [[ 9.83712555e-01 1.78245517e-01 2.31979446e-02 7.57488545e+01] [-1.78206090e-01 9.83985954e-01 -3.77262062e-03 -8.10083710e+00] [-2.34989043e-02 -4.22840718e-04 9.99723773e-01 -3.18179702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26264 meters 0.03019449635603614 Centerline is valid? [True, True] Translation: X:75.78, Y:-8.10, Z:-3.19 [[ 9.83189024e-01 1.81267603e-01 2.19408158e-02 7.57792037e+01] [-1.81232949e-01 9.83433700e-01 -3.57433995e-03 -8.10258210e+00] [-2.22252497e-02 -4.62146942e-04 9.99752882e-01 -3.18715017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.29264 meters 0.027766702222496394 Centerline is valid? [True, True] Translation: X:75.81, Y:-8.11, Z:-3.19 [[ 9.82985367e-01 1.82503827e-01 2.07875228e-02 7.58098472e+01] [-1.82473026e-01 9.83205033e-01 -3.38505286e-03 -8.11143194e+00] [-2.10561821e-02 -4.65704760e-04 9.99778186e-01 -3.18604626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32264 meters 0.03247113180695212 Centerline is valid? [True, True] Translation: X:75.84, Y:-8.11, Z:-3.19 [[ 9.82835925e-01 1.83316211e-01 2.07053293e-02 7.58409202e+01] [-1.83285827e-01 9.83053882e-01 -3.37193644e-03 -8.11135800e+00] [-2.09725849e-02 -4.80933125e-04 9.99779935e-01 -3.19267405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35264000000001 meters 0.028295843300172374 Centerline is valid? [True, True] Translation: X:75.87, Y:-8.12, Z:-3.19 [[ 9.82828606e-01 1.83325864e-01 2.09656696e-02 7.58718368e+01] [-1.83294646e-01 9.83052081e-01 -3.41752187e-03 -8.12261008e+00] [-2.12368653e-02 -4.84056732e-04 9.99774355e-01 -3.18907669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38264000000001 meters 0.0269451773822435 Centerline is valid? [True, True] Translation: X:75.90, Y:-8.13, Z:-3.19 [[ 9.83162267e-01 1.81399751e-01 2.20473667e-02 7.59011695e+01] [-1.81364577e-01 9.83409335e-01 -3.60132035e-03 -8.13062738e+00] [-2.23348648e-02 -4.57929055e-04 9.99750441e-01 -3.18890455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.41264000000001 meters 0.026007453936456967 Centerline is valid? [True, True] Translation: X:75.93, Y:-8.14, Z:-3.19 [[ 9.83577631e-01 1.79015248e-01 2.29909743e-02 7.59308472e+01] [-1.78976346e-01 9.83846209e-01 -3.75552516e-03 -8.13892557e+00] [-2.32918792e-02 -4.20990023e-04 9.99728619e-01 -3.19036897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44264000000001 meters 0.02352668836266341 Centerline is valid? [True, True] Translation: X:75.96, Y:-8.15, Z:-3.19 [[ 9.83812973e-01 1.77687541e-01 2.32200762e-02 7.59616728e+01] [-1.77647542e-01 9.84086877e-01 -3.79074080e-03 -8.14946642e+00] [-2.35241396e-02 -3.95609475e-04 9.99723191e-01 -3.18886191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.47264000000001 meters 0.022718794024713912 Centerline is valid? [True, True] Translation: X:75.99, Y:-8.16, Z:-3.19 [[ 9.84035682e-01 1.76373084e-01 2.37973218e-02 7.59916666e+01] [-1.76330550e-01 9.84323321e-01 -3.89064489e-03 -8.15756828e+00] [-2.41104639e-02 -3.67661444e-04 9.99709233e-01 -3.18987414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.50264 meters 0.02097827742358175 Centerline is valid? [True, True] Translation: X:76.02, Y:-8.17, Z:-3.19 [[ 9.84329477e-01 1.74491218e-01 2.54616456e-02 7.60229607e+01] [-1.74441853e-01 9.84658671e-01 -4.16437858e-03 -8.16667954e+00] [-2.57976776e-02 -3.42456061e-04 9.99667126e-01 -3.18869049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.53264 meters 0.02046177183996695 Centerline is valid? [True, True] Translation: X:76.05, Y:-8.17, Z:-3.19 [[ 9.84410471e-01 1.74003857e-01 2.56647913e-02 7.60543420e+01] [-1.73953422e-01 9.84744916e-01 -4.20199026e-03 -8.17360384e+00] [-2.60044352e-02 -3.27995055e-04 9.99661774e-01 -3.18995182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56264 meters 0.027147482518146613 Centerline is valid? [True, True] Translation: X:76.08, Y:-8.18, Z:-3.19 [[ 9.84533604e-01 1.73244539e-01 2.60751455e-02 7.60842640e+01] [-1.73192086e-01 9.84878792e-01 -4.27393361e-03 -8.18287491e+00] [-2.64212935e-02 -3.08177585e-04 9.99650849e-01 -3.19357860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.59264 meters 0.01918033687807947 Centerline is valid? [True, True] Translation: X:76.12, Y:-8.19, Z:-3.19 [[ 9.84731082e-01 1.72293897e-01 2.48899400e-02 7.61163983e+01] [-1.72245726e-01 9.85045553e-01 -4.08264449e-03 -8.19016661e+00] [-2.52211394e-02 -2.66878853e-04 9.99681861e-01 -3.19324293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62264 meters 0.019102894612549725 Centerline is valid? [True, True] Translation: X:76.15, Y:-8.20, Z:-3.20 [[ 9.84769034e-01 1.72028878e-01 2.52193121e-02 7.61474126e+01] [-1.71979193e-01 9.85091873e-01 -4.14231882e-03 -8.19585017e+00] [-2.55559379e-02 -2.57969631e-04 9.99673360e-01 -3.19512598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.65264 meters 0.018027267334861156 Centerline is valid? [True, True] Translation: X:76.18, Y:-8.21, Z:-3.20 [[ 9.85054038e-01 1.70639560e-01 2.34666323e-02 7.61778964e+01] [-1.70596077e-01 9.85333496e-01 -3.85738154e-03 -8.20679538e+00] [-2.37806807e-02 -2.03586142e-04 9.99717179e-01 -3.19774916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68264 meters 0.01815784373601095 Centerline is valid? [True, True] Translation: X:76.21, Y:-8.21, Z:-3.20 [[ 9.85152894e-01 1.70270521e-01 2.19482211e-02 7.62086796e+01] [-1.70232313e-01 9.85397340e-01 -3.61134561e-03 -8.21414683e+00] [-2.22426244e-02 -1.78568867e-04 9.99752586e-01 -3.20095063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.71264000000001 meters 0.019197952756705466 Centerline is valid? [True, True] Translation: X:76.24, Y:-8.22, Z:-3.21 [[ 9.85339962e-01 1.69388700e-01 2.03132615e-02 7.62391304e+01] [-1.69355727e-01 9.85549313e-01 -3.34512934e-03 -8.21998636e+00] [-2.05863480e-02 -1.44077562e-04 9.99788068e-01 -3.20834464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74264000000001 meters 0.017713738948385984 Centerline is valid? [True, True] Translation: X:76.27, Y:-8.23, Z:-3.21 [[ 9.85366130e-01 1.69299904e-01 1.97770610e-02 7.62710741e+01] [-1.69268581e-01 9.85564571e-01 -3.25940644e-03 -8.22761797e+00] [-2.00433878e-02 -1.35926336e-04 9.99799102e-01 -3.20559208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.77264000000001 meters 0.01794482125122657 Centerline is valid? [True, True] Translation: X:76.30, Y:-8.23, Z:-3.21 [[ 9.85297155e-01 1.69647113e-01 2.02329919e-02 7.63021476e+01] [-1.69614316e-01 9.85504864e-01 -3.33870308e-03 -8.23296862e+00] [-2.05061133e-02 -1.42190440e-04 9.99789717e-01 -3.20720961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80264000000001 meters 0.018442325124432894 Centerline is valid? [True, True] Translation: X:76.33, Y:-8.24, Z:-3.21 [[ 9.85108767e-01 1.70728610e-01 2.03091073e-02 7.63336223e+01] [-1.70695735e-01 9.85318078e-01 -3.35420407e-03 -8.23652187e+00] [-2.05835891e-02 -1.62422154e-04 9.99788122e-01 -3.20819194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.83264000000001 meters 0.02934680230734478 Centerline is valid? [True, True] Translation: X:76.37, Y:-8.24, Z:-3.21 [[ 9.84892068e-01 1.71947776e-01 2.05323459e-02 7.63666468e+01] [-1.71914364e-01 9.85106049e-01 -3.39469892e-03 -8.24105217e+00] [-2.08102491e-02 -1.86393142e-04 9.99783426e-01 -3.21035534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.86264 meters 0.02002495860823575 Centerline is valid? [True, True] Translation: X:76.40, Y:-8.24, Z:-3.21 [[ 9.84870605e-01 1.72125086e-01 2.00710136e-02 7.63978267e+01] [-1.72093096e-01 9.85075084e-01 -3.32328596e-03 -8.24371836e+00] [-2.03434763e-02 -1.81076225e-04 9.99793034e-01 -3.21460582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.89264 meters 0.019101506530775664 Centerline is valid? [True, True] Translation: X:76.43, Y:-8.25, Z:-3.21 [[ 9.84945085e-01 1.71836388e-01 1.88529857e-02 7.64289328e+01] [-1.71808064e-01 9.85125489e-01 -3.12408633e-03 -8.25210726e+00] [-1.91093885e-02 -1.62041497e-04 9.99817386e-01 -3.21482727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92264 meters 0.019299503924794795 Centerline is valid? [True, True] Translation: X:76.46, Y:-8.26, Z:-3.22 [[ 9.85013397e-01 1.71529630e-01 1.80608306e-02 7.64592257e+01] [-1.71503496e-01 9.85178951e-01 -2.99766047e-03 -8.25871365e+00] [-1.83073378e-02 -1.44759867e-04 9.99832396e-01 -3.21783622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.95264 meters 0.01916642768374276 Centerline is valid? [True, True] Translation: X:76.49, Y:-8.26, Z:-3.22 [[ 9.85070499e-01 1.71262398e-01 1.74729100e-02 7.64904587e+01] [-1.71237903e-01 9.85225443e-01 -2.89963961e-03 -8.26469142e+00] [-1.77113547e-02 -1.35675035e-04 9.99843132e-01 -3.21944631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98264 meters 0.03012551889934149 Centerline is valid? [True, True] Translation: X:76.52, Y:-8.27, Z:-3.23 [[ 9.85020503e-01 1.71603881e-01 1.69327231e-02 7.65214715e+01] [-1.71580874e-01 9.85166021e-01 -2.81313151e-03 -8.26820931e+00] [-1.71642877e-02 -1.34339222e-04 9.99852674e-01 -3.22512919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.01264 meters 0.020183575035561528 Centerline is valid? [True, True] Translation: X:76.55, Y:-8.27, Z:-3.23 [[ 9.85226964e-01 1.70465727e-01 1.64093046e-02 7.65529265e+01] [-1.70443930e-01 9.85363600e-01 -2.72809220e-03 -8.27436318e+00] [-1.66341777e-02 -1.09076386e-04 9.99861637e-01 -3.22747258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04264 meters 0.019591376682141833 Centerline is valid? [True, True] Translation: X:76.58, Y:-8.28, Z:-3.23 [[ 9.85293325e-01 1.70051320e-01 1.67215956e-02 7.65843560e+01] [-1.70028565e-01 9.85435203e-01 -2.78366671e-03 -8.28223765e+00] [-1.69514151e-02 -1.00420667e-04 9.99856309e-01 -3.22747660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.07264 meters 0.018286084782334695 Centerline is valid? [True, True] Translation: X:76.62, Y:-8.29, Z:-3.23 [[ 9.85629261e-01 1.68043971e-01 1.72099907e-02 7.66155667e+01] [-1.68019508e-01 9.85779498e-01 -2.86801117e-03 -8.29278898e+00] [-1.74472080e-02 -6.48184329e-05 9.99847784e-01 -3.22548543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10264000000001 meters 0.026374731905976327 Centerline is valid? [True, True] Translation: X:76.65, Y:-8.30, Z:-3.23 [[ 9.85714789e-01 1.67489528e-01 1.77091266e-02 7.66460568e+01] [-1.67463441e-01 9.85873854e-01 -2.95640331e-03 -8.29999170e+00] [-1.79541315e-02 -5.14608267e-05 9.99838810e-01 -3.23107895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.13264000000001 meters 0.017605525369763834 Centerline is valid? [True, True] Translation: X:76.68, Y:-8.31, Z:-3.23 [[ 9.86196152e-01 1.64611331e-01 1.78957981e-02 7.66766474e+01] [-1.64584219e-01 9.86358510e-01 -2.98753276e-03 -8.31198837e+00] [-1.81434545e-02 9.27357396e-07 9.99835394e-01 -3.22672833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16264000000001 meters 0.01836640756837118 Centerline is valid? [True, True] Translation: X:76.71, Y:-8.32, Z:-3.23 [[ 9.86321351e-01 1.63895645e-01 1.75616082e-02 7.67068078e+01] [-1.63869363e-01 9.86477682e-01 -2.93508151e-03 -8.32017368e+00] [-1.78051816e-02 1.71240199e-05 9.99841475e-01 -3.23085403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.19264000000001 meters 0.018418516105381248 Centerline is valid? [True, True] Translation: X:76.74, Y:-8.33, Z:-3.23 [[ 9.86411724e-01 1.63453752e-01 1.65765442e-02 7.67383270e+01] [-1.63430239e-01 9.86550997e-01 -2.77249162e-03 -8.32845899e+00] [-1.68067804e-02 2.57096650e-05 9.99858756e-01 -3.23198638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22264000000001 meters 0.019741911564555754 Centerline is valid? [True, True] Translation: X:76.77, Y:-8.34, Z:-3.24 [[ 9.86325166e-01 1.64006707e-01 1.62624635e-02 7.67687285e+01] [-1.63984111e-01 9.86459224e-01 -2.72240147e-03 -8.33687234e+00] [-1.64887492e-02 1.83874488e-05 9.99864051e-01 -3.23774637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.25264 meters 0.018596145398099815 Centerline is valid? [True, True] Translation: X:76.80, Y:-8.34, Z:-3.24 [[ 9.86098041e-01 1.65349320e-01 1.64394659e-02 7.68012785e+01] [-1.65326368e-01 9.86235064e-01 -2.75496186e-03 -8.34150218e+00] [-1.66687088e-02 -1.21470539e-06 9.99861067e-01 -3.23536573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.28264 meters 0.017739135492374623 Centerline is valid? [True, True] Translation: X:76.83, Y:-8.34, Z:-3.23 [[ 9.85541605e-01 1.68561825e-01 1.71655656e-02 7.68330505e+01] [-1.68537212e-01 9.85691082e-01 -2.88094189e-03 -8.34458655e+00] [-1.74055617e-02 -5.37484642e-05 9.99848510e-01 -3.23369244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.31264 meters 0.01968532820683803 Centerline is valid? [True, True] Translation: X:76.86, Y:-8.35, Z:-3.24 [[ 9.85248010e-01 1.70298689e-01 1.68735078e-02 7.68639183e+01] [-1.70275076e-01 9.85392485e-01 -2.83692621e-03 -8.34839147e+00] [-1.71101526e-02 -7.80619147e-05 9.99853608e-01 -3.24019080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34264 meters 0.019974718071067096 Centerline is valid? [True, True] Translation: X:76.90, Y:-8.35, Z:-3.24 [[ 9.84771778e-01 1.73107412e-01 1.60738575e-02 7.68956659e+01] [-1.73086367e-01 9.84902944e-01 -2.70192168e-03 -8.35258419e+00] [-1.62989122e-02 -1.21389374e-04 9.99867157e-01 -3.23951374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37264 meters 0.027772936807574613 Centerline is valid? [True, True] Translation: X:76.93, Y:-8.36, Z:-3.24 [[ 9.84537133e-01 1.74407318e-01 1.63927187e-02 7.69279939e+01] [-1.74385574e-01 9.84673584e-01 -2.75768000e-03 -8.35814264e+00] [-1.66224366e-02 -1.43615294e-04 9.99861827e-01 -3.24016072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40264 meters 0.021066326021056677 Centerline is valid? [True, True] Translation: X:76.96, Y:-8.36, Z:-3.24 [[ 9.84517813e-01 1.74527594e-01 1.62725373e-02 7.69597235e+01] [-1.74506097e-01 9.84652273e-01 -2.74273804e-03 -8.36192930e+00] [-1.65014743e-02 -1.39382520e-04 9.99863832e-01 -3.24329462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.43264 meters 0.019860283613622687 Centerline is valid? [True, True] Translation: X:76.99, Y:-8.37, Z:-3.24 [[ 9.84578753e-01 1.74251022e-01 1.55325472e-02 7.69909555e+01] [-1.74231395e-01 9.84701257e-01 -2.61842106e-03 -8.37075401e+00] [-1.57511813e-02 -1.28215629e-04 9.99875934e-01 -3.24162065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46264000000001 meters 0.02074974511784741 Centerline is valid? [True, True] Translation: X:77.02, Y:-8.38, Z:-3.25 [[ 9.84635329e-01 1.73925149e-01 1.55984569e-02 7.70217988e+01] [-1.73905275e-01 9.84758868e-01 -2.63204168e-03 -8.37699682e+00] [-1.58184970e-02 -1.21052704e-04 9.99874872e-01 -3.24575019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.49264000000001 meters 0.02001961523859661 Centerline is valid? [True, True] Translation: X:77.05, Y:-8.39, Z:-3.25 [[ 9.84833902e-01 1.72758822e-01 1.60179641e-02 7.70529318e+01] [-1.72737649e-01 9.84964151e-01 -2.70659940e-03 -8.38581165e+00] [-1.62447093e-02 -1.01354605e-04 9.99868041e-01 -3.24566164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52264000000001 meters 0.019239789448074952 Centerline is valid? [True, True] Translation: X:77.09, Y:-8.39, Z:-3.25 [[ 9.84934128e-01 1.72188028e-01 1.60014794e-02 7.70853428e+01] [-1.72166791e-01 9.85064097e-01 -2.70575924e-03 -8.39484837e+00] [-1.62283822e-02 -8.99287531e-05 9.99868307e-01 -3.24501898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.55264000000001 meters 0.0317677512214122 Centerline is valid? [True, True] Translation: X:77.12, Y:-8.40, Z:-3.25 [[ 9.85012562e-01 1.71791738e-01 1.54224034e-02 7.71156158e+01] [-1.71771902e-01 9.85133287e-01 -2.61169644e-03 -8.40291894e+00] [-1.56417908e-02 -7.65817603e-05 9.99877657e-01 -3.24976026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58264000000001 meters 0.019760395928570477 Centerline is valid? [True, True] Translation: X:77.15, Y:-8.41, Z:-3.25 [[ 9.85335931e-01 1.70104038e-01 1.33311354e-02 7.71461566e+01] [-1.70089046e-01 9.85426108e-01 -2.25872228e-03 -8.41157991e+00] [-1.35210666e-02 -4.18798822e-05 9.99908585e-01 -3.25029759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.61264 meters 0.021919154156848565 Centerline is valid? [True, True] Translation: X:77.18, Y:-8.42, Z:-3.26 [[ 9.85395501e-01 1.69801528e-01 1.27729147e-02 7.71759835e+01] [-1.69787690e-01 9.85478280e-01 -2.16797728e-03 -8.41753445e+00] [-1.29555559e-02 -3.23686226e-05 9.99916073e-01 -3.25915464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.64264 meters 0.020414175869808704 Centerline is valid? [True, True] Translation: X:77.21, Y:-8.43, Z:-3.26 [[ 9.85572164e-01 1.68874936e-01 1.13475233e-02 7.72064243e+01] [-1.68863944e-01 9.85637487e-01 -1.92684524e-03 -8.42849806e+00] [-1.15099402e-02 -1.71425025e-05 9.99933758e-01 -3.25545396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.67264 meters 0.031952770645743485 Centerline is valid? [True, True] Translation: X:77.24, Y:-8.44, Z:-3.26 [[ 9.85532246e-01 1.69096276e-01 1.15169812e-02 7.72388309e+01] [-1.69084995e-01 9.85599538e-01 -1.95329171e-03 -8.43564112e+00] [-1.16814257e-02 -2.23167496e-05 9.99931770e-01 -3.25786118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.70264 meters 0.022418000692663965 Centerline is valid? [True, True] Translation: X:77.27, Y:-8.44, Z:-3.26 [[ 9.85547777e-01 1.68962683e-01 1.21322421e-02 7.72692408e+01] [-1.68950104e-01 9.85622449e-01 -2.06177722e-03 -8.44163785e+00] [-1.23061735e-02 -1.77636007e-05 9.99924276e-01 -3.26398152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.73264 meters 0.019746066140647018 Centerline is valid? [True, True] Translation: X:77.30, Y:-8.45, Z:-3.26 [[ 9.85545038e-01 1.68890767e-01 1.32998902e-02 7.73007163e+01] [-1.68875609e-01 9.85634774e-01 -2.26275545e-03 -8.45012331e+00] [-1.34909928e-02 -1.59796593e-05 9.99908992e-01 -3.25509486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76264 meters 0.020369703865623714 Centerline is valid? [True, True] Translation: X:77.33, Y:-8.46, Z:-3.26 [[ 9.85536857e-01 1.68979852e-01 1.27637804e-02 7.73310501e+01] [-1.68965843e-01 9.85619505e-01 -2.17590856e-03 -8.45582501e+00] [-1.29479156e-02 -1.22048237e-05 9.99916172e-01 -3.25865331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.79264 meters 0.021423978735972227 Centerline is valid? [True, True] Translation: X:77.36, Y:-8.46, Z:-3.26 [[ 9.85445800e-01 1.69596555e-01 1.15578571e-02 7.73615143e+01] [-1.69585125e-01 9.85513576e-01 -1.96909039e-03 -8.46148532e+00] [-1.17243760e-02 -1.96087890e-05 9.99931267e-01 -3.26277296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82264 meters 0.02060239001336151 Centerline is valid? [True, True] Translation: X:77.39, Y:-8.47, Z:-3.26 [[ 9.85333136e-01 1.70273368e-01 1.12067025e-02 7.73928518e+01] [-1.70262649e-01 9.85396864e-01 -1.91075514e-03 -8.46684863e+00] [-1.13684002e-02 -2.53524914e-05 9.99935377e-01 -3.26066673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.85264000000001 meters 0.021657590103645857 Centerline is valid? [True, True] Translation: X:77.42, Y:-8.47, Z:-3.27 [[ 9.85202979e-01 1.71011968e-01 1.14016301e-02 7.74232507e+01] [-1.71000875e-01 9.85268951e-01 -1.94802084e-03 -8.47065559e+00] [-1.15668070e-02 -3.04927852e-05 9.99933102e-01 -3.26527637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88264000000001 meters 0.025075641332937493 Centerline is valid? [True, True] Translation: X:77.45, Y:-8.48, Z:-3.26 [[ 9.85114072e-01 1.71434115e-01 1.26732129e-02 7.74549686e+01] [-1.71420450e-01 9.85195586e-01 -2.16483279e-03 -8.47600475e+00] [-1.28567196e-02 -3.98406091e-05 9.99917348e-01 -3.26267955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.91264000000001 meters 0.02006288026874837 Centerline is valid? [True, True] Translation: X:77.49, Y:-8.48, Z:-3.26 [[ 9.85107229e-01 1.71411867e-01 1.34803206e-02 7.74869831e+01] [-1.71396366e-01 9.85199457e-01 -2.30551497e-03 -8.48210613e+00] [-1.36759972e-02 -3.92985104e-05 9.99906478e-01 -3.26135054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94264000000001 meters 0.02006288026874837 Centerline is valid? [True, True] Translation: X:77.52, Y:-8.49, Z:-3.26 [[ 9.85073533e-01 1.71605430e-01 1.34800510e-02 7.75189477e+01] [-1.71589926e-01 9.85165760e-01 -2.30708973e-03 -8.48777585e+00] [-1.36759938e-02 -4.03879217e-05 9.99906478e-01 -3.26273584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.97264000000001 meters 0.01995148850997372 Centerline is valid? [True, True] Translation: X:77.55, Y:-8.49, Z:-3.26 [[ 9.85074650e-01 1.71602472e-01 1.34359857e-02 7.75509931e+01] [-1.71587032e-01 9.85166275e-01 -2.30221773e-03 -8.49347924e+00] [-1.36317463e-02 -3.75845865e-05 9.99907083e-01 -3.26316878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.00264 meters 0.020177001605073425 Centerline is valid? [True, True] Translation: X:77.58, Y:-8.50, Z:-3.27 [[ 9.85210223e-01 1.70919312e-01 1.21410978e-02 7.75824463e+01] [-1.70906624e-01 9.85285029e-01 -2.08268205e-03 -8.49970564e+00] [-1.23184125e-02 -2.31143957e-05 9.99924125e-01 -3.26604036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.03264 meters 0.021476093724520456 Centerline is valid? [True, True] Translation: X:77.61, Y:-8.51, Z:-3.27 [[ 9.85219291e-01 1.70904854e-01 1.15965389e-02 7.76125566e+01] [-1.70893253e-01 9.85287537e-01 -1.99141384e-03 -8.50618679e+00] [-1.17662675e-02 -1.97909194e-05 9.99930775e-01 -3.27167559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06264 meters 0.027894345471600964 Centerline is valid? [True, True] Translation: X:77.64, Y:-8.51, Z:-3.27 [[ 9.85158566e-01 1.71351888e-01 1.00563591e-02 7.76434747e+01] [-1.71343178e-01 9.85209891e-01 -1.72776683e-03 -8.51313601e+00] [-1.02036806e-02 -2.09642328e-05 9.99947941e-01 -3.27408351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.09264 meters 0.022139341367233945 Centerline is valid? [True, True] Translation: X:77.67, Y:-8.52, Z:-3.28 [[ 9.85070962e-01 1.71807736e-01 1.08305791e-02 7.76741576e+01] [-1.71797635e-01 9.85130500e-01 -1.86312904e-03 -8.51676337e+00] [-1.09896338e-02 -2.53535586e-05 9.99939612e-01 -3.27530214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12264 meters 0.021763177262221246 Centerline is valid? [True, True] Translation: X:77.71, Y:-8.52, Z:-3.27 [[ 9.84987157e-01 1.72307365e-01 1.05105780e-02 7.77058690e+01] [-1.72297869e-01 9.85043233e-01 -1.80920115e-03 -8.52001888e+00] [-1.06651124e-02 -2.89103006e-05 9.99943126e-01 -3.27487253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.15264 meters 0.02234236235606421 Centerline is valid? [True, True] Translation: X:77.74, Y:-8.52, Z:-3.28 [[ 9.84749878e-01 1.73665724e-01 1.03872100e-02 7.77376198e+01] [-1.73656511e-01 9.84804658e-01 -1.78930248e-03 -8.52146261e+00] [-1.05401133e-02 -4.17912375e-05 9.99944451e-01 -3.27744023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18264 meters 0.023751398887403144 Centerline is valid? [True, True] Translation: X:77.77, Y:-8.53, Z:-3.28 [[ 9.84660374e-01 1.74187097e-01 1.01392008e-02 7.77684305e+01] [-1.74178298e-01 9.84712574e-01 -1.75125047e-03 -8.52664815e+00] [-1.02892437e-02 -4.16417933e-05 9.99947063e-01 -3.28279743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.21264000000001 meters 0.022099357762768907 Centerline is valid? [True, True] Translation: X:77.80, Y:-8.53, Z:-3.28 [[ 9.84358455e-01 1.75926312e-01 9.40030354e-03 7.78002851e+01] [-1.75918849e-01 9.84403337e-01 -1.62147095e-03 -8.53117091e+00] [-9.53894957e-03 -5.75819389e-05 9.99954502e-01 -3.27726401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24264000000001 meters 0.03316313677124443 Centerline is valid? [True, True] Translation: X:77.83, Y:-8.53, Z:-3.28 [[ 9.84184428e-01 1.76890043e-01 9.53544304e-03 7.78330672e+01] [-1.76882400e-01 9.84230617e-01 -1.64568622e-03 -8.53419429e+00] [-9.67618050e-03 -6.69933021e-05 9.99953182e-01 -3.27970060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.27264000000001 meters 0.023324019040490394 Centerline is valid? [True, True] Translation: X:77.86, Y:-8.54, Z:-3.28 [[ 9.84000690e-01 1.77902887e-01 9.65424871e-03 7.78646512e+01] [-1.77895077e-01 9.84048046e-01 -1.66875107e-03 -8.53722265e+00] [-9.79712021e-03 -7.53911114e-05 9.99952004e-01 -3.28233302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30264000000001 meters 0.02391004686078581 Centerline is valid? [True, True] Translation: X:77.90, Y:-8.54, Z:-3.28 [[ 9.83910204e-01 1.78419388e-01 9.33986743e-03 7.78957487e+01] [-1.78412077e-01 9.83954530e-01 -1.61696153e-03 -8.54189160e+00] [-9.47850215e-03 -7.54001970e-05 9.99955075e-01 -3.28444026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.33264000000001 meters 0.02249326364671328 Centerline is valid? [True, True] Translation: X:77.93, Y:-8.56, Z:-3.28 [[ 9.83756546e-01 1.78702783e-01 1.69815645e-02 7.79255392e+01] [-1.78893067e-01 9.83813277e-01 1.04262901e-02 -8.55565776e+00] [-1.48434815e-02 -1.32948153e-02 9.99801440e-01 -3.28312602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36264 meters 0.02409076379302496 Centerline is valid? [True, True] Translation: X:77.96, Y:-8.54, Z:-3.29 [[ 9.83805341e-01 1.79104523e-01 6.97279828e-03 7.79582354e+01] [-1.78989732e-01 9.83742771e-01 -1.45888981e-02 -8.54075518e+00] [-9.47237756e-03 1.31045766e-02 9.99869264e-01 -3.28921114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.39264 meters 0.023054056927479513 Centerline is valid? [True, True] Translation: X:77.99, Y:-8.56, Z:-3.28 [[ 9.83858092e-01 1.78712773e-01 9.21952717e-03 7.79892727e+01] [-1.78705658e-01 9.83901285e-01 -1.59648320e-03 -8.55555904e+00] [-9.35641657e-03 -7.68687517e-05 9.99956225e-01 -3.28457387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.42264 meters 0.023165119814093214 Centerline is valid? [True, True] Translation: X:78.02, Y:-8.56, Z:-3.28 [[ 9.83790739e-01 1.79063245e-01 9.59874324e-03 7.80204411e+01] [-1.79055519e-01 9.83837562e-01 -1.66528070e-03 -8.56167342e+00] [-9.74179471e-03 -8.04202208e-05 9.99952544e-01 -3.28490297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.45264 meters 0.023726242447635274 Centerline is valid? [True, True] Translation: X:78.05, Y:-8.57, Z:-3.29 [[ 9.83617743e-01 1.79994088e-01 9.91276568e-03 7.80515801e+01] [-1.79985880e-01 9.83667688e-01 -1.72134184e-03 -8.56637923e+00] [-1.00606986e-02 -9.10154789e-05 9.99949386e-01 -3.28584152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48264 meters 0.024348680942163504 Centerline is valid? [True, True] Translation: X:78.09, Y:-8.57, Z:-3.29 [[ 9.83343769e-01 1.81460990e-01 1.03412248e-02 7.80850381e+01] [-1.81452117e-01 9.83398138e-01 -1.79772182e-03 -8.56811295e+00] [-1.04957576e-02 -1.08658581e-04 9.99944912e-01 -3.28664300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.51264 meters 0.027991159187237675 Centerline is valid? [True, True] Translation: X:78.12, Y:-8.57, Z:-3.28 [[ 9.82903374e-01 1.83840061e-01 1.01877133e-02 7.81175554e+01] [-1.83831552e-01 9.82956161e-01 -1.77350709e-03 -8.56997454e+00] [-1.03401172e-02 -1.29637030e-04 9.99946531e-01 -3.28412685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54264 meters 0.024463242785674157 Centerline is valid? [True, True] Translation: X:78.15, Y:-8.57, Z:-3.28 [[ 9.82584658e-01 1.85556781e-01 9.80158806e-03 7.81495140e+01] [-1.85548975e-01 9.82633534e-01 -1.70775109e-03 -8.57385317e+00] [-9.94825391e-03 -1.40664598e-04 9.99950505e-01 -3.28407022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.57264 meters 0.026679805713956735 Centerline is valid? [True, True] Translation: X:78.18, Y:-8.57, Z:-3.29 [[ 9.82316601e-01 1.86957697e-01 1.00456125e-02 7.81810447e+01] [-1.86949546e-01 9.82367953e-01 -1.75270307e-03 -8.57471580e+00] [-1.01961691e-02 -1.56313375e-04 9.99948005e-01 -3.28886154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60264000000001 meters 0.02758827467785982 Centerline is valid? [True, True] Translation: X:78.21, Y:-8.57, Z:-3.29 [[ 9.81978780e-01 1.88707419e-01 1.03530410e-02 7.82134600e+01] [-1.88698843e-01 9.82033339e-01 -1.80789327e-03 -8.57448675e+00] [-1.05081943e-02 -1.78294039e-04 9.99944772e-01 -3.28629072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.63264000000001 meters 0.028290591677363624 Centerline is valid? [True, True] Translation: X:78.24, Y:-8.58, Z:-3.29 [[ 9.81876934e-01 1.89206290e-01 1.08933878e-02 7.82448070e+01] [-1.89196773e-01 9.81937342e-01 -1.90703567e-03 -8.57686632e+00] [-1.10574474e-02 -1.88519480e-04 9.99938847e-01 -3.29039305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66264000000001 meters 0.02805643671791998 Centerline is valid? [True, True] Translation: X:78.28, Y:-8.58, Z:-3.29 [[ 9.81873935e-01 1.89219672e-01 1.09312525e-02 7.82776746e+01] [-1.89210110e-01 9.81934763e-01 -1.91182976e-03 -8.58261376e+00] [-1.10955327e-02 -1.91127682e-04 9.99938424e-01 -3.29085354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.69264000000001 meters 0.03203189326484155 Centerline is valid? [True, True] Translation: X:78.31, Y:-8.59, Z:-3.29 [[ 9.82061794e-01 1.88242083e-01 1.09339282e-02 7.83097396e+01] [-1.88232425e-01 9.82122643e-01 -1.91507319e-03 -8.58739561e+00] [-1.10989559e-02 -1.77399615e-04 9.99938389e-01 -3.28929831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72264000000001 meters 0.024615318245935047 Centerline is valid? [True, True] Translation: X:78.34, Y:-8.59, Z:-3.29 [[ 9.82198141e-01 1.87528445e-01 1.09496125e-02 7.83414808e+01] [-1.87518695e-01 9.82259158e-01 -1.91959321e-03 -8.59384731e+00] [-1.11153355e-02 -1.67836169e-04 9.99938209e-01 -3.28702147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.75264 meters 0.02556771145332309 Centerline is valid? [True, True] Translation: X:78.37, Y:-8.60, Z:-3.29 [[ 9.82411448e-01 1.86368243e-01 1.16027967e-02 7.83720710e+01] [-1.86357179e-01 9.82479950e-01 -2.03707442e-03 -8.59759020e+00] [-1.17791611e-02 -1.61019228e-04 9.99930610e-01 -3.29167098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.78264 meters 0.024428894775104626 Centerline is valid? [True, True] Translation: X:78.40, Y:-8.60, Z:-3.29 [[ 9.82608892e-01 1.85263123e-01 1.25435089e-02 7.84035897e+01] [-1.85250071e-01 9.82688939e-01 -2.20473983e-03 -8.60299547e+00] [-1.27348245e-02 -1.57288953e-04 9.99918896e-01 -3.29166377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.81264 meters 0.02295514387610788 Centerline is valid? [True, True] Translation: X:78.44, Y:-8.61, Z:-3.29 [[ 9.83053776e-01 1.82963458e-01 1.13862010e-02 7.84358470e+01] [-1.82952535e-01 9.83119708e-01 -2.00250770e-03 -8.60689027e+00] [-1.15603843e-02 -1.14561579e-04 9.99933170e-01 -3.29185653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84264 meters 0.025272852017379693 Centerline is valid? [True, True] Translation: X:78.47, Y:-8.61, Z:-3.30 [[ 9.83211210e-01 1.82099311e-01 1.16429591e-02 7.84669417e+01] [-1.82087798e-01 9.83280138e-01 -2.05028514e-03 -8.60965006e+00] [-1.18216459e-02 -1.04177448e-04 9.99930116e-01 -3.30102955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87264 meters 0.022805057218055248 Centerline is valid? [True, True] Translation: X:78.50, Y:-8.62, Z:-3.30 [[ 9.83488682e-01 1.80564201e-01 1.21070831e-02 7.84991442e+01] [-1.80551611e-01 9.83563197e-01 -2.13406539e-03 -8.61504200e+00] [-1.22934171e-02 -8.71241909e-05 9.99924429e-01 -3.29689106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90264 meters 0.021360007092777602 Centerline is valid? [True, True] Translation: X:78.53, Y:-8.62, Z:-3.29 [[ 9.83555390e-01 1.80267083e-01 1.10712939e-02 7.85308310e+01] [-1.80256526e-01 9.83617697e-01 -1.95242014e-03 -8.61986503e+00] [-1.12418777e-02 -7.53596179e-05 9.99936805e-01 -3.29435295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.93264 meters 0.022061072288853973 Centerline is valid? [True, True] Translation: X:78.56, Y:-8.62, Z:-3.30 [[ 9.83555760e-01 1.80337711e-01 9.81714398e-03 7.85618100e+01] [-1.80329400e-01 9.83604751e-01 -1.73258625e-03 -8.62229910e+00] [-9.96864010e-03 -6.62244966e-05 9.99950310e-01 -3.29704134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96264000000001 meters 0.022818321865539084 Centerline is valid? [True, True] Translation: X:78.59, Y:-8.62, Z:-3.30 [[ 9.83454200e-01 1.80861071e-01 1.03493824e-02 7.85937978e+01] [-1.80851841e-01 9.83508651e-01 -1.82865844e-03 -8.61863081e+00] [-1.05094402e-02 -7.33030342e-05 9.99944772e-01 -3.29921587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.99264000000001 meters 0.0227395172012843 Centerline is valid? [True, True] Translation: X:78.63, Y:-8.62, Z:-3.30 [[ 9.83372339e-01 1.81266451e-01 1.10143924e-02 7.86266837e+01] [-1.81255999e-01 9.83434018e-01 -1.94821930e-03 -8.61956998e+00] [-1.11850749e-02 -8.05997290e-05 9.99937442e-01 -3.30047504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02264000000001 meters 0.030273884334348643 Centerline is valid? [True, True] Translation: X:78.66, Y:-8.62, Z:-3.30 [[ 9.83531558e-01 1.80447956e-01 1.02082999e-02 7.86585691e+01] [-1.80438922e-01 9.83584532e-01 -1.80678725e-03 -8.62307285e+00] [-1.03667569e-02 -6.49423494e-05 9.99946262e-01 -3.30225728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.05264000000001 meters 0.02286792443988256 Centerline is valid? [True, True] Translation: X:78.69, Y:-8.63, Z:-3.31 [[ 9.83607671e-01 1.80015321e-01 1.05087387e-02 7.86891715e+01] [-1.80005676e-01 9.83663805e-01 -1.86441951e-03 -8.62665097e+00] [-1.06726899e-02 -5.77752690e-05 9.99943044e-01 -3.30515087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08264000000001 meters 0.030536734968598503 Centerline is valid? [True, True] Translation: X:78.72, Y:-8.63, Z:-3.31 [[ 9.84189519e-01 1.76790725e-01 1.07717519e-02 7.87216409e+01] [-1.76780383e-01 9.84248464e-01 -1.91234592e-03 -8.63063026e+00] [-1.09401653e-02 -2.21236161e-05 9.99940154e-01 -3.30565089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.11264 meters 0.020706538590824445 Centerline is valid? [True, True] Translation: X:78.75, Y:-8.63, Z:-3.30 [[ 9.84377753e-01 1.75759287e-01 1.04456867e-02 7.87541212e+01] [-1.75749523e-01 9.84433173e-01 -1.85267618e-03 -8.63487168e+00] [-1.06087056e-02 -1.20912378e-05 9.99943726e-01 -3.30215563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.14264 meters 0.020934479586894213 Centerline is valid? [True, True] Translation: X:78.79, Y:-8.64, Z:-3.30 [[ 9.84643391e-01 1.74224532e-01 1.10997695e-02 7.87850028e+01] [-1.74213353e-01 9.84705952e-01 -1.97362170e-03 -8.63889107e+00] [-1.12738624e-02 9.58549898e-06 9.99936448e-01 -3.30406484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.17264 meters 0.03146793024427514 Centerline is valid? [True, True] Translation: X:78.82, Y:-8.64, Z:-3.31 [[ 9.85330174e-01 1.70279083e-01 1.13790047e-02 7.88176100e+01] [-1.70267092e-01 9.85395875e-01 -2.02146589e-03 -8.64409921e+00] [-1.15570377e-02 5.43412914e-05 9.99933214e-01 -3.30578531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.20264 meters 0.02317395481655723 Centerline is valid? [True, True] Translation: X:78.85, Y:-8.65, Z:-3.31 [[ 9.85538290e-01 1.69010593e-01 1.22351154e-02 7.88484463e+01] [-1.68996578e-01 9.85614231e-01 -2.17788187e-03 -8.64990465e+00] [-1.24271890e-02 7.86933286e-05 9.99922776e-01 -3.30867707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.23264 meters 0.033121933246958 Centerline is valid? [True, True] Translation: X:78.88, Y:-8.66, Z:-3.31 [[ 9.85879731e-01 1.67030604e-01 1.19135970e-02 7.88792685e+01] [-1.67017148e-01 9.85951706e-01 -2.12262880e-03 -8.65507448e+00] [-1.21007753e-02 1.02881715e-04 9.99926778e-01 -3.31337194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26264 meters 0.024127326829202215 Centerline is valid? [True, True] Translation: X:78.91, Y:-8.66, Z:-3.31 [[ 9.86025035e-01 1.66154537e-01 1.21367426e-02 7.89122371e+01] [-1.66140495e-01 9.86099719e-01 -2.16320566e-03 -8.65832724e+00] [-1.23274649e-02 1.16570507e-04 9.99924007e-01 -3.30947420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.29264 meters 0.02471329975293379 Centerline is valid? [True, True] Translation: X:78.94, Y:-8.66, Z:-3.31 [[ 9.86442281e-01 1.63660088e-01 1.21244438e-02 7.89441736e+01] [-1.63645848e-01 9.86516778e-01 -2.16408143e-03 -8.66082023e+00] [-1.23151410e-02 1.50626525e-04 9.99924154e-01 -3.30813570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32264 meters 0.025736349709657064 Centerline is valid? [True, True] Translation: X:78.98, Y:-8.67, Z:-3.31 [[ 9.86579706e-01 1.62843386e-01 1.19379739e-02 7.89751899e+01] [-1.62829491e-01 9.86651917e-01 -2.13326885e-03 -8.66524285e+00] [-1.21260135e-02 1.60785535e-04 9.99926464e-01 -3.31077067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.35264000000001 meters 0.028061490837569245 Centerline is valid? [True, True] Translation: X:79.01, Y:-8.67, Z:-3.31 [[ 9.86973501e-01 1.60441203e-01 1.19133933e-02 7.90055608e+01] [-1.60427166e-01 9.87045381e-01 -2.13095681e-03 -8.67054795e+00] [-1.21009531e-02 1.91965974e-04 9.99926762e-01 -3.31366987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38264000000001 meters 0.028484821805640322 Centerline is valid? [True, True] Translation: X:79.04, Y:-8.68, Z:-3.31 [[ 9.87102819e-01 1.59628550e-01 1.21140533e-02 7.90370215e+01] [-1.59613952e-01 9.87177129e-01 -2.16867240e-03 -8.67551980e+00] [-1.23048984e-02 2.07130721e-04 9.99924270e-01 -3.31379636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.41264000000001 meters 0.03690657507261481 Centerline is valid? [True, True] Translation: X:79.07, Y:-8.68, Z:-3.32 [[ 9.87231193e-01 1.58793779e-01 1.26137676e-02 7.90691705e+01] [-1.58777860e-01 9.87311746e-01 -2.25995073e-03 -8.68049644e+00] [-1.28125870e-02 2.28306831e-04 9.99917889e-01 -3.31523768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44264000000001 meters 0.02956511502024281 Centerline is valid? [True, True] Translation: X:79.10, Y:-8.68, Z:-3.32 [[ 9.87248903e-01 1.58673930e-01 1.27352519e-02 7.91023617e+01] [-1.58657658e-01 9.87331013e-01 -2.28439480e-03 -8.68428974e+00] [-1.29363831e-02 2.34721008e-04 9.99916294e-01 -3.31546843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.47264000000001 meters 0.030252522338383152 Centerline is valid? [True, True] Translation: X:79.13, Y:-8.69, Z:-3.32 [[ 9.87216841e-01 1.58862413e-01 1.28701926e-02 7.91339826e+01] [-1.58845771e-01 9.87300703e-01 -2.31166237e-03 -8.68906635e+00] [-1.30739865e-02 2.37736361e-04 9.99914504e-01 -3.31757193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.50264 meters 0.0280568281918516 Centerline is valid? [True, True] Translation: X:79.17, Y:-8.69, Z:-3.32 [[ 9.87086109e-01 1.59636991e-01 1.33057710e-02 7.91666619e+01] [-1.59619233e-01 9.87175757e-01 -2.39295318e-03 -8.69075728e+00] [-1.35171384e-02 2.38193890e-04 9.99908611e-01 -3.31542169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.53264 meters 0.027566462811088363 Centerline is valid? [True, True] Translation: X:79.20, Y:-8.69, Z:-3.32 [[ 9.86600515e-01 1.62555148e-01 1.39730994e-02 7.91971124e+01] [-1.62535749e-01 9.86699436e-01 -2.52049193e-03 -8.69092466e+00] [-1.41969682e-02 2.15590460e-04 9.99899195e-01 -3.31874118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56264 meters 0.03367630994360047 Centerline is valid? [True, True] Translation: X:79.23, Y:-8.69, Z:-3.32 [[ 9.86308327e-01 1.64364118e-01 1.34283518e-02 7.92296373e+01] [-1.64346433e-01 9.86399719e-01 -2.41764146e-03 -8.68989547e+00] [-1.36430960e-02 1.77638182e-04 9.99906913e-01 -3.31769298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.59264 meters 0.03792231218104501 Centerline is valid? [True, True] Translation: X:79.26, Y:-8.69, Z:-3.32 [[ 9.85887071e-01 1.66812694e-01 1.41495323e-02 7.92627465e+01] [-1.66793222e-01 9.85988590e-01 -2.55362207e-03 -8.69006830e+00] [-1.43772540e-02 1.57536908e-04 9.99896630e-01 -3.31874675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62264 meters 0.022170854344419965 Centerline is valid? [True, True] Translation: X:79.29, Y:-8.69, Z:-3.32 [[ 9.85290966e-01 1.70193428e-01 1.53593447e-02 7.92941798e+01] [-1.70170859e-01 9.85410667e-01 -2.77418390e-03 -8.68974798e+00] [-1.56074099e-02 1.19665462e-04 9.99878190e-01 -3.32012237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.65264 meters 0.019663116535221518 Centerline is valid? [True, True] Translation: X:79.33, Y:-8.68, Z:-3.32 [[ 9.84272980e-01 1.76015296e-01 1.50105228e-02 7.93280188e+01] [-1.75994474e-01 9.84387431e-01 -2.70737526e-03 -8.68199873e+00] [-1.52527094e-02 2.30272516e-05 9.99883670e-01 -3.31883784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68264 meters 0.020290883347715928 Centerline is valid? [True, True] Translation: X:79.36, Y:-8.68, Z:-3.32 [[ 9.83804135e-01 1.78629725e-01 1.48608476e-02 7.93594773e+01] [-1.78609542e-01 9.83916369e-01 -2.68514756e-03 -8.68275165e+00] [-1.51014784e-02 -1.26299141e-05 9.99885966e-01 -3.32312529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71264000000001 meters 0.019917462921383147 Centerline is valid? [True, True] Translation: X:79.39, Y:-8.68, Z:-3.32 [[ 9.83209700e-01 1.81935915e-01 1.40715577e-02 7.93912413e+01] [-1.81918112e-01 9.83310388e-01 -2.54579289e-03 -8.68177082e+00] [-1.42998800e-02 -5.68229437e-05 9.99897750e-01 -3.32187040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74264000000001 meters 0.027922138478462744 Centerline is valid? [True, True] Translation: X:79.42, Y:-8.68, Z:-3.33 [[ 9.83033641e-01 1.82858364e-01 1.44111016e-02 7.94215703e+01] [-1.82839801e-01 9.83139264e-01 -2.60648689e-03 -8.68328938e+00] [-1.46447377e-02 -7.26586447e-05 9.99892757e-01 -3.32590075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.77264000000001 meters 0.02039739599585098 Centerline is valid? [True, True] Translation: X:79.45, Y:-8.69, Z:-3.32 [[ 9.82812909e-01 1.83934177e-01 1.57163902e-02 7.94518478e+01] [-1.83912182e-01 9.82938559e-01 -2.84598774e-03 -8.68543708e+00] [-1.59717203e-02 -9.33621089e-05 9.99872440e-01 -3.32429378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80264000000001 meters 0.021537190784248633 Centerline is valid? [True, True] Translation: X:79.48, Y:-8.68, Z:-3.33 [[ 9.82797645e-01 1.83952417e-01 1.64407182e-02 7.94822256e+01] [-1.83928360e-01 9.82935145e-01 -2.97659593e-03 -8.68491504e+00] [-1.67077117e-02 -9.85228536e-05 9.99860412e-01 -3.32901756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.83264000000001 meters 0.032068354875327 Centerline is valid? [True, True] Translation: X:79.51, Y:-8.69, Z:-3.33 [[ 9.82947399e-01 1.83266777e-01 1.50897391e-02 7.95119154e+01] [-1.83246430e-01 9.83063214e-01 -2.73200084e-03 -8.69016254e+00] [-1.53348524e-02 -7.97276899e-05 9.99882411e-01 -3.32898896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.86264 meters 0.032068354875327 Centerline is valid? [True, True] Translation: X:79.54, Y:-8.70, Z:-3.33 [[ 9.82947399e-01 1.83266777e-01 1.50897391e-02 7.95414201e+01] [-1.83246430e-01 9.83063214e-01 -2.73200084e-03 -8.69550437e+00] [-1.53348524e-02 -7.97276900e-05 9.99882411e-01 -3.33026708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.89264 meters 0.020404537148895584 Centerline is valid? [True, True] Translation: X:79.57, Y:-8.70, Z:-3.33 [[ 9.83048157e-01 1.82704021e-01 1.53480393e-02 7.95717385e+01] [-1.82682908e-01 9.83167959e-01 -2.77843043e-03 -8.70179711e+00] [-1.55973309e-02 -7.24935395e-05 9.99878352e-01 -3.33135285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.92264 meters 0.019900037265400832 Centerline is valid? [True, True] Translation: X:79.60, Y:-8.71, Z:-3.33 [[ 9.83175397e-01 1.82031029e-01 1.51934998e-02 7.96024832e+01] [-1.82010250e-01 9.83292785e-01 -2.75097892e-03 -8.70540493e+00] [-1.54404222e-02 -6.06779080e-05 9.99880788e-01 -3.33193516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.95264 meters 0.01988146643459086 Centerline is valid? [True, True] Translation: X:79.63, Y:-8.71, Z:-3.33 [[ 9.83165783e-01 1.82066957e-01 1.53839832e-02 7.96331788e+01] [-1.82045659e-01 9.83286133e-01 -2.78546839e-03 -8.70879429e+00] [-1.56339991e-02 -6.20101456e-05 9.99877780e-01 -3.33326252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98264 meters 0.02062738090694127 Centerline is valid? [True, True] Translation: X:79.66, Y:-8.71, Z:-3.34 [[ 9.83155474e-01 1.82102331e-01 1.56222379e-02 7.96620590e+01] [-1.82080379e-01 9.83279582e-01 -2.82823557e-03 -8.71170160e+00] [-1.58760558e-02 -6.39076958e-05 9.99873965e-01 -3.33664572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.01264 meters 0.018789516015648034 Centerline is valid? [True, True] Translation: X:79.69, Y:-8.72, Z:-3.33 [[ 9.83194485e-01 1.81865216e-01 1.59263141e-02 7.96925461e+01] [-1.81842359e-01 9.83323466e-01 -2.88388986e-03 -8.71684495e+00] [-1.61851976e-02 -6.06539119e-05 9.99869009e-01 -3.33166475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04264 meters 0.01898695240566622 Centerline is valid? [True, True] Translation: X:79.72, Y:-8.72, Z:-3.33 [[ 9.83224743e-01 1.81487192e-01 1.82072641e-02 7.97220868e+01] [-1.81457249e-01 9.83393306e-01 -3.29723102e-03 -8.71992213e+00] [-1.85033068e-02 -6.19209303e-05 9.99828797e-01 -3.33341415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07264 meters 0.020029263040563787 Centerline is valid? [True, True] Translation: X:79.75, Y:-8.72, Z:-3.34 [[ 9.83231058e-01 1.81435431e-01 1.83812676e-02 7.97513710e+01] [-1.81404908e-01 9.83402858e-01 -3.32847645e-03 -8.72326564e+00] [-1.86800947e-02 -6.17907490e-05 9.99825510e-01 -3.33790879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10264000000001 meters 0.018552857032864623 Centerline is valid? [True, True] Translation: X:79.78, Y:-8.73, Z:-3.33 [[ 9.83273106e-01 1.81252861e-01 1.79276313e-02 7.97817898e+01] [-1.81223806e-01 9.83436524e-01 -3.24582097e-03 -8.72817694e+00] [-1.82190017e-02 -5.73850996e-05 9.99834019e-01 -3.33458912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.13264000000001 meters 0.01920354030859915 Centerline is valid? [True, True] Translation: X:79.81, Y:-8.73, Z:-3.34 [[ 9.83309478e-01 1.81037115e-01 1.81117048e-02 7.98111705e+01] [-1.81007417e-01 9.83476263e-01 -3.27945347e-03 -8.73241955e+00] [-1.84061345e-02 -5.36352138e-05 9.99830591e-01 -3.33890505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16264000000001 meters 0.0184830146541776 Centerline is valid? [True, True] Translation: X:79.84, Y:-8.74, Z:-3.34 [[ 9.83512696e-01 1.79790725e-01 1.94440880e-02 7.98400661e+01] [-1.79756254e-01 9.83704882e-01 -3.52068122e-03 -8.73788261e+00] [-1.97602301e-02 -3.25617304e-05 9.99804747e-01 -3.33885042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.19264000000001 meters 0.018016712546209936 Centerline is valid? [True, True] Translation: X:79.87, Y:-8.74, Z:-3.34 [[ 9.83613014e-01 1.79259032e-01 1.92778936e-02 7.98694946e+01] [-1.79225065e-01 9.83801910e-01 -3.48956437e-03 -8.74449757e+00] [-1.95911645e-02 -2.27008114e-05 9.99808074e-01 -3.33935789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22264000000001 meters 0.019104083706756078 Centerline is valid? [True, True] Translation: X:79.90, Y:-8.75, Z:-3.34 [[ 9.83806352e-01 1.78270740e-01 1.85635200e-02 7.98978426e+01] [-1.78239063e-01 9.83981475e-01 -3.36054828e-03 -8.75100668e+00] [-1.88652472e-02 -2.61566039e-06 9.99822035e-01 -3.34480735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.25264 meters 0.0296140528450693 Centerline is valid? [True, True] Translation: X:79.93, Y:-8.76, Z:-3.34 [[ 9.83884707e-01 1.77881916e-01 1.81358275e-02 7.99283613e+01] [-1.77851625e-01 9.84051840e-01 -3.28260507e-03 -8.75590621e+00] [-1.84305105e-02 4.21852817e-06 9.99830144e-01 -3.34340354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.28264 meters 0.0231135984510448 Centerline is valid? [True, True] Translation: X:79.96, Y:-8.76, Z:-3.34 [[ 9.83817574e-01 1.78166656e-01 1.89637660e-02 7.99587384e+01] [-1.78133589e-01 9.84000327e-01 -3.43246287e-03 -8.76105676e+00] [-1.92719024e-02 -1.16642059e-06 9.99814280e-01 -3.34369389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.31264 meters 0.01753171805599369 Centerline is valid? [True, True] Translation: X:79.99, Y:-8.76, Z:-3.34 [[ 9.83444111e-01 1.80125213e-01 1.98138389e-02 7.99895084e+01] [-1.80089512e-01 9.83643689e-01 -3.58632700e-03 -8.76458147e+00] [-2.01357455e-02 -4.13124043e-05 9.99797254e-01 -3.34256612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34264 meters 0.01820770897255212 Centerline is valid? [True, True] Translation: X:80.02, Y:-8.77, Z:-3.34 [[ 9.83181461e-01 1.81489630e-01 2.03894464e-02 8.00185540e+01] [-1.81452112e-01 9.83392856e-01 -3.69078763e-03 -8.76696255e+00] [-2.07206756e-02 -7.09941374e-05 9.99785301e-01 -3.34484101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37264 meters 0.01763631189338357 Centerline is valid? [True, True] Translation: X:80.05, Y:-8.77, Z:-3.34 [[ 9.82855213e-01 1.83120047e-01 2.15099561e-02 8.00482039e+01] [-1.83078683e-01 9.83090553e-01 -3.89357374e-03 -8.76872634e+00] [-2.18592261e-02 -1.11195182e-04 9.99761052e-01 -3.34188348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40264 meters 0.029137585040520667 Centerline is valid? [True, True] Translation: X:80.08, Y:-8.76, Z:-3.35 [[ 9.81980027e-01 1.87682311e-01 2.21489844e-02 8.00786014e+01] [-1.87639623e-01 9.82229760e-01 -4.00873000e-03 -8.76151152e+00] [-2.25077594e-02 -2.19534303e-04 9.99746644e-01 -3.34516572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43264 meters 0.02219671833319254 Centerline is valid? [True, True] Translation: X:80.11, Y:-8.76, Z:-3.35 [[ 9.81491454e-01 1.90192258e-01 2.23926312e-02 8.01080298e+01] [-1.90149286e-01 9.81746824e-01 -4.05251926e-03 -8.76138943e+00] [-2.27546523e-02 -2.80429803e-04 9.99741040e-01 -3.34555278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46264000000001 meters 0.025020965976288174 Centerline is valid? [True, True] Translation: X:80.14, Y:-8.76, Z:-3.35 [[ 9.81039006e-01 1.92580316e-01 2.18011645e-02 8.01359866e+01] [-1.92540185e-01 9.81281160e-01 -3.94494862e-03 -8.75919658e+00] [-2.21527914e-02 -3.27451754e-04 9.99754543e-01 -3.34853183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.49264000000001 meters 0.028230244925966208 Centerline is valid? [True, True] Translation: X:80.17, Y:-8.75, Z:-3.35 [[ 9.80198825e-01 1.96804221e-01 2.18715083e-02 8.01667998e+01] [-1.96764933e-01 9.80442715e-01 -3.95532745e-03 -8.75271786e+00] [-2.22221862e-02 -4.26538551e-04 9.99752966e-01 -3.34877313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52264000000001 meters 0.029835277592228333 Centerline is valid? [True, True] Translation: X:80.20, Y:-8.75, Z:-3.35 [[ 9.79888227e-01 1.98320619e-01 2.20906064e-02 8.01958872e+01] [-1.98280938e-01 9.80137090e-01 -3.99436397e-03 -8.75152602e+00] [-2.24439874e-02 -4.66115927e-04 9.99747993e-01 -3.34981661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.55264000000001 meters 0.03207456938768259 Centerline is valid? [True, True] Translation: X:80.22, Y:-8.75, Z:-3.35 [[ 9.79675749e-01 1.99266084e-01 2.29881254e-02 8.02245444e+01] [-1.99223395e-01 9.79945289e-01 -4.15568295e-03 -8.74971449e+00] [-2.33551918e-02 -5.08550586e-04 9.99727101e-01 -3.35117980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58264000000001 meters 0.032353438102501075 Centerline is valid? [True, True] Translation: X:80.25, Y:-8.75, Z:-3.35 [[ 9.79569000e-01 1.99717282e-01 2.36131684e-02 8.02525235e+01] [-1.99672402e-01 9.79853418e-01 -4.26737473e-03 -8.75104666e+00] [-2.39897123e-02 -5.34710073e-04 9.99712062e-01 -3.35175329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.61264000000001 meters 0.029434142943832092 Centerline is valid? [True, True] Translation: X:80.28, Y:-8.75, Z:-3.35 [[ 9.79707131e-01 1.98995317e-01 2.39750270e-02 8.02809857e+01] [-1.98948887e-01 9.80000299e-01 -4.33064178e-03 -8.75480591e+00] [-2.43573111e-02 -5.27044305e-04 9.99703178e-01 -3.34952314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.64264 meters 0.027380469937191097 Centerline is valid? [True, True] Translation: X:80.31, Y:-8.76, Z:-3.35 [[ 9.79956766e-01 1.97669587e-01 2.47279577e-02 8.03093491e+01] [-1.97619804e-01 9.80268572e-01 -4.46538030e-03 -8.75978949e+00] [-2.51227096e-02 -5.10854504e-04 9.99684244e-01 -3.34893077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.67264 meters 0.031138156546991005 Centerline is valid? [True, True] Translation: X:80.34, Y:-8.76, Z:-3.35 [[ 9.80294263e-01 1.95983383e-01 2.47723922e-02 8.03368668e+01] [-1.95932908e-01 9.80607104e-01 -4.47237330e-03 -8.76091305e+00] [-2.51684947e-02 -4.69484970e-04 9.99683113e-01 -3.35246900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.70264 meters 0.024292037586442914 Centerline is valid? [True, True] Translation: X:80.37, Y:-8.77, Z:-3.35 [[ 9.80906308e-01 1.92843511e-01 2.51832385e-02 8.03653485e+01] [-1.92790360e-01 9.81229444e-01 -4.54470201e-03 -8.76635674e+00] [-2.55869514e-02 -3.97158755e-04 9.99672521e-01 -3.35243507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.73264 meters 0.022418425673869532 Centerline is valid? [True, True] Translation: X:80.39, Y:-8.77, Z:-3.35 [[ 9.81265657e-01 1.91009116e-01 2.51640176e-02 8.03933617e+01] [-1.90955475e-01 9.81588200e-01 -4.54002384e-03 -8.77283707e+00] [-2.55678887e-02 -3.50237447e-04 9.99673027e-01 -3.35337507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76264 meters 0.02016358883098112 Centerline is valid? [True, True] Translation: X:80.42, Y:-8.78, Z:-3.35 [[ 9.81592280e-01 1.89237699e-01 2.58009402e-02 8.04215408e+01] [-1.89180729e-01 9.81931258e-01 -4.65364096e-03 -8.77952450e+00] [-2.62153940e-02 -3.13062637e-04 9.99656268e-01 -3.35251276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.79264 meters 0.018046160455662076 Centerline is valid? [True, True] Translation: X:80.45, Y:-8.78, Z:-3.35 [[ 9.82163608e-01 1.86248506e-01 2.58097156e-02 8.04499458e+01] [-1.86190499e-01 9.82502641e-01 -4.65392520e-03 -8.78482341e+00] [-2.62249004e-02 -2.34607862e-04 9.99656041e-01 -3.35345324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82264 meters 0.018091745730554616 Centerline is valid? [True, True] Translation: X:80.48, Y:-8.79, Z:-3.36 [[ 9.82438460e-01 1.84800393e-01 2.57582429e-02 8.04774897e+01] [-1.84742147e-01 9.82776056e-01 -4.64358773e-03 -8.78883049e+00] [-2.61727212e-02 -1.96593913e-04 9.99657416e-01 -3.35683299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85264000000001 meters 0.01660548756433787 Centerline is valid? [True, True] Translation: X:80.51, Y:-8.79, Z:-3.36 [[ 9.82693915e-01 1.83348932e-01 2.63787692e-02 8.05059984e+01] [-1.83287379e-01 9.83047884e-01 -4.75334488e-03 -8.79479549e+00] [-2.68031139e-02 -1.63812377e-04 9.99640719e-01 -3.35536652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88264000000001 meters 0.01645603142255697 Centerline is valid? [True, True] Translation: X:80.53, Y:-8.80, Z:-3.36 [[ 9.82829282e-01 1.82552338e-01 2.68560138e-02 8.05334502e+01] [-1.82488273e-01 9.83196126e-01 -4.83813143e-03 -8.79842602e+00] [-2.72879409e-02 -1.45850330e-04 9.99627604e-01 -3.35634472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.91264000000001 meters 0.015653904814202754 Centerline is valid? [True, True] Translation: X:80.56, Y:-8.80, Z:-3.36 [[ 9.83072517e-01 1.81313338e-01 2.63419574e-02 8.05615627e+01] [-1.81251306e-01 9.83425371e-01 -4.74372847e-03 -8.80264791e+00] [-2.67654505e-02 -1.11085092e-04 9.99641735e-01 -3.35632024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94264000000001 meters 0.016601117074779133 Centerline is valid? [True, True] Translation: X:80.59, Y:-8.81, Z:-3.36 [[ 9.83130860e-01 1.81115947e-01 2.55093241e-02 8.05894718e+01] [-1.81057732e-01 9.83461745e-01 -4.59286246e-03 -8.80576885e+00] [-2.59192850e-02 -1.03275553e-04 9.99664034e-01 -3.36105929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.97264000000001 meters 0.015755300113574885 Centerline is valid? [True, True] Translation: X:80.62, Y:-8.81, Z:-3.36 [[ 9.83161066e-01 1.80925120e-01 2.56986263e-02 8.06181440e+01] [-1.80866029e-01 9.83496869e-01 -4.62479235e-03 -8.81026066e+00] [-2.61112596e-02 -1.01092720e-04 9.99659038e-01 -3.35969456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.00264 meters 0.01576168252378752 Centerline is valid? [True, True] Translation: X:80.65, Y:-8.81, Z:-3.36 [[ 9.83204705e-01 1.80670317e-01 2.58214199e-02 8.06459487e+01] [-1.80610602e-01 9.83543709e-01 -4.64576406e-03 -8.81401788e+00] [-2.62358468e-02 -9.58851079e-05 9.99655776e-01 -3.36156835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.03264 meters 0.015791192370403957 Centerline is valid? [True, True] Translation: X:80.67, Y:-8.82, Z:-3.36 [[ 9.83258391e-01 1.80385936e-01 2.57652956e-02 8.06743378e+01] [-1.80326431e-01 9.83595906e-01 -4.63383197e-03 -8.81826597e+00] [-2.61785174e-02 -8.99096276e-05 9.99657280e-01 -3.36337599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06264 meters 0.015261492477075759 Centerline is valid? [True, True] Translation: X:80.70, Y:-8.82, Z:-3.36 [[ 9.83592204e-01 1.78485528e-01 2.62543700e-02 8.07021508e+01] [-1.78423096e-01 9.83942536e-01 -4.72062007e-03 -8.82217701e+00] [-2.66753538e-02 -4.12208790e-05 9.99644149e-01 -3.36345261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.09264 meters 0.015403098778741423 Centerline is valid? [True, True] Translation: X:80.73, Y:-8.83, Z:-3.37 [[ 9.83860260e-01 1.77007369e-01 2.62179162e-02 8.07296852e+01] [-1.76944629e-01 9.84209526e-01 -4.71242454e-03 -8.82757787e+00] [-2.66380568e-02 -2.75223192e-06 9.99645144e-01 -3.36535070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12264 meters 0.015264088331522277 Centerline is valid? [True, True] Translation: X:80.76, Y:-8.84, Z:-3.37 [[ 9.84232672e-01 1.74943528e-01 2.60923439e-02 8.07576640e+01] [-1.74880710e-01 9.84578468e-01 -4.68805335e-03 -8.83510958e+00] [-2.65101046e-02 5.10876551e-05 9.99648544e-01 -3.36600898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.15264 meters 0.015836475873114018 Centerline is valid? [True, True] Translation: X:80.78, Y:-8.84, Z:-3.37 [[ 9.84627919e-01 1.72741069e-01 2.58531461e-02 8.07849684e+01] [-1.72678672e-01 9.84967264e-01 -4.64379862e-03 -8.84373139e+00] [-2.62666773e-02 1.08126843e-04 9.99654965e-01 -3.36733730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18264 meters 0.017052739010661074 Centerline is valid? [True, True] Translation: X:80.81, Y:-8.85, Z:-3.37 [[ 9.85018664e-01 1.70523974e-01 2.56867049e-02 8.08123966e+01] [-1.70461662e-01 9.85353514e-01 -4.61242849e-03 -8.85296019e+00] [-2.60970146e-02 1.64729739e-04 9.99659401e-01 -3.36982387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.21264000000001 meters 0.019020376876515244 Centerline is valid? [True, True] Translation: X:80.84, Y:-8.86, Z:-3.37 [[ 9.85711158e-01 1.66479677e-01 2.56521007e-02 8.08404773e+01] [-1.66416193e-01 9.86044849e-01 -4.60506722e-03 -8.86473766e+00] [-2.60607719e-02 2.70341204e-04 9.99660324e-01 -3.37017901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24264000000001 meters 0.020268260364418596 Centerline is valid? [True, True] Translation: X:80.87, Y:-8.87, Z:-3.37 [[ 9.86041569e-01 1.64510101e-01 2.56603113e-02 8.08702170e+01] [-1.64445937e-01 9.86375346e-01 -4.60549841e-03 -8.87360748e+00] [-2.60683495e-02 3.21478938e-04 9.99660111e-01 -3.37081712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.27264000000001 meters 0.02109749830123342 Centerline is valid? [True, True] Translation: X:80.90, Y:-8.88, Z:-3.37 [[ 9.86252595e-01 1.63211177e-01 2.58443350e-02 8.08992327e+01] [-1.63145643e-01 9.86591092e-01 -4.63852687e-03 -8.88223968e+00] [-2.62548501e-02 3.58368527e-04 9.99655218e-01 -3.37213533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30264000000001 meters 0.0261286617819568 Centerline is valid? [True, True] Translation: X:80.93, Y:-8.89, Z:-3.37 [[ 9.86407248e-01 1.62267351e-01 2.58852801e-02 8.09281827e+01] [-1.62201290e-01 9.86746755e-01 -4.64567579e-03 -8.89235422e+00] [-2.62960577e-02 3.83902447e-04 9.99654125e-01 -3.37415186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.33264000000001 meters 0.021909962439090547 Centerline is valid? [True, True] Translation: X:80.96, Y:-8.90, Z:-3.37 [[ 9.86383159e-01 1.62338516e-01 2.63527953e-02 8.09584206e+01] [-1.62270067e-01 9.86735048e-01 -4.72972673e-03 -8.90046095e+00] [-2.67710435e-02 3.89052936e-04 9.99641516e-01 -3.37433624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36264000000001 meters 0.023831042349064798 Centerline is valid? [True, True] Translation: X:80.99, Y:-8.91, Z:-3.38 [[ 9.86205514e-01 1.63489960e-01 2.58789077e-02 8.09895026e+01] [-1.63424332e-01 9.86544935e-01 -4.64529466e-03 -8.90548144e+00] [-2.62901644e-02 3.51972009e-04 9.99654292e-01 -3.37641238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.39264 meters 0.02033943557200161 Centerline is valid? [True, True] Translation: X:81.02, Y:-8.91, Z:-3.38 [[ 9.85925177e-01 1.65049189e-01 2.66516423e-02 8.10191566e+01] [-1.64980127e-01 9.86285285e-01 -4.78489731e-03 -8.91101484e+00] [-2.70758660e-02 3.20559417e-04 9.99633330e-01 -3.37654222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.42264 meters 0.02011829107582708 Centerline is valid? [True, True] Translation: X:81.05, Y:-8.91, Z:-3.38 [[ 9.85559316e-01 1.67165766e-01 2.69896565e-02 8.10495379e+01] [-1.67095719e-01 9.85928768e-01 -4.84611398e-03 -8.91373359e+00] [-2.74199831e-02 2.66276727e-04 9.99623966e-01 -3.37659437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.45264 meters 0.01600440264041317 Centerline is valid? [True, True] Translation: X:81.08, Y:-8.92, Z:-3.38 [[ 9.84680773e-01 1.72109005e-01 2.79690122e-02 8.10785999e+01] [-1.72035763e-01 9.85077902e-01 -5.02230725e-03 -8.91757381e+00] [-2.84160402e-02 1.33699018e-04 9.99596174e-01 -3.37644714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48264 meters 0.014814633581680527 Centerline is valid? [True, True] Translation: X:81.11, Y:-8.92, Z:-3.38 [[ 9.84256337e-01 1.74562805e-01 2.76999974e-02 8.11079445e+01] [-1.74491956e-01 9.84646040e-01 -4.97333199e-03 -8.91983684e+00] [-2.81428515e-02 6.16068036e-05 9.99603910e-01 -3.37568283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.51264 meters 0.029191770741721523 Centerline is valid? [True, True] Translation: X:81.14, Y:-8.92, Z:-3.38 [[ 9.83412793e-01 1.79376085e-01 2.68979412e-02 8.11365304e+01] [-1.79311091e-01 9.83780572e-01 -4.82886583e-03 -8.92114767e+00] [-2.73278551e-02 -7.43307678e-05 9.99626522e-01 -3.38038671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54264 meters 0.01607128102817704 Centerline is valid? [True, True] Translation: X:81.16, Y:-8.93, Z:-3.38 [[ 9.83101068e-01 1.80940661e-01 2.77986855e-02 8.11644793e+01] [-1.80871897e-01 9.83494007e-01 -4.98946597e-03 -8.92715848e+00] [-2.82426379e-02 -1.22851665e-04 9.99601090e-01 -3.38106053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57264 meters 0.01690311903438831 Centerline is valid? [True, True] Translation: X:81.19, Y:-8.93, Z:-3.38 [[ 9.82850060e-01 1.82352968e-01 2.74436450e-02 8.11913249e+01] [-1.82286514e-01 9.83233120e-01 -4.92523273e-03 -8.93225049e+00] [-2.78816316e-02 -1.61841110e-04 9.99611219e-01 -3.38258165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60264000000001 meters 0.017690342183786015 Centerline is valid? [True, True] Translation: X:81.22, Y:-8.94, Z:-3.39 [[ 9.82666979e-01 1.83424350e-01 2.68535988e-02 8.12200867e+01] [-1.83361184e-01 9.83033810e-01 -4.81710799e-03 -8.93627770e+00] [-2.72815705e-02 -1.90294726e-04 9.99627771e-01 -3.38506350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.63264000000001 meters 0.01935552426488902 Centerline is valid? [True, True] Translation: X:81.25, Y:-8.94, Z:-3.39 [[ 9.82262121e-01 1.85570102e-01 2.69232923e-02 8.12476821e+01] [-1.85507444e-01 9.82630996e-01 -4.82849302e-03 -8.93966878e+00] [-2.73516855e-02 -2.51625344e-04 9.99625841e-01 -3.38701046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66264000000001 meters 0.01866720270907151 Centerline is valid? [True, True] Translation: X:81.28, Y:-8.95, Z:-3.39 [[ 9.82138348e-01 1.86245393e-01 2.67753327e-02 8.12758620e+01] [-1.86183719e-01 9.82503222e-01 -4.80023745e-03 -8.94814347e+00] [-2.72008727e-02 -2.70633746e-04 9.99629951e-01 -3.38566922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.69264000000001 meters 0.01999187437828839 Centerline is valid? [True, True] Translation: X:81.30, Y:-8.95, Z:-3.39 [[ 9.82050750e-01 1.86726346e-01 2.66382399e-02 8.13026570e+01] [-1.86665506e-01 9.82411925e-01 -4.77469732e-03 -8.95297632e+00] [-2.70612863e-02 -2.83445437e-04 9.99633736e-01 -3.38906124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72264000000001 meters 0.02012012364730735 Centerline is valid? [True, True] Translation: X:81.33, Y:-8.96, Z:-3.39 [[ 9.81981266e-01 1.87169182e-01 2.60861961e-02 8.13310522e+01] [-1.87111055e-01 9.82327650e-01 -4.67343275e-03 -8.95898263e+00] [-2.64999143e-02 -2.91792263e-04 9.99648773e-01 -3.39045782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.75264 meters 0.02012012364730735 Centerline is valid? [True, True] Translation: X:81.36, Y:-8.96, Z:-3.39 [[ 9.81990157e-01 1.87122501e-01 2.60864183e-02 8.13589333e+01] [-1.87064390e-01 9.82336543e-01 -4.67219184e-03 -8.96388404e+00] [-2.64999142e-02 -2.91793531e-04 9.99648773e-01 -3.39166453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.78264 meters 0.020387589326230166 Centerline is valid? [True, True] Translation: X:81.39, Y:-8.97, Z:-3.39 [[ 9.81988921e-01 1.87179596e-01 2.57207587e-02 8.13869167e+01] [-1.87123155e-01 9.82325666e-01 -4.60546556e-03 -8.97103962e+00] [-2.61282106e-02 -2.90433365e-04 9.99658558e-01 -3.39397813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.81264 meters 0.023558940397255427 Centerline is valid? [True, True] Translation: X:81.41, Y:-8.98, Z:-3.40 [[ 9.82100331e-01 1.86611554e-01 2.55942880e-02 8.14137879e+01] [-1.86555501e-01 9.82433739e-01 -4.58177530e-03 -8.97839395e+00] [-2.59997043e-02 -2.74992196e-04 9.99661913e-01 -3.39613958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84264 meters 0.018578583811373887 Centerline is valid? [True, True] Translation: X:81.44, Y:-8.99, Z:-3.39 [[ 9.82217934e-01 1.85805440e-01 2.69122468e-02 8.14419904e+01] [-1.85743225e-01 9.82586518e-01 -4.81540278e-03 -8.98881025e+00] [-2.73383390e-02 -2.68992558e-04 9.99626202e-01 -3.39271828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.87264 meters 0.01633991071179111 Centerline is valid? [True, True] Translation: X:81.47, Y:-9.00, Z:-3.39 [[ 9.82458807e-01 1.84150992e-01 2.93786469e-02 8.14709124e+01] [-1.83989578e-01 9.82894576e-01 -8.12937662e-03 -8.99942135e+00] [-3.03731455e-02 2.58141281e-03 9.99535296e-01 -3.39139244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90264 meters 0.01579457993767456 Centerline is valid? [True, True] Translation: X:81.50, Y:-9.01, Z:-3.39 [[ 9.82627477e-01 1.83082477e-01 3.03981675e-02 8.15004225e+01] [-1.83058979e-01 9.83095422e-01 -3.57793826e-03 -9.00977287e+00] [-3.05393571e-02 -2.04887706e-03 9.99531465e-01 -3.39293073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.93264 meters 0.02349309357780005 Centerline is valid? [True, True] Translation: X:81.53, Y:-9.01, Z:-3.40 [[ 9.82806173e-01 1.82892805e-01 2.53425952e-02 8.15320140e+01] [-1.82536977e-01 9.83073207e-01 -1.57264541e-02 -9.00962795e+00] [-2.77898816e-02 1.08300955e-02 9.99555117e-01 -3.39710917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96264000000001 meters 0.01598169447128518 Centerline is valid? [True, True] Translation: X:81.56, Y:-9.04, Z:-3.40 [[ 9.83270232e-01 1.79949391e-01 2.82465616e-02 8.15575460e+01] [-1.80217490e-01 9.83600212e-01 7.23039482e-03 -9.03628399e+00] [-2.64822189e-02 -1.21999564e-02 9.99574836e-01 -3.39739762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.99264000000001 meters 0.01501353245393751 Centerline is valid? [True, True] Translation: X:81.59, Y:-9.04, Z:-3.40 [[ 9.83223262e-01 1.79887378e-01 3.02084078e-02 8.15902893e+01] [-1.79846707e-01 9.83686186e-01 -4.08041283e-03 -9.03944654e+00] [-3.04496082e-02 -1.42092585e-03 9.99535293e-01 -3.39822366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02264000000001 meters 0.015837634942147252 Centerline is valid? [True, True] Translation: X:81.62, Y:-9.05, Z:-3.40 [[ 9.83422134e-01 1.79392365e-01 2.64440034e-02 8.16194308e+01] [-1.79292723e-01 9.83776788e-01 -6.11148726e-03 -9.04562029e+00] [-2.71113509e-02 1.26895446e-03 9.99631614e-01 -3.40113625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.05264000000001 meters 0.01984216191419995 Centerline is valid? [True, True] Translation: X:81.65, Y:-9.05, Z:-3.40 [[ 9.83510537e-01 1.78916494e-01 2.63801297e-02 8.16501564e+01] [-1.78853962e-01 9.83864261e-01 -4.73039069e-03 -9.05442012e+00] [-2.68008117e-02 -6.58016055e-05 9.99640792e-01 -3.40213430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08264000000001 meters 0.014359058691649872 Centerline is valid? [True, True] Translation: X:81.68, Y:-9.07, Z:-3.40 [[ 9.83379895e-01 1.78440823e-01 3.35090343e-02 8.16809321e+01] [-1.78509035e-01 9.83937795e-01 -9.69134118e-04 -9.06845824e+00] [-3.31437384e-02 -5.02863836e-03 9.99437945e-01 -3.39957433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.11264000000001 meters 0.020300503550290998 Centerline is valid? [True, True] Translation: X:81.71, Y:-9.07, Z:-3.40 [[ 9.83368541e-01 1.78860968e-01 3.15446872e-02 8.17148673e+01] [-1.78678336e-01 9.83870485e-01 -8.53939632e-03 -9.07157784e+00] [-3.25632513e-02 2.76102148e-03 9.99465863e-01 -3.40059264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.14264 meters 0.014770994120581532 Centerline is valid? [True, True] Translation: X:81.74, Y:-9.08, Z:-3.40 [[ 9.83619150e-01 1.78062804e-01 2.80536252e-02 8.17428821e+01] [-1.77911109e-01 9.84015381e-01 -7.83372757e-03 -9.07902094e+00] [-2.90000942e-02 2.71435287e-03 9.99575723e-01 -3.40117557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.17264 meters 0.018581057781123702 Centerline is valid? [True, True] Translation: X:81.77, Y:-9.09, Z:-3.40 [[ 9.83614553e-01 1.78278319e-01 2.68188634e-02 8.17740399e+01] [-1.78213064e-01 9.83980101e-01 -4.82328681e-03 -9.08832012e+00] [-2.72491154e-02 -3.52167204e-05 9.99628673e-01 -3.40473333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.20264 meters 0.014900394573194782 Centerline is valid? [True, True] Translation: X:81.81, Y:-9.10, Z:-3.41 [[ 9.83088308e-01 1.79802602e-01 3.47620813e-02 8.18050824e+01] [-1.79929682e-01 9.83679328e-01 5.36915527e-04 -9.10103126e+00] [-3.40982020e-02 -6.78256562e-03 9.99395472e-01 -3.40690615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23264 meters 0.015671978971896986 Centerline is valid? [True, True] Translation: X:81.84, Y:-9.10, Z:-3.41 [[ 9.83102141e-01 1.81220945e-01 2.58679427e-02 8.18354556e+01] [-1.80975523e-01 9.83419751e-01 -1.15522168e-02 -9.09839809e+00] [-2.75325494e-02 6.67554455e-03 9.99598617e-01 -3.40759364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26264 meters 0.015559438870623478 Centerline is valid? [True, True] Translation: X:81.87, Y:-9.11, Z:-3.41 [[ 9.82672359e-01 1.82057878e-01 3.47845238e-02 8.18661731e+01] [-1.82244224e-01 9.83250750e-01 2.23710963e-03 -9.11348406e+00] [-3.37946257e-02 -8.53762436e-03 9.99392331e-01 -3.40994603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.29264 meters 0.015420703224175826 Centerline is valid? [True, True] Translation: X:81.90, Y:-9.11, Z:-3.41 [[ 9.82379655e-01 1.83959346e-01 3.30026111e-02 8.18992417e+01] [-1.83830779e-01 9.82933585e-01 -6.91467259e-03 -9.11499821e+00] [-3.37113935e-02 7.25937986e-04 9.99431346e-01 -3.40971219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32264 meters 0.01711964386574633 Centerline is valid? [True, True] Translation: X:81.93, Y:-9.11, Z:-3.41 [[ 9.82219536e-01 1.85881843e-01 2.63196592e-02 8.19286728e+01] [-1.85601037e-01 9.82542344e-01 -1.27591793e-02 -9.11487168e+00] [-2.82318794e-02 7.64735917e-03 9.99572148e-01 -3.41121531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.35264000000001 meters 0.0182601454117686 Centerline is valid? [True, True] Translation: X:81.96, Y:-9.12, Z:-3.41 [[ 9.82033186e-01 1.86803914e-01 2.67417035e-02 8.19589631e+01] [-1.86741680e-01 9.82397188e-01 -4.82814494e-03 -9.12416018e+00] [-2.71728907e-02 -2.52392061e-04 9.99630717e-01 -3.41416446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38264000000001 meters 0.018715326156505525 Centerline is valid? [True, True] Translation: X:81.99, Y:-9.13, Z:-3.42 [[ 9.81767408e-01 1.88242714e-01 2.64090362e-02 8.19907041e+01] [-1.88182508e-01 9.82122496e-01 -4.76923590e-03 -9.12955075e+00] [-2.68346824e-02 -2.87438310e-04 9.99639844e-01 -3.41535850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.41264000000001 meters 0.02286917826414713 Centerline is valid? [True, True] Translation: X:82.02, Y:-9.13, Z:-3.42 [[ 9.81056593e-01 1.91930375e-01 2.62810367e-02 8.20210604e+01] [-1.91871876e-01 9.81408471e-01 -4.75349807e-03 -9.12969249e+00] [-2.67047727e-02 -3.79141191e-04 9.99643292e-01 -3.41955681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44264000000001 meters 0.02258913067079231 Centerline is valid? [True, True] Translation: X:82.05, Y:-9.15, Z:-3.42 [[ 9.80263283e-01 1.94335896e-01 3.62967701e-02 8.20499985e+01] [-1.94815302e-01 9.80787525e-01 1.01404366e-02 -9.14577542e+00] [-3.36287685e-02 -1.70114639e-02 9.99289606e-01 -3.41965052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.47264000000001 meters 0.027067781617113172 Centerline is valid? [True, True] Translation: X:82.08, Y:-9.13, Z:-3.42 [[ 9.80069603e-01 1.97432164e-01 2.20025752e-02 8.20846872e+01] [-1.96990557e-01 9.80186433e-01 -2.07189976e-02 -9.12504279e+00] [-2.56572223e-02 1.59717602e-02 9.99543201e-01 -3.42348563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.50264 meters 0.030027327926211253 Centerline is valid? [True, True] Translation: X:82.11, Y:-9.13, Z:-3.43 [[ 9.79538239e-01 1.99733044e-01 2.47295245e-02 8.21130276e+01] [-1.99683688e-01 9.79850194e-01 -4.47455637e-03 -9.13448146e+00] [-2.51249462e-02 -5.55083590e-04 9.99684165e-01 -3.42508713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.53264 meters 0.030590939990754327 Centerline is valid? [True, True] Translation: X:82.14, Y:-9.15, Z:-3.43 [[ 9.78653202e-01 2.02600822e-01 3.45082038e-02 8.21431941e+01] [-2.02973266e-01 9.79154641e-01 7.61852986e-03 -9.14557774e+00] [-3.22453475e-02 -1.44601415e-02 9.99375376e-01 -3.42648126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56264 meters 0.034768576924934486 Centerline is valid? [True, True] Translation: X:82.17, Y:-9.14, Z:-3.43 [[ 9.77355235e-01 2.09004945e-01 3.30708040e-02 8.21722391e+01] [-2.08936149e-01 9.77913472e-01 -5.56118871e-03 -9.13558724e+00] [-3.35027007e-02 -1.47442953e-03 9.99437539e-01 -3.42578991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.59264 meters 0.036602789532867955 Centerline is valid? [True, True] Translation: X:82.20, Y:-9.13, Z:-3.43 [[ 9.77511525e-01 2.09556309e-01 2.36087219e-02 8.22042661e+01] [-2.09131082e-01 9.77697914e-01 -1.92608183e-02 -9.12685342e+00] [-2.71184241e-02 1.38903543e-02 9.99535717e-01 -3.42506583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62264 meters 0.03995909609956247 Centerline is valid? [True, True] Translation: X:82.23, Y:-9.13, Z:-3.43 [[ 9.77348162e-01 2.09869522e-01 2.73011813e-02 8.22308989e+01] [-2.09813157e-01 9.77728993e-01 -4.94532842e-03 -9.13376562e+00] [-2.77310302e-02 -8.94839398e-04 9.99615021e-01 -3.42679438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.65264 meters 0.037611922482242696 Centerline is valid? [True, True] Translation: X:82.26, Y:-9.14, Z:-3.43 [[ 9.77339490e-01 2.09943159e-01 2.70442448e-02 8.22589005e+01] [-2.09887929e-01 9.77713188e-01 -4.89693986e-03 -9.13954238e+00] [-2.74695938e-02 -8.90287820e-04 9.99622243e-01 -3.42611253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68264 meters 0.03830253325138847 Centerline is valid? [True, True] Translation: X:82.29, Y:-9.14, Z:-3.43 [[ 9.77763394e-01 2.07990073e-01 2.68118434e-02 8.22874246e+01] [-2.07935090e-01 9.78130585e-01 -4.85353439e-03 -9.14229168e+00] [-2.72349711e-02 -8.29514818e-04 9.99628715e-01 -3.42879331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71264000000001 meters 0.03541122907373633 Centerline is valid? [True, True] Translation: X:82.31, Y:-9.15, Z:-3.43 [[ 9.78136693e-01 2.06198187e-01 2.70354862e-02 8.23147445e+01] [-2.06141631e-01 9.78509933e-01 -4.89285391e-03 -9.14666535e+00] [-2.74633894e-02 -7.87259277e-04 9.99622500e-01 -3.43034837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74264000000001 meters 0.0329080596758432 Centerline is valid? [True, True] Translation: X:82.34, Y:-9.15, Z:-3.43 [[ 9.78637905e-01 2.03883082e-01 2.64487958e-02 8.23427779e+01] [-2.03828163e-01 9.78994988e-01 -4.78469902e-03 -9.15401604e+00] [-2.68687577e-02 -7.08521612e-04 9.99638719e-01 -3.43217987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.77264000000001 meters 0.03447123591230033 Centerline is valid? [True, True] Translation: X:82.37, Y:-9.16, Z:-3.44 [[ 9.79739292e-01 1.98637592e-01 2.55739559e-02 8.23698675e+01] [-1.98584481e-01 9.80072859e-01 -4.62553762e-03 -9.16308789e+00] [-2.59831458e-02 -5.46769828e-04 9.99662232e-01 -3.43726856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80264000000001 meters 0.026276538317485398 Centerline is valid? [True, True] Translation: X:82.40, Y:-9.17, Z:-3.44 [[ 9.80332107e-01 1.95607817e-01 2.62019413e-02 8.23976442e+01] [-1.95551011e-01 9.80682085e-01 -4.73809039e-03 -9.17092777e+00] [-2.66225820e-02 -4.78913981e-04 9.99645442e-01 -3.43657837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.83264000000001 meters 0.023460622305614517 Centerline is valid? [True, True] Translation: X:82.43, Y:-9.18, Z:-3.44 [[ 9.80865073e-01 1.92923429e-01 2.61583633e-02 8.24267027e+01] [-1.92865893e-01 9.81213731e-01 -4.72885887e-03 -9.17929090e+00] [-2.65792529e-02 -4.06683591e-04 9.99646627e-01 -3.43659215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86264000000001 meters 0.02165024770190971 Centerline is valid? [True, True] Translation: X:82.45, Y:-9.19, Z:-3.44 [[ 9.81344175e-01 1.90420887e-01 2.65234832e-02 8.24542270e+01] [-1.90360823e-01 9.81702484e-01 -4.79473114e-03 -9.18643337e+00] [-2.69511863e-02 -3.43750623e-04 9.99636692e-01 -3.43753797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.89264 meters 0.01996764612924216 Centerline is valid? [True, True] Translation: X:82.48, Y:-9.19, Z:-3.44 [[ 9.81748325e-01 1.88300720e-01 2.67032819e-02 8.24826009e+01] [-1.88239072e-01 9.82111377e-01 -4.82658030e-03 -9.19440125e+00] [-2.71344455e-02 -2.88113862e-04 9.99631752e-01 -3.43837681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.92264 meters 0.02087356725269718 Centerline is valid? [True, True] Translation: X:82.51, Y:-9.20, Z:-3.44 [[ 9.82360793e-01 1.85096625e-01 2.65802784e-02 8.25122557e+01] [-1.85034398e-01 9.82720306e-01 -4.80331168e-03 -9.20344352e+00] [-2.70100561e-02 -1.99680747e-04 9.99635142e-01 -3.43666091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.95264 meters 0.01673191192175786 Centerline is valid? [True, True] Translation: X:82.54, Y:-9.21, Z:-3.44 [[ 9.82560548e-01 1.83903439e-01 2.74644217e-02 8.25421288e+01] [-1.83836543e-01 9.82944299e-01 -4.96288772e-03 -9.20864333e+00] [-2.79086888e-02 -1.72626655e-04 9.99610462e-01 -3.43820371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98264 meters 0.02061119925761994 Centerline is valid? [True, True] Translation: X:82.57, Y:-9.21, Z:-3.44 [[ 9.82824174e-01 1.82650874e-01 2.63685500e-02 8.25710635e+01] [-1.82588740e-01 9.83177828e-01 -4.76558965e-03 -9.21451009e+00] [-2.67954128e-02 -1.30863618e-04 9.99640930e-01 -3.44275895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.01264 meters 0.015392801634831732 Centerline is valid? [True, True] Translation: X:82.60, Y:-9.22, Z:-3.44 [[ 9.83096408e-01 1.81151227e-01 2.65647387e-02 8.26019470e+01] [-1.81087711e-01 9.83455248e-01 -4.79758002e-03 -9.22335030e+00] [-2.69943191e-02 -9.40640383e-05 9.99635583e-01 -3.44078370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04264 meters 0.03249355753128768 Centerline is valid? [True, True] Translation: X:82.63, Y:-9.23, Z:-3.45 [[ 9.83249637e-01 1.80470061e-01 2.55090038e-02 8.26318310e+01] [-1.80411079e-01 9.83580476e-01 -4.61411352e-03 -9.22856504e+00] [-2.59228674e-02 -6.52814402e-05 9.99663944e-01 -3.44600318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.07264 meters 0.015412402238167484 Centerline is valid? [True, True] Translation: X:82.66, Y:-9.23, Z:-3.44 [[ 9.83370403e-01 1.79733950e-01 2.60453003e-02 8.26629430e+01] [-1.79672199e-01 9.83715256e-01 -4.71125157e-03 -9.23490400e+00] [-2.64679311e-02 -4.67110324e-05 9.99649662e-01 -3.44463101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10264000000001 meters 0.015258804782954341 Centerline is valid? [True, True] Translation: X:82.69, Y:-9.24, Z:-3.45 [[ 9.83563903e-01 1.78619116e-01 2.64056703e-02 8.26937159e+01] [-1.78555285e-01 9.83918295e-01 -4.77483598e-03 -9.24073840e+00] [-2.68338991e-02 -1.85156838e-05 9.99639906e-01 -3.44524316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.13264000000001 meters 0.014877065299776681 Centerline is valid? [True, True] Translation: X:82.72, Y:-9.25, Z:-3.45 [[ 9.83612391e-01 1.78262777e-01 2.70008503e-02 8.27240483e+01] [-1.78195715e-01 9.83982918e-01 -4.88927189e-03 -9.24681071e+00] [-2.74399506e-02 -2.28739916e-06 9.99623454e-01 -3.44528458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16264000000001 meters 0.015216806825023533 Centerline is valid? [True, True] Translation: X:82.75, Y:-9.25, Z:-3.45 [[ 9.83575411e-01 1.78477162e-01 2.69316286e-02 8.27546925e+01] [-1.78410565e-01 9.83944055e-01 -4.87521101e-03 -9.25295275e+00] [-2.73693297e-02 -9.74941677e-06 9.99625390e-01 -3.44768805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.19264000000001 meters 0.024183122427723018 Centerline is valid? [True, True] Translation: X:82.79, Y:-9.26, Z:-3.45 [[ 9.83629100e-01 1.78416091e-01 2.53276883e-02 8.27856415e+01] [-1.78357013e-01 9.83955130e-01 -4.59103125e-03 -9.25869512e+00] [-2.57404227e-02 -1.49887631e-06 9.99668660e-01 -3.45055387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22264000000001 meters 0.015365294728406054 Centerline is valid? [True, True] Translation: X:82.82, Y:-9.26, Z:-3.45 [[ 9.83446616e-01 1.79264596e-01 2.63999600e-02 8.28162276e+01] [-1.79200690e-01 9.83800896e-01 -4.78631834e-03 -9.26242696e+00] [-2.68303217e-02 -2.38024718e-05 9.99640002e-01 -3.45085199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.25264 meters 0.02827875475717871 Centerline is valid? [True, True] Translation: X:82.85, Y:-9.27, Z:-3.45 [[ 9.83330735e-01 1.80064549e-01 2.52472741e-02 8.28469084e+01] [-1.80006364e-01 9.83654795e-01 -4.57740865e-03 -9.26613291e+00] [-2.56588312e-02 -4.35633893e-05 9.99670757e-01 -3.45445842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.28264 meters 0.02593493564374841 Centerline is valid? [True, True] Translation: X:82.88, Y:-9.27, Z:-3.46 [[ 9.83157837e-01 1.81006988e-01 2.52415962e-02 8.28771746e+01] [-1.80949112e-01 9.83481808e-01 -4.57745566e-03 -9.26982857e+00] [-2.56532021e-02 -6.70830123e-05 9.99670900e-01 -3.45560681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.31264 meters 0.022099213903740766 Centerline is valid? [True, True] Translation: X:82.91, Y:-9.27, Z:-3.46 [[ 9.82649841e-01 1.83863120e-01 2.43647910e-02 8.29080825e+01] [-1.83810073e-01 9.82951847e-01 -4.41845078e-03 -9.27051398e+00] [-2.47618065e-02 -1.36704056e-04 9.99693370e-01 -3.45629671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34264 meters 0.01759263251848951 Centerline is valid? [True, True] Translation: X:82.94, Y:-9.27, Z:-3.46 [[ 9.82375681e-01 1.85248184e-01 2.49225217e-02 8.29377898e+01] [-1.85193120e-01 9.82691752e-01 -4.51982414e-03 -9.27267477e+00] [-2.53284457e-02 -1.75314239e-04 9.99679168e-01 -3.45851306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.37264 meters 0.018177592806455027 Centerline is valid? [True, True] Translation: X:82.97, Y:-9.28, Z:-3.46 [[ 9.82092458e-01 1.86714672e-01 2.51403064e-02 8.29678851e+01] [-1.86659124e-01 9.82414162e-01 -4.55920862e-03 -9.27507951e+00] [-2.55494642e-02 -2.15103180e-04 9.99673536e-01 -3.45891293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40264 meters 0.019622177951097476 Centerline is valid? [True, True] Translation: X:83.00, Y:-9.28, Z:-3.46 [[ 9.81860433e-01 1.87895865e-01 2.54014705e-02 8.29963391e+01] [-1.87839563e-01 9.82188924e-01 -4.60613492e-03 -9.27588178e+00] [-2.58145167e-02 -2.48819505e-04 9.99666719e-01 -3.46146904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.43264 meters 0.019503007286159856 Centerline is valid? [True, True] Translation: X:83.03, Y:-9.28, Z:-3.46 [[ 9.81566509e-01 1.89526802e-01 2.46329006e-02 8.30260834e+01] [-1.89474397e-01 9.81875507e-01 -4.46567984e-03 -9.27677257e+00] [-2.50328077e-02 -2.83942203e-04 9.99686590e-01 -3.46091366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46264000000001 meters 0.020041517633802266 Centerline is valid? [True, True] Translation: X:83.05, Y:-9.28, Z:-3.46 [[ 9.81531798e-01 1.89767288e-01 2.41599893e-02 8.30539047e+01] [-1.89716946e-01 9.81829056e-01 -4.38006461e-03 -9.27949279e+00] [-2.45521725e-02 -2.84386680e-04 9.99698510e-01 -3.46331630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.49264000000001 meters 0.02141756152232331 Centerline is valid? [True, True] Translation: X:83.08, Y:-9.28, Z:-3.47 [[ 9.81529946e-01 1.89706712e-01 2.47048188e-02 8.30818476e+01] [-1.89654096e-01 9.81840760e-01 -4.47718554e-03 -9.28136850e+00] [-2.51055503e-02 -2.90878388e-04 9.99684764e-01 -3.46678239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52264000000001 meters 0.019699473264700316 Centerline is valid? [True, True] Translation: X:83.11, Y:-9.29, Z:-3.46 [[ 9.81614075e-01 1.89253479e-01 2.48380522e-02 8.31100059e+01] [-1.89200195e-01 9.81928226e-01 -4.49951327e-03 -9.28722617e+00] [-2.52407331e-02 -2.82578763e-04 9.99681362e-01 -3.46499112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.55264000000001 meters 0.019015050019474438 Centerline is valid? [True, True] Translation: X:83.14, Y:-9.29, Z:-3.47 [[ 9.82083716e-01 1.86815293e-01 2.47309587e-02 8.31371467e+01] [-1.86761719e-01 9.82395031e-01 -4.47909583e-03 -9.29222470e+00] [-2.51323345e-02 -2.19949293e-04 9.99684109e-01 -3.46869627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58264000000001 meters 0.016623150158563603 Centerline is valid? [True, True] Translation: X:83.17, Y:-9.30, Z:-3.47 [[ 9.82574780e-01 1.84217758e-01 2.47107101e-02 8.31658431e+01] [-1.84163506e-01 9.82885443e-01 -4.47318872e-03 -9.30234141e+00] [-2.51118380e-02 -1.55568600e-04 9.99684636e-01 -3.46730177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.61264000000001 meters 0.02413516760128437 Centerline is valid? [True, True] Translation: X:83.19, Y:-9.32, Z:-3.47 [[ 9.83556008e-01 1.78742974e-01 2.58559273e-02 8.31939767e+01] [-1.78681714e-01 9.83895802e-01 -4.67934281e-03 -9.31508680e+00] [-2.62759380e-02 -1.75856848e-05 9.99654728e-01 -3.46795793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.64264 meters 0.02413516760128437 Centerline is valid? [True, True] Translation: X:83.22, Y:-9.32, Z:-3.47 [[ 9.83556008e-01 1.78742974e-01 2.58559273e-02 8.32234736e+01] [-1.78681714e-01 9.83895802e-01 -4.67934281e-03 -9.32042507e+00] [-2.62759380e-02 -1.75856847e-05 9.99654728e-01 -3.46926505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.67264 meters 0.015291635473600294 Centerline is valid? [True, True] Translation: X:83.25, Y:-9.33, Z:-3.47 [[ 9.84036146e-01 1.75955263e-01 2.66947377e-02 8.32518987e+01] [-1.75888931e-01 9.84398162e-01 -4.83135027e-03 -9.32921064e+00] [-2.71283522e-02 5.89144283e-05 9.99631957e-01 -3.46923923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.70264 meters 0.015881191959480553 Centerline is valid? [True, True] Translation: X:83.28, Y:-9.34, Z:-3.47 [[ 9.84544392e-01 1.73130344e-01 2.64239238e-02 8.32821816e+01] [-1.73064359e-01 9.84898911e-01 -4.78139451e-03 -9.33832344e+00] [-2.68526982e-02 1.34455714e-04 9.99639392e-01 -3.46900637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73264 meters 0.019246640625648438 Centerline is valid? [True, True] Translation: X:83.31, Y:-9.35, Z:-3.47 [[ 9.85465653e-01 1.67696403e-01 2.71175808e-02 8.33112361e+01] [-1.67624888e-01 9.85838645e-01 -4.90545377e-03 -9.35317933e+00] [-2.75561860e-02 2.88574752e-04 9.99620215e-01 -3.47076672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76264 meters 0.02658184848884994 Centerline is valid? [True, True] Translation: X:83.34, Y:-9.36, Z:-3.47 [[ 9.85830910e-01 1.65603159e-01 2.67022724e-02 8.33427783e+01] [-1.65532944e-01 9.86192412e-01 -4.83426853e-03 -9.36199234e+00] [-2.71341486e-02 3.45665569e-04 9.99631741e-01 -3.47093923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.79264 meters 0.02454315832366063 Centerline is valid? [True, True] Translation: X:83.37, Y:-9.37, Z:-3.47 [[ 9.86186505e-01 1.63497801e-01 2.65451805e-02 8.33717424e+01] [-1.63427450e-01 9.86543614e-01 -4.81313462e-03 -9.37378187e+00] [-2.69749153e-02 4.08437251e-04 9.99636027e-01 -3.47345343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82264 meters 0.035246947317589566 Centerline is valid? [True, True] Translation: X:83.40, Y:-9.39, Z:-3.47 [[ 9.86550401e-01 1.61330669e-01 2.62815912e-02 8.34014239e+01] [-1.61260983e-01 9.86900300e-01 -4.76370539e-03 -9.38715310e+00] [-2.67058421e-02 4.61440224e-04 9.99643229e-01 -3.47466723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.85264000000001 meters 0.023851227501528145 Centerline is valid? [True, True] Translation: X:83.43, Y:-9.39, Z:-3.47 [[ 9.86604363e-01 1.60934683e-01 2.66806894e-02 8.34334780e+01] [-1.60862615e-01 9.86964941e-01 -4.83990413e-03 -9.39447925e+00] [-2.71118134e-02 4.83145068e-04 9.99632290e-01 -3.47350685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88264000000001 meters 0.02554065644840672 Centerline is valid? [True, True] Translation: X:83.46, Y:-9.40, Z:-3.48 [[ 9.86463263e-01 1.61752575e-01 2.69506010e-02 8.34640162e+01] [-1.61679181e-01 9.86831233e-01 -4.89488519e-03 -9.40287711e+00] [-2.73874551e-02 4.71273315e-04 9.99624782e-01 -3.47743143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.91264000000001 meters 0.028116719694349337 Centerline is valid? [True, True] Translation: X:83.50, Y:-9.41, Z:-3.48 [[ 9.86279544e-01 1.63016200e-01 2.60457405e-02 8.34970892e+01] [-1.62947988e-01 9.86623301e-01 -4.73449334e-03 -9.40653275e+00] [-2.64691336e-02 4.25432902e-04 9.99649541e-01 -3.47859938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94264000000001 meters 0.023915003816454453 Centerline is valid? [True, True] Translation: X:83.53, Y:-9.41, Z:-3.48 [[ 9.86116594e-01 1.64061628e-01 2.56484770e-02 8.35285478e+01] [-1.63995691e-01 9.86450011e-01 -4.66780684e-03 -9.41356033e+00] [-2.60667484e-02 3.96762063e-04 9.99660126e-01 -3.48046766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.97264000000001 meters 0.020543250920304082 Centerline is valid? [True, True] Translation: X:83.56, Y:-9.42, Z:-3.48 [[ 9.85733877e-01 1.66290076e-01 2.60064374e-02 8.35602151e+01] [-1.66222937e-01 9.86076818e-01 -4.73761938e-03 -9.41983302e+00] [-2.64321641e-02 3.47165502e-04 9.99650549e-01 -3.48010285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.00264 meters 0.0192225804492274 Centerline is valid? [True, True] Translation: X:83.59, Y:-9.43, Z:-3.48 [[ 9.85499921e-01 1.67584832e-01 2.65561784e-02 8.35916386e+01] [-1.67515163e-01 9.85857606e-01 -4.84261662e-03 -9.42574603e+00] [-2.69921596e-02 3.23835724e-04 9.99635593e-01 -3.47992731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.03264 meters 0.019070377052146023 Centerline is valid? [True, True] Translation: X:83.62, Y:-9.43, Z:-3.48 [[ 9.85322880e-01 1.68593601e-01 2.67398566e-02 8.36215094e+01] [-1.68523197e-01 9.85685602e-01 -4.88122701e-03 -9.43392227e+00] [-2.71800353e-02 3.03298534e-04 9.99630509e-01 -3.48203917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06264 meters 0.019679127166729347 Centerline is valid? [True, True] Translation: X:83.65, Y:-9.45, Z:-3.49 [[ 9.85214073e-01 1.69270332e-01 2.64723483e-02 8.36513901e+01] [-1.69201466e-01 9.85569619e-01 -4.83638239e-03 -9.44558917e+00] [-2.69089983e-02 2.85711840e-04 9.99637847e-01 -3.48569460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.09264 meters 0.023956404883039843 Centerline is valid? [True, True] Translation: X:83.68, Y:-9.45, Z:-3.49 [[ 9.85186419e-01 1.69525920e-01 2.58588995e-02 8.36823193e+01] [-1.69460163e-01 9.85525690e-01 -4.72944412e-03 -9.45232808e+00] [-2.62863731e-02 2.77330785e-04 9.99654415e-01 -3.48685806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12264 meters 0.0300242818488908 Centerline is valid? [True, True] Translation: X:83.71, Y:-9.46, Z:-3.49 [[ 9.85108724e-01 1.69922123e-01 2.62158935e-02 8.37139984e+01] [-1.69854565e-01 9.85457455e-01 -4.79897729e-03 -9.46043489e+00] [-2.66501001e-02 2.74625208e-04 9.99644785e-01 -3.48811558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.15264 meters 0.03431064855348164 Centerline is valid? [True, True] Translation: X:83.74, Y:-9.47, Z:-3.49 [[ 9.84911150e-01 1.70980523e-01 2.67523292e-02 8.37443928e+01] [-1.70910427e-01 9.85274376e-01 -4.90210748e-03 -9.47220569e+00] [-2.71965493e-02 2.55888311e-04 9.99630073e-01 -3.48797084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18264 meters 0.017989012054261087 Centerline is valid? [True, True] Translation: X:83.77, Y:-9.48, Z:-3.49 [[ 9.84839207e-01 1.71336308e-01 2.71220752e-02 8.37743992e+01] [-1.71264225e-01 9.85212568e-01 -4.97602806e-03 -9.48156295e+00] [-2.75735836e-02 2.55546331e-04 9.99619744e-01 -3.48872351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.21264000000001 meters 0.025682510567707255 Centerline is valid? [True, True] Translation: X:83.81, Y:-9.49, Z:-3.49 [[ 9.84619225e-01 1.72747146e-01 2.61420219e-02 8.38050689e+01] [-1.72680622e-01 9.84966182e-01 -4.79826936e-03 -9.48874890e+00] [-2.65778948e-02 2.10247657e-04 9.99646723e-01 -3.49329079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24264000000001 meters 0.01546294546586432 Centerline is valid? [True, True] Translation: X:83.84, Y:-9.48, Z:-3.49 [[ 9.83895225e-01 1.77419999e-01 2.17331500e-02 8.38367131e+01] [-1.77017200e-01 9.84019489e-01 -1.92498179e-02 -9.48451508e+00] [-2.48011458e-02 1.50926626e-02 9.99578469e-01 -3.49104098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.27264000000001 meters 0.01562823848897324 Centerline is valid? [True, True] Translation: X:83.87, Y:-9.50, Z:-3.49 [[ 9.83517745e-01 1.79103545e-01 2.47944505e-02 8.38663677e+01] [-1.79102302e-01 9.83827793e-01 -2.28895164e-03 -9.49931806e+00] [-2.48034289e-02 -2.18951861e-03 9.99689950e-01 -3.49370195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30264000000001 meters 0.01547668204847161 Centerline is valid? [True, True] Translation: X:83.90, Y:-9.51, Z:-3.50 [[ 9.83095839e-01 1.80843166e-01 2.86063181e-02 8.38979265e+01] [-1.81185884e-01 9.83399453e-01 9.85856747e-03 -9.51058085e+00] [-2.63485831e-02 -1.48749777e-02 9.99542139e-01 -3.49728976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.33264000000001 meters 0.015698953581659052 Centerline is valid? [True, True] Translation: X:83.93, Y:-9.51, Z:-3.50 [[ 9.82541943e-01 1.84255848e-01 2.57121227e-02 8.39310856e+01] [-1.84195182e-01 9.82878311e-01 -4.72870238e-03 -9.50566271e+00] [-2.61431788e-02 -8.99007084e-05 9.99658205e-01 -3.50018697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36264000000001 meters 0.024921112857563522 Centerline is valid? [True, True] Translation: X:83.96, Y:-9.51, Z:-3.50 [[ 9.81714513e-01 1.88631264e-01 2.55902609e-02 8.39635132e+01] [-1.88572539e-01 9.82047965e-01 -4.71080434e-03 -9.50902185e+00] [-2.60194686e-02 -2.00955494e-04 9.99661416e-01 -3.50229992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.39264 meters 0.01764330984284992 Centerline is valid? [True, True] Translation: X:83.99, Y:-9.51, Z:-3.50 [[ 9.81432694e-01 1.89883884e-01 2.70920407e-02 8.39942702e+01] [-1.89818388e-01 9.81806525e-01 -4.99277678e-03 -9.51464017e+00] [-2.75471902e-02 -2.42493125e-04 9.99620475e-01 -3.50181976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.42264 meters 0.017950868688130707 Centerline is valid? [True, True] Translation: X:84.02, Y:-9.52, Z:-3.50 [[ 9.81106511e-01 1.91888050e-01 2.46777272e-02 8.40238300e+01] [-1.91594347e-01 9.81377415e-01 -1.37831838e-02 -9.51568087e+00] [-2.68629924e-02 8.79465836e-03 9.99600437e-01 -3.50091894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.45264 meters 0.027058328070883805 Centerline is valid? [True, True] Translation: X:84.06, Y:-9.53, Z:-3.50 [[ 9.80855720e-01 1.92486002e-01 2.95160283e-02 8.40560492e+01] [-1.92683290e-01 9.81252988e-01 3.96538348e-03 -9.53114470e+00] [-2.81994102e-02 -9.57671450e-03 9.99556442e-01 -3.50271820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48264 meters 0.019547449571048137 Centerline is valid? [True, True] Translation: X:84.09, Y:-9.53, Z:-3.50 [[ 9.80664058e-01 1.93677136e-01 2.80566062e-02 8.40889252e+01] [-1.93608118e-01 9.81065260e-01 -5.18194070e-03 -9.53228098e+00] [-2.85289851e-02 -3.50243733e-04 9.99592904e-01 -3.50362073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.51264 meters 0.01983777961105456 Centerline is valid? [True, True] Translation: X:84.12, Y:-9.54, Z:-3.51 [[ 9.80581556e-01 1.94200416e-01 2.73131920e-02 8.41200435e+01] [-1.94135052e-01 9.80961812e-01 -5.05031767e-03 -9.53884070e+00] [-2.77739721e-02 -3.50199580e-04 9.99614167e-01 -3.50632395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54264 meters 0.025873241516785186 Centerline is valid? [True, True] Translation: X:84.15, Y:-9.55, Z:-3.51 [[ 9.80617901e-01 1.94044945e-01 2.71125825e-02 8.41526466e+01] [-1.93980359e-01 9.80992581e-01 -5.01756689e-03 -9.54619433e+00] [-2.75708757e-02 -3.38992570e-04 9.99619794e-01 -3.50931773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57264 meters 0.019359894961546192 Centerline is valid? [True, True] Translation: X:84.18, Y:-9.55, Z:-3.51 [[ 9.80600972e-01 1.94200547e-01 2.66060335e-02 8.41821823e+01] [-1.93986523e-01 9.80948780e-01 -1.04268576e-02 -9.54861893e+00] [-2.81240576e-02 5.06337480e-03 9.99591616e-01 -3.50883801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60264000000001 meters 0.02116749392115475 Centerline is valid? [True, True] Translation: X:84.21, Y:-9.56, Z:-3.51 [[ 9.80647767e-01 1.93560925e-01 2.93959999e-02 8.42142806e+01] [-1.93651087e-01 9.81070439e-01 2.24655701e-04 -9.56122539e+00] [-2.87960619e-02 -5.91287544e-03 9.99567819e-01 -3.51012279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.63264000000001 meters 0.02256558523403023 Centerline is valid? [True, True] Translation: X:84.25, Y:-9.57, Z:-3.51 [[ 9.80660405e-01 1.93671727e-01 2.82211340e-02 8.42465909e+01] [-1.93601224e-01 9.81066335e-01 -5.23568234e-03 -9.56544268e+00] [-2.87008082e-02 -3.29219726e-04 9.99587993e-01 -3.51229177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66264000000001 meters 0.01826490539438416 Centerline is valid? [True, True] Translation: X:84.28, Y:-9.58, Z:-3.51 [[ 9.80980773e-01 1.92074619e-01 2.80011256e-02 8.42767383e+01] [-1.92004385e-01 9.81380286e-01 -5.20103995e-03 -9.57556926e+00] [-2.84787404e-02 -2.74218692e-04 9.99594361e-01 -3.51398708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.69264000000001 meters 0.017908422689551763 Centerline is valid? [True, True] Translation: X:84.31, Y:-9.58, Z:-3.52 [[ 9.81153111e-01 1.91198445e-01 2.79593945e-02 8.43070173e+01] [-1.91127906e-01 9.81551372e-01 -5.19882175e-03 -9.58260577e+00] [-2.84375887e-02 -2.42980397e-04 9.99595540e-01 -3.51571173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72264000000001 meters 0.017565433747762246 Centerline is valid? [True, True] Translation: X:84.34, Y:-9.59, Z:-3.52 [[ 9.81247981e-01 1.90711263e-01 2.79573411e-02 8.43395326e+01] [-1.90640503e-01 9.81646149e-01 -5.19966475e-03 -9.58938396e+00] [-2.84358509e-02 -2.27641013e-04 9.99595594e-01 -3.51707922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.75264 meters 0.01729405342007663 Centerline is valid? [True, True] Translation: X:84.37, Y:-9.60, Z:-3.52 [[ 9.81376031e-01 1.90082429e-01 2.77444821e-02 8.43712958e+01] [-1.90012333e-01 9.81768114e-01 -5.16564079e-03 -9.59573413e+00] [-2.82205454e-02 -2.02357724e-04 9.99601701e-01 -3.51937828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78264 meters 0.017312803344211196 Centerline is valid? [True, True] Translation: X:84.40, Y:-9.60, Z:-3.52 [[ 9.81295913e-01 1.90491591e-01 2.77720155e-02 8.44035057e+01] [-1.90421382e-01 9.81688805e-01 -5.17566031e-03 -9.60146440e+00] [-2.82493965e-02 -2.09531274e-04 9.99600884e-01 -3.52041512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.81264 meters 0.01824545025576751 Centerline is valid? [True, True] Translation: X:84.43, Y:-9.60, Z:-3.52 [[ 9.80996981e-01 1.92009678e-01 2.78784220e-02 8.44347920e+01] [-1.91939370e-01 9.81393001e-01 -5.20156991e-03 -9.60464479e+00] [-2.83584400e-02 -2.48242366e-04 9.99597788e-01 -3.52215118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84264 meters 0.017926681721261727 Centerline is valid? [True, True] Translation: X:84.47, Y:-9.61, Z:-3.52 [[ 9.81040906e-01 1.91717064e-01 2.83426944e-02 8.44669552e+01] [-1.91593470e-01 9.81449128e-01 -7.03934065e-03 -9.60827055e+00] [-2.91664744e-02 1.47560597e-03 9.99573479e-01 -3.52230439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87264 meters 0.01941316424973858 Centerline is valid? [True, True] Translation: X:84.50, Y:-9.61, Z:-3.52 [[ 9.80480810e-01 1.94599721e-01 2.80772199e-02 8.44988932e+01] [-1.94580021e-01 9.80880550e-01 -3.45849106e-03 -9.61377040e+00] [-2.82134203e-02 -2.07228193e-03 9.99599774e-01 -3.52371566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90264 meters 0.029408316985346288 Centerline is valid? [True, True] Translation: X:84.53, Y:-9.61, Z:-3.53 [[ 9.79929036e-01 1.97599515e-01 2.63347057e-02 8.45312787e+01] [-1.97538513e-01 9.80282760e-01 -4.92403876e-03 -9.61181021e+00] [-2.67884457e-02 -3.76910055e-04 9.99641054e-01 -3.52605280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.93264 meters 0.03171789724433835 Centerline is valid? [True, True] Translation: X:84.56, Y:-9.61, Z:-3.53 [[ 9.79654410e-01 1.98999435e-01 2.60088690e-02 8.45623134e+01] [-1.98940313e-01 9.79999520e-01 -4.86740966e-03 -9.61288123e+00] [-2.64572909e-02 -4.05833208e-04 9.99649862e-01 -3.52957139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96264000000001 meters 0.023862043827177788 Centerline is valid? [True, True] Translation: X:84.59, Y:-9.62, Z:-3.53 [[ 9.79478717e-01 1.99796477e-01 2.65105882e-02 8.45924966e+01] [-1.99735150e-01 9.79837325e-01 -4.96845892e-03 -9.61548962e+00] [-2.69687444e-02 -4.28596556e-04 9.99636185e-01 -3.53007596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.99264000000001 meters 0.022606394319298943 Centerline is valid? [True, True] Translation: X:84.62, Y:-9.62, Z:-3.53 [[ 9.79452445e-01 1.99888207e-01 2.67883073e-02 8.46235429e+01] [-1.99825620e-01 9.79818613e-01 -5.02062651e-03 -9.62221986e+00] [-2.72512461e-02 -4.35525204e-04 9.99628521e-01 -3.52915988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02264000000001 meters 0.02220321050429001 Centerline is valid? [True, True] Translation: X:84.65, Y:-9.63, Z:-3.53 [[ 9.79768534e-01 1.98334366e-01 2.67787007e-02 8.46536501e+01] [-1.98271287e-01 9.80134340e-01 -5.01721561e-03 -9.62873256e+00] [-2.72418104e-02 -3.93737463e-04 9.99628795e-01 -3.53245030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.05264000000001 meters 0.03031543925983274 Centerline is valid? [True, True] Translation: X:84.68, Y:-9.64, Z:-3.54 [[ 9.80090274e-01 1.96853482e-01 2.59183476e-02 8.46842034e+01] [-1.96793773e-01 9.80432860e-01 -4.85983261e-03 -9.63761003e+00] [-2.63678746e-02 -3.37494743e-04 9.99652250e-01 -3.53513846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08264000000001 meters 0.02032146902865344 Centerline is valid? [True, True] Translation: X:84.71, Y:-9.65, Z:-3.54 [[ 9.80381612e-01 1.95366737e-01 2.61482807e-02 8.47147919e+01] [-1.95305305e-01 9.80730213e-01 -4.90784773e-03 -9.64502949e+00] [-2.66032391e-02 -2.95334272e-04 9.99646028e-01 -3.53640415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.11264000000001 meters 0.017253596552532793 Centerline is valid? [True, True] Translation: X:84.74, Y:-9.66, Z:-3.54 [[ 9.81146969e-01 1.90822321e-01 3.06180829e-02 8.47433888e+01] [-1.90858849e-01 9.81615928e-01 -1.75221284e-03 -9.65603553e+00] [-3.03895591e-02 -4.12455372e-03 9.99529621e-01 -3.53698546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14264 meters 0.016987284919222256 Centerline is valid? [True, True] Translation: X:84.78, Y:-9.66, Z:-3.54 [[ 9.81138696e-01 1.91517372e-01 2.62289022e-02 8.47768603e+01] [-1.91346674e-01 9.81482223e-01 -8.89361589e-03 -9.65968390e+00] [-2.74464832e-02 3.70705751e-03 9.99616401e-01 -3.53687215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.17264 meters 0.016739651325301304 Centerline is valid? [True, True] Translation: X:84.81, Y:-9.67, Z:-3.54 [[ 9.81325324e-01 1.90469513e-01 2.68695606e-02 8.48072594e+01] [-1.90402534e-01 9.81693099e-01 -5.05322719e-03 -9.66943620e+00] [-2.73401479e-02 -1.57172606e-04 9.99626176e-01 -3.53939852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.20264 meters 0.02687070487829728 Centerline is valid? [True, True] Translation: X:84.84, Y:-9.68, Z:-3.54 [[ 9.81550630e-01 1.89205616e-01 2.75607611e-02 8.48379649e+01] [-1.89134492e-01 9.81937483e-01 -5.18877252e-03 -9.67880312e+00] [-2.80446893e-02 -1.19647624e-04 9.99606663e-01 -3.53967712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23264 meters 0.015509813154659961 Centerline is valid? [True, True] Translation: X:84.87, Y:-9.69, Z:-3.54 [[ 9.81507077e-01 1.89317172e-01 2.83349042e-02 8.48700043e+01] [-1.89241846e-01 9.81915981e-01 -5.34133823e-03 -9.68566477e+00] [-2.88337023e-02 -1.19588289e-04 9.99584215e-01 -3.53778638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26264 meters 0.021657051189548394 Centerline is valid? [True, True] Translation: X:84.90, Y:-9.69, Z:-3.54 [[ 9.81460382e-01 1.89607613e-01 2.80084158e-02 8.49012739e+01] [-1.89534109e-01 9.81859938e-01 -5.28056266e-03 -9.69071998e+00] [-2.85015763e-02 -1.25887105e-04 9.99593740e-01 -3.54114751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.29264 meters 0.015890663492325065 Centerline is valid? [True, True] Translation: X:84.93, Y:-9.70, Z:-3.54 [[ 9.81329721e-01 1.90261219e-01 2.81539750e-02 8.49342863e+01] [-1.90187148e-01 9.81733491e-01 -5.31045732e-03 -9.69653345e+00] [-2.86500742e-02 -1.43214585e-04 9.99589492e-01 -3.54141435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32264 meters 0.026490538392620125 Centerline is valid? [True, True] Translation: X:84.97, Y:-9.70, Z:-3.54 [[ 9.81035192e-01 1.91953223e-01 2.69056088e-02 8.49665697e+01] [-1.91886068e-01 9.81404060e-01 -5.08024866e-03 -9.70057456e+00] [-2.73804438e-02 -1.78908756e-04 9.99625069e-01 -3.54498293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35264000000001 meters 0.03044965081095627 Centerline is valid? [True, True] Translation: X:85.00, Y:-9.70, Z:-3.55 [[ 9.80797152e-01 1.93181217e-01 2.67948445e-02 8.49971441e+01] [-1.93114934e-01 9.81163072e-01 -5.06435916e-03 -9.70437522e+00] [-2.72684510e-02 -2.07375594e-04 9.99628125e-01 -3.54837144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38264000000001 meters 0.03137203851781714 Centerline is valid? [True, True] Translation: X:85.03, Y:-9.71, Z:-3.55 [[ 9.80525150e-01 1.94540165e-01 2.69175633e-02 8.50302627e+01] [-1.94473679e-01 9.80894523e-01 -5.09142821e-03 -9.70854165e+00] [-2.73937777e-02 -2.42484154e-04 9.99624691e-01 -3.54867343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.41264000000001 meters 0.01930417612410179 Centerline is valid? [True, True] Translation: X:85.06, Y:-9.71, Z:-3.55 [[ 9.80098981e-01 1.96536432e-01 2.79180722e-02 8.50617486e+01] [-1.96465531e-01 9.80496476e-01 -5.28733681e-03 -9.70875863e+00] [-2.84127257e-02 -3.02825462e-04 9.99596231e-01 -3.54971323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44264000000001 meters 0.022404997077570515 Centerline is valid? [True, True] Translation: X:85.10, Y:-9.73, Z:-3.55 [[ 9.80760343e-01 1.91694680e-01 3.69093402e-02 8.50969138e+01] [-1.92244954e-01 9.81274170e-01 1.19532939e-02 -9.72658637e+00] [-3.39267993e-02 -1.88189510e-02 9.99247126e-01 -3.54996900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.47264000000001 meters 0.020449933545866484 Centerline is valid? [True, True] Translation: X:85.12, Y:-9.71, Z:-3.56 [[ 9.79831644e-01 1.98522236e-01 2.27787253e-02 8.51243520e+01] [-1.97983661e-01 9.79914229e-01 -2.38866798e-02 -9.70667487e+00] [-2.70632342e-02 1.88951093e-02 9.99455130e-01 -3.55591964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.50264 meters 0.020716871332676964 Centerline is valid? [True, True] Translation: X:85.15, Y:-9.72, Z:-3.56 [[ 9.79554509e-01 1.99464439e-01 2.62088006e-02 8.51539803e+01] [-1.99402789e-01 9.79905001e-01 -4.97163565e-03 -9.72028932e+00] [-2.66737993e-02 -3.56119809e-04 9.99644127e-01 -3.55540534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.53264 meters 0.020716871332676964 Centerline is valid? [True, True] Translation: X:85.18, Y:-9.73, Z:-3.56 [[ 9.79554505e-01 1.99464486e-01 2.62085995e-02 8.51834330e+01] [-1.99402807e-01 9.79904992e-01 -4.97269555e-03 -9.72587689e+00] [-2.66738136e-02 -3.55041983e-04 9.99644127e-01 -3.55672790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56264 meters 0.02168225829611394 Centerline is valid? [True, True] Translation: X:85.21, Y:-9.73, Z:-3.56 [[ 9.79327796e-01 2.00565877e-01 2.62754076e-02 8.52141514e+01] [-2.00504280e-01 9.79680142e-01 -4.98537140e-03 -9.72856718e+00] [-2.67413904e-02 -3.86018881e-04 9.99642311e-01 -3.55802322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.59264 meters 0.024835450081617177 Centerline is valid? [True, True] Translation: X:85.24, Y:-9.73, Z:-3.56 [[ 9.79082396e-01 2.01746606e-01 2.63812334e-02 8.52441211e+01] [-2.01684934e-01 9.79437660e-01 -5.00566264e-03 -9.72833270e+00] [-2.68486490e-02 -4.19741151e-04 9.99639422e-01 -3.56208623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62264 meters 0.025421625025455113 Centerline is valid? [True, True] Translation: X:85.27, Y:-9.73, Z:-3.56 [[ 9.78411085e-01 2.04867167e-01 2.72248412e-02 8.52745142e+01] [-2.04802698e-01 9.78789646e-01 -5.16557256e-03 -9.72976216e+00] [-2.77056489e-02 -5.21667494e-04 9.99615989e-01 -3.55893472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.65264 meters 0.027983078592665297 Centerline is valid? [True, True] Translation: X:85.30, Y:-9.73, Z:-3.56 [[ 9.78171706e-01 2.06010355e-01 2.72001154e-02 8.53033046e+01] [-2.05946458e-01 9.78549655e-01 -5.16039831e-03 -9.73014184e+00] [-2.76797591e-02 -5.54011816e-04 9.99616689e-01 -3.56102930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68264 meters 0.027264639922219704 Centerline is valid? [True, True] Translation: X:85.33, Y:-9.73, Z:-3.56 [[ 9.78098224e-01 2.06350108e-01 2.72671436e-02 8.53315178e+01] [-2.06286050e-01 9.78478059e-01 -5.17229352e-03 -9.73470105e+00] [-2.77476051e-02 -5.65820266e-04 9.99614801e-01 -3.56194881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71264000000001 meters 0.029663174952935027 Centerline is valid? [True, True] Translation: X:85.36, Y:-9.74, Z:-3.57 [[ 9.78171049e-01 2.06062024e-01 2.68298558e-02 8.53589894e+01] [-2.05999926e-01 9.78538778e-01 -5.08824525e-03 -9.73660296e+00] [-2.73025484e-02 -5.49774111e-04 9.99627065e-01 -3.56581601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74264000000001 meters 0.022560854857762748 Centerline is valid? [True, True] Translation: X:85.39, Y:-9.76, Z:-3.56 [[ 9.79135756e-01 1.99736505e-01 3.73965172e-02 8.53930954e+01] [-2.00347949e-01 9.79633866e-01 1.33487286e-02 -9.75691409e+00] [-3.39686663e-02 -2.05625330e-02 9.99211345e-01 -3.56444625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.77264000000001 meters 0.026867108451379167 Centerline is valid? [True, True] Translation: X:85.42, Y:-9.74, Z:-3.57 [[ 9.78647590e-01 2.04208260e-01 2.34068574e-02 8.54202647e+01] [-2.03613641e-01 9.78719483e-01 -2.54884181e-02 -9.73712102e+00] [-2.81136929e-02 2.01782235e-02 9.99401050e-01 -3.56736831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80264000000001 meters 0.022823038790595968 Centerline is valid? [True, True] Translation: X:85.45, Y:-9.76, Z:-3.57 [[ 9.79182139e-01 2.00983303e-01 2.84262308e-02 8.54455946e+01] [-2.00911446e-01 9.79594572e-01 -5.39126933e-03 -9.75734147e+00] [-2.89297365e-02 -4.32120484e-04 9.99581354e-01 -3.56695346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.83264000000001 meters 0.018844733230126854 Centerline is valid? [True, True] Translation: X:85.47, Y:-9.77, Z:-3.57 [[ 9.80128066e-01 1.96105387e-01 2.98605408e-02 8.54731785e+01] [-1.96023868e-01 9.80582778e-01 -5.66200410e-03 -9.76903519e+00] [-3.03910816e-02 -3.03889576e-04 9.99538038e-01 -3.56617349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86264000000001 meters 0.016286867177977907 Centerline is valid? [True, True] Translation: X:85.50, Y:-9.78, Z:-3.57 [[ 9.80568367e-01 1.93868694e-01 3.00101100e-02 8.55038085e+01] [-1.93785417e-01 9.81027457e-01 -5.68682801e-03 -9.77969596e+00] [-3.05432399e-02 -2.39198025e-04 9.99533418e-01 -3.56533879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.89264 meters 0.016068468094737515 Centerline is valid? [True, True] Translation: X:85.53, Y:-9.79, Z:-3.57 [[ 9.81055054e-01 1.91442131e-01 2.96798113e-02 8.55333763e+01] [-1.91359404e-01 9.81503890e-01 -5.62961706e-03 -9.78794547e+00] [-3.02085961e-02 -1.56546731e-04 9.99543604e-01 -3.57064746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.92264 meters 0.027826865108878024 Centerline is valid? [True, True] Translation: X:85.56, Y:-9.80, Z:-3.57 [[ 9.82059790e-01 1.86407991e-01 2.84715505e-02 8.55643806e+01] [-1.86329634e-01 9.82472423e-01 -5.40429804e-03 -9.80197837e+00] [-2.89799176e-02 2.25020453e-06 9.99579994e-01 -3.57347175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.95264 meters 0.015241006258011723 Centerline is valid? [True, True] Translation: X:85.59, Y:-9.81, Z:-3.57 [[ 9.82329618e-01 1.84926539e-01 2.88218061e-02 8.55948414e+01] [-1.84845430e-01 9.82752345e-01 -5.47673974e-03 -9.81159833e+00] [-2.93374921e-02 5.23845237e-05 9.99569562e-01 -3.57415689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98264 meters 0.015379334409082169 Centerline is valid? [True, True] Translation: X:85.63, Y:-9.82, Z:-3.58 [[ 9.82541233e-01 1.83825745e-01 2.86499597e-02 8.56270186e+01] [-1.83744986e-01 9.82958843e-01 -5.44911030e-03 -9.82045548e+00] [-2.91634180e-02 8.96891261e-05 9.99574653e-01 -3.57515265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.01264 meters 0.015524221918797303 Centerline is valid? [True, True] Translation: X:85.66, Y:-9.83, Z:-3.58 [[ 9.82625611e-01 1.83518775e-01 2.77086284e-02 8.56579473e+01] [-1.83442926e-01 9.83016200e-01 -5.27676632e-03 -9.82702082e+00] [-2.82064162e-02 1.02133882e-04 9.99602115e-01 -3.57671939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04264 meters 0.017531177730911934 Centerline is valid? [True, True] Translation: X:85.69, Y:-9.83, Z:-3.58 [[ 9.82424831e-01 1.84722761e-01 2.68133071e-02 8.56896696e+01] [-1.84652149e-01 9.82790668e-01 -5.10755000e-03 -9.83109087e+00] [-2.72953487e-02 6.66491846e-05 9.99627410e-01 -3.57899963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07264 meters 0.015870726277668185 Centerline is valid? [True, True] Translation: X:85.72, Y:-9.83, Z:-3.58 [[ 9.82056270e-01 1.86591895e-01 2.73669076e-02 8.57205991e+01] [-1.86518914e-01 9.82437512e-01 -5.21825499e-03 -9.83484535e+00] [-2.78599607e-02 2.01741353e-05 9.99611836e-01 -3.58272997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10264000000001 meters 0.016024690705371623 Centerline is valid? [True, True] Translation: X:85.75, Y:-9.83, Z:-3.58 [[ 9.81154752e-01 1.91086298e-01 2.86597168e-02 8.57516283e+01] [-1.91007945e-01 9.81573235e-01 -5.47258462e-03 -9.83171376e+00] [-2.91773469e-02 -1.04781206e-04 9.99574245e-01 -3.58091556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.13264000000001 meters 0.017210799035159177 Centerline is valid? [True, True] Translation: X:85.78, Y:-9.83, Z:-3.58 [[ 9.80683524e-01 1.93519342e-01 2.84620965e-02 8.57818434e+01] [-1.93443109e-01 9.81096444e-01 -5.43419096e-03 -9.83211811e+00] [-2.89756827e-02 -1.76574901e-04 9.99580101e-01 -3.58228101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16264000000001 meters 0.017762969519871635 Centerline is valid? [True, True] Translation: X:85.81, Y:-9.84, Z:-3.58 [[ 9.80260789e-01 1.95751955e-01 2.77481133e-02 8.58118650e+01] [-1.95680415e-01 9.80653413e-01 -5.29708240e-03 -9.83501578e+00] [-2.82481962e-02 -2.37240156e-04 9.99600912e-01 -3.58177299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.19264000000001 meters 0.02165410796258617 Centerline is valid? [True, True] Translation: X:85.84, Y:-9.83, Z:-3.59 [[ 9.79595229e-01 1.98998216e-01 2.81584172e-02 8.58410375e+01] [-1.98925884e-01 9.79999795e-01 -5.37542122e-03 -9.83253869e+00] [-2.86649423e-02 -3.35701072e-04 9.99589020e-01 -3.58617007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22264000000001 meters 0.02088569076987556 Centerline is valid? [True, True] Translation: X:85.87, Y:-9.84, Z:-3.58 [[ 9.79414877e-01 1.99913802e-01 2.79458347e-02 8.58702227e+01] [-1.99842965e-01 9.79813422e-01 -5.33363912e-03 -9.83754144e+00] [-2.84479720e-02 -3.60932972e-04 9.99595209e-01 -3.58463716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.25264 meters 0.023008120979818605 Centerline is valid? [True, True] Translation: X:85.90, Y:-9.84, Z:-3.59 [[ 9.79406351e-01 2.00073786e-01 2.70865294e-02 8.58997113e+01] [-2.00007324e-01 9.79780768e-01 -5.16880755e-03 -9.84159615e+00] [-2.75730035e-02 -3.55141306e-04 9.99619729e-01 -3.58809264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.28264 meters 0.020253735091601596 Centerline is valid? [True, True] Translation: X:85.93, Y:-9.85, Z:-3.59 [[ 9.79487082e-01 1.99702372e-01 2.69076011e-02 8.59282496e+01] [-1.99636648e-01 9.79856543e-01 -5.13454972e-03 -9.84819600e+00] [-2.73909708e-02 -3.42518163e-04 9.99624738e-01 -3.58788389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.31264 meters 0.020461805704043535 Centerline is valid? [True, True] Translation: X:85.96, Y:-9.85, Z:-3.59 [[ 9.79699519e-01 1.98487089e-01 2.81376500e-02 8.59571192e+01] [-1.98414738e-01 9.80103449e-01 -5.36849441e-03 -9.85241444e+00] [-2.86433847e-02 -3.23413066e-04 9.99589642e-01 -3.58953167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34264 meters 0.01930664501527979 Centerline is valid? [True, True] Translation: X:85.99, Y:-9.86, Z:-3.59 [[ 9.79887427e-01 1.97588499e-01 2.79180252e-02 8.59858984e+01] [-1.97516929e-01 9.80285008e-01 -5.32588205e-03 -9.85918941e+00] [-2.84199546e-02 -2.95517752e-04 9.99596028e-01 -3.59050671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37264 meters 0.018826955092202155 Centerline is valid? [True, True] Translation: X:86.01, Y:-9.87, Z:-3.59 [[ 9.80095774e-01 1.96593748e-01 2.76255858e-02 8.60137382e+01] [-1.96523292e-01 9.80484996e-01 -5.26948306e-03 -9.86563350e+00] [-2.81224198e-02 -2.64472984e-04 9.99604452e-01 -3.59229151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40264 meters 0.0169558276817153 Centerline is valid? [True, True] Translation: X:86.04, Y:-9.87, Z:-3.59 [[ 9.80426586e-01 1.94763589e-01 2.88245401e-02 8.60421575e+01] [-1.94686119e-01 9.80850190e-01 -5.49727280e-03 -9.87382979e+00] [-2.93432242e-02 -2.22065438e-04 9.99569370e-01 -3.59047356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43264 meters 0.016335633576412576 Centerline is valid? [True, True] Translation: X:86.07, Y:-9.88, Z:-3.59 [[ 9.80585058e-01 1.93871494e-01 2.94412675e-02 8.60718971e+01] [-1.93790303e-01 9.81026913e-01 -5.61380137e-03 -9.87993041e+00] [-2.99710318e-02 -2.00622412e-04 9.99550748e-01 -3.59067093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46264000000001 meters 0.015878157603130258 Centerline is valid? [True, True] Translation: X:86.10, Y:-9.89, Z:-3.59 [[ 9.80786067e-01 1.92869131e-01 2.93289835e-02 8.61017750e+01] [-1.92788110e-01 9.81224475e-01 -5.59239128e-03 -9.88586346e+00] [-2.98569161e-02 -1.69339853e-04 9.99554169e-01 -3.59157067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.49264000000001 meters 0.01529483683526453 Centerline is valid? [True, True] Translation: X:86.13, Y:-9.89, Z:-3.59 [[ 9.81240092e-01 1.90611204e-01 2.89006882e-02 8.61310969e+01] [-1.90531559e-01 9.81665604e-01 -5.51054825e-03 -9.89329432e+00] [-2.94211838e-02 -9.93223034e-05 9.99567098e-01 -3.59439075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52264000000001 meters 0.014761012495899697 Centerline is valid? [True, True] Translation: X:86.16, Y:-9.90, Z:-3.60 [[ 9.81527932e-01 1.89266237e-01 2.79501334e-02 8.61620899e+01] [-1.89191264e-01 9.81925806e-01 -5.32706152e-03 -9.90202418e+00] [-2.84531901e-02 -5.92613938e-05 9.99595124e-01 -3.59527202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.55264000000001 meters 0.022839337900817522 Centerline is valid? [True, True] Translation: X:86.19, Y:-9.91, Z:-3.60 [[ 9.81897600e-01 1.87499579e-01 2.68516525e-02 8.61915398e+01] [-1.87429594e-01 9.82264683e-01 -5.12246309e-03 -9.91114336e+00] [-2.73358897e-02 -3.06011613e-06 9.99626305e-01 -3.60133399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58264000000001 meters 0.015102639402859093 Centerline is valid? [True, True] Translation: X:86.22, Y:-9.92, Z:-3.60 [[ 9.82161450e-01 1.86057081e-01 2.72332249e-02 8.62221933e+01] [-1.85984416e-01 9.82538936e-01 -5.19966032e-03 -9.92090205e+00] [-2.77251374e-02 4.19505049e-05 9.99615584e-01 -3.60010281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.61264000000001 meters 0.01640874144614058 Centerline is valid? [True, True] Translation: X:86.25, Y:-9.93, Z:-3.60 [[ 9.82737937e-01 1.82708296e-01 2.90486815e-02 8.62511284e+01] [-1.82623979e-01 9.83167156e-01 -5.55218281e-03 -9.93316943e+00] [-2.95741394e-02 1.51354890e-04 9.99562578e-01 -3.60046032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.64264 meters 0.016610385665568304 Centerline is valid? [True, True] Translation: X:86.28, Y:-9.94, Z:-3.60 [[ 9.82984971e-01 1.81429765e-01 2.87016977e-02 8.62820198e+01] [-1.81346773e-01 9.83403886e-01 -5.49040178e-03 -9.94133436e+00] [-2.92214833e-02 1.92022189e-04 9.99572943e-01 -3.60037548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.67264 meters 0.018007319086846597 Centerline is valid? [True, True] Translation: X:86.31, Y:-9.95, Z:-3.60 [[ 9.83323877e-01 1.79675868e-01 2.81200321e-02 8.63120203e+01] [-1.79595347e-01 9.83725837e-01 -5.38406728e-03 -9.95226750e+00] [-2.86297891e-02 2.44054981e-04 9.99590054e-01 -3.60268346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.70264 meters 0.018360498548154327 Centerline is valid? [True, True] Translation: X:86.34, Y:-9.96, Z:-3.60 [[ 9.83298419e-01 1.79780448e-01 2.83409403e-02 8.63428896e+01] [-1.79698578e-01 9.83706729e-01 -5.43062726e-03 -9.95939646e+00] [-2.88554943e-02 2.47100536e-04 9.99583563e-01 -3.60473504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73264 meters 0.017606082959157117 Centerline is valid? [True, True] Translation: X:86.38, Y:-9.97, Z:-3.61 [[ 9.83279873e-01 1.79934116e-01 2.80072416e-02 8.63755891e+01] [-1.79854089e-01 9.83678634e-01 -5.37143909e-03 -9.96512475e+00] [-2.85166302e-02 2.44411026e-04 9.99593288e-01 -3.60501876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76264 meters 0.017703421879800434 Centerline is valid? [True, True] Translation: X:86.41, Y:-9.97, Z:-3.61 [[ 9.83161374e-01 1.80624078e-01 2.77246144e-02 8.64063871e+01] [-1.80545744e-01 9.83552180e-01 -5.32393141e-03 -9.97192857e+00] [-2.82302351e-02 2.28722579e-04 9.99601421e-01 -3.60824905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.79264 meters 0.016674362897360104 Centerline is valid? [True, True] Translation: X:86.44, Y:-9.98, Z:-3.61 [[ 9.82743806e-01 1.82806908e-01 2.82178445e-02 8.64376884e+01] [-1.82726577e-01 9.83148821e-01 -5.42155614e-03 -9.97662578e+00] [-2.87334384e-02 1.71850583e-04 9.99587095e-01 -3.60944807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82264 meters 0.015615804094225545 Centerline is valid? [True, True] Translation: X:86.47, Y:-9.98, Z:-3.61 [[ 9.82392101e-01 1.84625304e-01 2.86226723e-02 8.64693781e+01] [-1.84543274e-01 9.82808975e-01 -5.50441914e-03 -9.98016574e+00] [-2.91468743e-02 1.25376227e-04 9.99575132e-01 -3.61016695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85264000000001 meters 0.014833685836035875 Centerline is valid? [True, True] Translation: X:86.50, Y:-9.98, Z:-3.61 [[ 9.82036211e-01 1.86512880e-01 2.85976400e-02 8.65016826e+01] [-1.86431652e-01 9.82452513e-01 -5.50445473e-03 -9.98374079e+00] [-2.91224750e-02 7.40686036e-05 9.99575848e-01 -3.61025296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88264000000001 meters 0.01462254830758113 Centerline is valid? [True, True] Translation: X:86.53, Y:-9.98, Z:-3.61 [[ 9.81220057e-01 1.90773467e-01 2.85076134e-02 8.65336479e+01] [-1.90694395e-01 9.81634088e-01 -5.49230886e-03 -9.98396250e+00] [-2.90318318e-02 -4.70784849e-05 9.99578486e-01 -3.61236478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.91264000000001 meters 0.015101785381046756 Centerline is valid? [True, True] Translation: X:86.57, Y:-9.99, Z:-3.61 [[ 9.80787343e-01 1.93016095e-01 2.83015103e-02 8.65655118e+01] [-1.92938905e-01 9.81195585e-01 -5.45922947e-03 -9.98632497e+00] [-2.88230361e-02 -1.06119231e-04 9.99584524e-01 -3.61389226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94264000000001 meters 0.015853317553594346 Centerline is valid? [True, True] Translation: X:86.60, Y:-9.99, Z:-3.61 [[ 9.79992680e-01 1.97272766e-01 2.64159423e-02 8.65981144e+01] [-1.97070083e-01 9.80337440e-01 -1.00938782e-02 -9.98679566e+00] [-2.78877845e-02 4.68613481e-03 9.99600076e-01 -3.61450958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.97264000000001 meters 0.017421161420173935 Centerline is valid? [True, True] Translation: X:86.63, Y:-9.99, Z:-3.62 [[ 9.79868550e-01 1.97588003e-01 2.85763222e-02 8.66267946e+01] [-1.97653758e-01 9.80271752e-01 -5.33191389e-04 -9.99224061e+00] [-2.81179136e-02 -5.12575999e-03 9.99591471e-01 -3.61806278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.00264 meters 0.01980466223679876 Centerline is valid? [True, True] Translation: X:86.66, Y:-9.99, Z:-3.62 [[ 9.79193637e-01 2.01034724e-01 2.76561212e-02 8.66564629e+01] [-2.00964007e-01 9.79584061e-01 -5.34184725e-03 -9.98731968e+00] [-2.81653923e-02 -3.27182090e-04 9.99603223e-01 -3.61967849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.03264 meters 0.02122636554801428 Centerline is valid? [True, True] Translation: X:86.68, Y:-9.99, Z:-3.62 [[ 9.79052989e-01 2.01745151e-01 2.74615965e-02 8.66838971e+01] [-2.01675737e-01 9.79437989e-01 -5.30310783e-03 -9.98927828e+00] [-2.79668072e-02 -3.46314162e-04 9.99608792e-01 -3.62286664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06264 meters 0.02011400383986895 Centerline is valid? [True, True] Translation: X:86.71, Y:-10.00, Z:-3.62 [[ 9.79045027e-01 2.01820543e-01 2.71901425e-02 8.67134908e+01] [-2.01752586e-01 9.79422456e-01 -5.24845583e-03 -9.99511927e+00] [-2.76898824e-02 -3.47206977e-04 9.99616501e-01 -3.62300254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.09264 meters 0.02059887590111211 Centerline is valid? [True, True] Translation: X:86.74, Y:-10.00, Z:-3.63 [[ 9.79197320e-01 2.01092853e-01 2.70974696e-02 8.67413487e+01] [-2.01025099e-01 9.79572130e-01 -5.22986461e-03 -9.99930070e+00] [-2.75956144e-02 -3.26202091e-04 9.99619115e-01 -3.62632974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12264 meters 0.027005087248913987 Centerline is valid? [True, True] Translation: X:86.77, Y:-10.01, Z:-3.63 [[ 9.79873191e-01 1.97845751e-01 2.65629162e-02 8.67677007e+01] [-1.97779451e-01 9.80233138e-01 -5.12668541e-03 -1.00065988e+01] [-2.70521436e-02 -2.30097397e-04 9.99633997e-01 -3.63162711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.15264 meters 0.01705288315399412 Centerline is valid? [True, True] Translation: X:86.80, Y:-10.02, Z:-3.63 [[ 9.80235849e-01 1.95866853e-01 2.78182885e-02 8.67952954e+01] [-1.95793396e-01 9.80630482e-01 -5.36698111e-03 -1.00155140e+01] [-2.83306754e-02 -1.85729908e-04 9.99598589e-01 -3.62881004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18264 meters 0.015473020150577122 Centerline is valid? [True, True] Translation: X:86.82, Y:-10.02, Z:-3.63 [[ 9.80654632e-01 1.93679326e-01 2.83691845e-02 8.68238748e+01] [-1.93602066e-01 9.81064882e-01 -5.47150418e-03 -1.00242847e+01] [-2.88917278e-02 -1.26676805e-04 9.99582539e-01 -3.62788237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21264000000001 meters 0.014742912481915095 Centerline is valid? [True, True] Translation: X:86.85, Y:-10.03, Z:-3.63 [[ 9.81058653e-01 1.91570596e-01 2.87163013e-02 8.68533339e+01] [-1.91490562e-01 9.81478834e-01 -5.53736479e-03 -1.00330903e+01] [-2.92452382e-02 -6.64210314e-05 9.99572264e-01 -3.62861098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24264000000001 meters 0.02634294626867595 Centerline is valid? [True, True] Translation: X:86.88, Y:-10.05, Z:-3.63 [[ 9.81656005e-01 1.88394521e-01 2.93085581e-02 8.68831825e+01] [-1.88449333e-01 9.82082496e-01 -9.05612801e-04 -1.00479961e+01] [-2.89540344e-02 -4.63417797e-03 9.99570002e-01 -3.63016990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.27264000000001 meters 0.015583959023327546 Centerline is valid? [True, True] Translation: X:86.92, Y:-10.05, Z:-3.63 [[ 9.82327470e-01 1.85118100e-01 2.76410925e-02 8.69154133e+01] [-1.84906087e-01 9.82704694e-01 -1.00610060e-02 -1.00516969e+01] [-2.90255057e-02 4.77219627e-03 9.99567279e-01 -3.63247736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30264000000001 meters 0.016209219472164593 Centerline is valid? [True, True] Translation: X:86.95, Y:-10.06, Z:-3.63 [[ 9.82685895e-01 1.83118599e-01 2.82136627e-02 8.69462053e+01] [-1.83037722e-01 9.83090812e-01 -5.44503567e-03 -1.00631724e+01] [-2.87336798e-02 1.86595214e-04 9.99587085e-01 -3.63307900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.33264000000001 meters 0.01983448693784616 Centerline is valid? [True, True] Translation: X:86.98, Y:-10.08, Z:-3.64 [[ 9.83145774e-01 1.80717988e-01 2.76657822e-02 8.69753677e+01] [-1.80639131e-01 9.83534922e-01 -5.34426642e-03 -1.00751211e+01] [-2.81760680e-02 2.56670089e-04 9.99602943e-01 -3.63850715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36264000000001 meters 0.0190949145581978 Centerline is valid? [True, True] Translation: X:87.01, Y:-10.08, Z:-3.64 [[ 9.83245829e-01 1.80174546e-01 2.76545279e-02 8.70075605e+01] [-1.80095426e-01 9.83634615e-01 -5.34610305e-03 -1.00812224e+01] [-2.81651826e-02 2.76079538e-04 9.99603244e-01 -3.63700191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.39264 meters 0.017057532177113557 Centerline is valid? [True, True] Translation: X:87.04, Y:-10.08, Z:-3.63 [[ 9.82829126e-01 1.82414560e-01 2.77819594e-02 8.70370894e+01] [-1.82277339e-01 9.83219193e-01 -7.41554365e-03 -1.00846886e+01] [-2.86684588e-02 2.22419066e-03 9.99586501e-01 -3.63426351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42264 meters 0.018467628732709337 Centerline is valid? [True, True] Translation: X:87.07, Y:-10.09, Z:-3.64 [[ 9.83231830e-01 1.80100063e-01 2.86205487e-02 8.70699965e+01] [-1.80077750e-01 9.83646585e-01 -3.37647490e-03 -1.00946222e+01] [-2.87606083e-02 -1.83406643e-03 9.99584646e-01 -3.63687897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.45264 meters 0.018467628732709337 Centerline is valid? [True, True] Translation: X:87.10, Y:-10.10, Z:-3.64 [[ 9.83191468e-01 1.80384117e-01 2.82153657e-02 8.71020851e+01] [-1.80301482e-01 9.83596201e-01 -5.46700196e-03 -1.00997570e+01] [-2.87386869e-02 2.87837419e-04 9.99586917e-01 -3.63840706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48264 meters 0.021737686174493977 Centerline is valid? [True, True] Translation: X:87.13, Y:-10.11, Z:-3.64 [[ 9.83040882e-01 1.81322705e-01 2.74353948e-02 8.71342924e+01] [-1.81244794e-01 9.83423617e-01 -5.32117640e-03 -1.01059479e+01] [-2.79454652e-02 2.58411472e-04 9.99609416e-01 -3.64161211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.51264 meters 0.024869220581258736 Centerline is valid? [True, True] Translation: X:87.17, Y:-10.11, Z:-3.64 [[ 9.82934795e-01 1.81916423e-01 2.73057407e-02 8.71650575e+01] [-1.81839289e-01 9.83313965e-01 -5.30273944e-03 -1.01129400e+01] [-2.78147715e-02 2.46990649e-04 9.99613064e-01 -3.64448365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54264 meters 0.017561006966343218 Centerline is valid? [True, True] Translation: X:87.20, Y:-10.12, Z:-3.64 [[ 9.82716711e-01 1.82940561e-01 2.82951916e-02 8.71968370e+01] [-1.82858071e-01 9.83123949e-01 -5.49794480e-03 -1.01187303e+01] [-2.88234776e-02 2.28918089e-04 9.99584491e-01 -3.64347693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57264 meters 0.017131869258521924 Centerline is valid? [True, True] Translation: X:87.23, Y:-10.12, Z:-3.65 [[ 9.82498783e-01 1.84078062e-01 2.84852198e-02 8.72272809e+01] [-1.83994761e-01 9.82911606e-01 -5.54093595e-03 -1.01247308e+01] [-2.90184179e-02 2.02831621e-04 9.99578856e-01 -3.64553388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60264000000001 meters 0.017521488911000558 Centerline is valid? [True, True] Translation: X:87.26, Y:-10.13, Z:-3.64 [[ 9.82035586e-01 1.86495327e-01 2.87332680e-02 8.72591247e+01] [-1.86411553e-01 9.82455839e-01 -5.59088838e-03 -1.01286625e+01] [-2.92718414e-02 1.34238246e-04 9.99571479e-01 -3.64457428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.63264000000001 meters 0.02397243523275339 Centerline is valid? [True, True] Translation: X:87.29, Y:-10.13, Z:-3.65 [[ 9.81724053e-01 1.88125645e-01 2.87511015e-02 8.72914880e+01] [-1.88042315e-01 9.82144966e-01 -5.59947216e-03 -1.01326392e+01] [-2.92911539e-02 9.07128164e-05 9.99570918e-01 -3.64514549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66264000000001 meters 0.01464343356413756 Centerline is valid? [True, True] Translation: X:87.32, Y:-10.14, Z:-3.65 [[ 9.81279465e-01 1.90345616e-01 2.93113922e-02 8.73225412e+01] [-1.90259827e-01 9.81717141e-01 -5.71422565e-03 -1.01353876e+01] [-2.98631740e-02 3.04718631e-05 9.99553995e-01 -3.64713661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.69264000000001 meters 0.021468455388627034 Centerline is valid? [True, True] Translation: X:87.35, Y:-10.13, Z:-3.65 [[ 9.80374773e-01 1.95133315e-01 2.80765618e-02 8.73527912e+01] [-1.95056371e-01 9.80776722e-01 -5.48030227e-03 -1.01343581e+01] [-2.86062278e-02 -1.03762147e-04 9.99590753e-01 -3.65263703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72264000000001 meters 0.02863297193434329 Centerline is valid? [True, True] Translation: X:87.38, Y:-10.14, Z:-3.65 [[ 9.79946971e-01 1.97381267e-01 2.72868068e-02 8.73821951e+01] [-1.97309443e-01 9.80326787e-01 -5.32684017e-03 -1.01377062e+01] [-2.78014061e-02 -1.63923768e-04 9.99613453e-01 -3.65422225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.75264000000001 meters 0.01706952253348182 Centerline is valid? [True, True] Translation: X:87.41, Y:-10.14, Z:-3.65 [[ 9.79537500e-01 1.99382809e-01 2.74368516e-02 8.74113566e+01] [-1.99310996e-01 9.79921653e-01 -5.35547229e-03 -1.01413900e+01] [-2.79537541e-02 -2.22580272e-04 9.99609193e-01 -3.65249409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.78264 meters 0.020088139754127193 Centerline is valid? [True, True] Translation: X:87.44, Y:-10.14, Z:-3.66 [[ 9.78849182e-01 2.02772882e-01 2.71558002e-02 8.74401180e+01] [-2.02703849e-01 9.79225744e-01 -5.30013312e-03 -1.01412739e+01] [-2.76663820e-02 -3.16554247e-04 9.99617162e-01 -3.65558898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.81264 meters 0.03411469145718655 Centerline is valid? [True, True] Translation: X:87.47, Y:-10.15, Z:-3.66 [[ 9.78576889e-01 2.04144576e-01 2.66882802e-02 8.74691634e+01] [-2.04078442e-01 9.78940687e-01 -5.20769505e-03 -1.01451050e+01] [-2.71893661e-02 -3.50372635e-04 9.99630239e-01 -3.65776089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84264 meters 0.022649883228444637 Centerline is valid? [True, True] Translation: X:87.50, Y:-10.14, Z:-3.66 [[ 9.77754864e-01 2.08444775e-01 2.33709631e-02 8.74970573e+01] [-2.08071440e-01 9.77958263e-01 -1.74330735e-02 -1.01399858e+01] [-2.64896596e-02 1.21824424e-02 9.99574853e-01 -3.65748339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.87264 meters 0.032174137022844114 Centerline is valid? [True, True] Translation: X:87.53, Y:-10.15, Z:-3.66 [[ 9.77878440e-01 2.07234850e-01 2.84160935e-02 8.75265641e+01] [-2.07521779e-01 9.78201509e-01 7.51793730e-03 -1.01515336e+01] [-2.62386869e-02 -1.32485871e-02 9.99567910e-01 -3.66285831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90264 meters 0.030904169503787115 Centerline is valid? [True, True] Translation: X:87.56, Y:-10.15, Z:-3.66 [[ 9.77653336e-01 2.08528598e-01 2.66416831e-02 8.75563326e+01] [-2.08464293e-01 9.78016157e-01 -5.19963188e-03 -1.01483529e+01] [-2.71402684e-02 -4.70402161e-04 9.99631524e-01 -3.66227864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.93264 meters 0.03154465156167056 Centerline is valid? [True, True] Translation: X:87.59, Y:-10.15, Z:-3.66 [[ 9.77600149e-01 2.08702986e-01 2.72215336e-02 8.75850229e+01] [-2.08635956e-01 9.77978950e-01 -5.31141857e-03 -1.01545498e+01] [-2.77305958e-02 -4.86947101e-04 9.99615314e-01 -3.66182428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96264000000001 meters 0.02386697806692239 Centerline is valid? [True, True] Translation: X:87.61, Y:-10.16, Z:-3.66 [[ 9.77642411e-01 2.08510727e-01 2.71770706e-02 8.76137310e+01] [-2.08443880e-01 9.78019961e-01 -5.30137526e-03 -1.01588217e+01] [-2.76851111e-02 -4.82044749e-04 9.99616578e-01 -3.66108489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.99264000000001 meters 0.0312234349204593 Centerline is valid? [True, True] Translation: X:87.64, Y:-10.16, Z:-3.66 [[ 9.77703328e-01 2.08235863e-01 2.70929446e-02 8.76424679e+01] [-2.08169362e-01 9.78078525e-01 -5.28358992e-03 -1.01626663e+01] [-2.75992602e-02 -4.74137521e-04 9.99618955e-01 -3.66402916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02264000000001 meters 0.024624677697568105 Centerline is valid? [True, True] Translation: X:87.67, Y:-10.17, Z:-3.66 [[ 9.77688568e-01 2.08199635e-01 2.78922100e-02 8.76700976e+01] [-2.08129173e-01 9.78086230e-01 -5.43817655e-03 -1.01652975e+01] [-2.84132129e-02 -4.88339557e-04 9.99596144e-01 -3.66414727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.05264000000001 meters 0.023625590948505575 Centerline is valid? [True, True] Translation: X:87.70, Y:-10.17, Z:-3.66 [[ 9.77689676e-01 2.08140263e-01 2.82936074e-02 8.76987512e+01] [-2.08067792e-01 9.78098863e-01 -5.51443383e-03 -1.01708667e+01] [-2.88217209e-02 -4.95583370e-04 9.99584445e-01 -3.66348818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08264000000001 meters 0.02176568534791028 Centerline is valid? [True, True] Translation: X:87.72, Y:-10.19, Z:-3.66 [[ 9.77302507e-01 2.08533730e-01 3.73295087e-02 8.77229949e+01] [-2.09039686e-01 9.77854342e-01 1.01634222e-02 -1.01855548e+01] [-3.43834058e-02 -1.77360867e-02 9.99251326e-01 -3.66329975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.11264000000001 meters 0.03061449944576073 Centerline is valid? [True, True] Translation: X:87.76, Y:-10.17, Z:-3.67 [[ 9.77750275e-01 2.08322572e-01 2.46192138e-02 8.77587301e+01] [-2.07806194e-01 9.77923229e-01 -2.19714287e-02 -1.01660600e+01] [-2.86528456e-02 1.63665453e-02 9.99455427e-01 -3.66882929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14264 meters 0.02131930684804444 Centerline is valid? [True, True] Translation: X:87.78, Y:-10.19, Z:-3.67 [[ 9.77379519e-01 2.08351491e-01 3.63171067e-02 8.77780730e+01] [-2.08731014e-01 9.77948392e-01 6.95025140e-03 -1.01925301e+01] [-3.40681608e-02 -1.43735399e-02 9.99316147e-01 -3.66665949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.17264 meters 0.021058666009833863 Centerline is valid? [True, True] Translation: X:87.81, Y:-10.18, Z:-3.67 [[ 9.78457264e-01 2.05026427e-01 2.41980600e-02 8.78145994e+01] [-2.04617276e-01 9.78670089e-01 -1.83473879e-02 -1.01809453e+01] [-2.74436169e-02 1.30007939e-02 9.99538807e-01 -3.67096188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20264 meters 0.02000538265888397 Centerline is valid? [True, True] Translation: X:87.84, Y:-10.19, Z:-3.67 [[ 9.78776140e-01 2.03140759e-01 2.70388412e-02 8.78412299e+01] [-2.03072840e-01 9.79149487e-01 -5.26353263e-03 -1.01939535e+01] [-2.75443055e-02 -3.39034099e-04 9.99620526e-01 -3.67185297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23264 meters 0.018755766067573194 Centerline is valid? [True, True] Translation: X:87.87, Y:-10.20, Z:-3.67 [[ 9.79052125e-01 2.01741799e-01 2.75169754e-02 8.78697025e+01] [-2.01670943e-01 9.79438693e-01 -5.35517632e-03 -1.01996411e+01] [-2.80315533e-02 -3.06377634e-04 9.99606992e-01 -3.67244442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26264 meters 0.017997511865891616 Centerline is valid? [True, True] Translation: X:87.90, Y:-10.21, Z:-3.67 [[ 9.79336095e-01 2.00425368e-01 2.70274861e-02 8.78978100e+01] [-2.00356547e-01 9.79708937e-01 -5.25856890e-03 -1.02055479e+01] [-2.75330203e-02 -2.65227454e-04 9.99620859e-01 -3.67401879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.29264 meters 0.01661262676449117 Centerline is valid? [True, True] Translation: X:87.93, Y:-10.21, Z:-3.68 [[ 9.79916447e-01 1.97594479e-01 2.68361470e-02 8.79259174e+01] [-1.97525616e-01 9.80283830e-01 -5.21956300e-03 -1.02140436e+01] [-2.73383977e-02 -1.86090836e-04 9.99626219e-01 -3.67625023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32264 meters 0.016551008845381916 Centerline is valid? [True, True] Translation: X:87.95, Y:-10.22, Z:-3.68 [[ 9.80185303e-01 1.96225066e-01 2.70646347e-02 8.79525788e+01] [-1.96154506e-01 9.80558872e-01 -5.26392441e-03 -1.02201262e+01] [-2.75713816e-02 -1.49228693e-04 9.99619826e-01 -3.67844115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.35264000000001 meters 0.016053873781457662 Centerline is valid? [True, True] Translation: X:87.98, Y:-10.23, Z:-3.68 [[ 9.80386357e-01 1.95273307e-01 2.66632196e-02 8.79808785e+01] [-1.95204524e-01 9.80748857e-01 -5.18395784e-03 -1.02257328e+01] [-2.71622108e-02 -1.22499561e-04 9.99631032e-01 -3.67903589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38264000000001 meters 0.01626139401237064 Centerline is valid? [True, True] Translation: X:88.01, Y:-10.23, Z:-3.68 [[ 9.80510759e-01 1.94709716e-01 2.62064427e-02 8.80080376e+01] [-1.94643097e-01 9.80860905e-01 -5.09407992e-03 -1.02291956e+01] [-2.66967420e-02 -1.06103003e-04 9.99643573e-01 -3.68187171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.41264000000001 meters 0.016348085956228654 Centerline is valid? [True, True] Translation: X:88.04, Y:-10.23, Z:-3.68 [[ 9.80542048e-01 1.94668117e-01 2.53301331e-02 8.80367594e+01] [-1.94605903e-01 9.80869162e-01 -4.92226164e-03 -1.02297883e+01] [-2.58037539e-02 -1.02908924e-04 9.99667022e-01 -3.68384106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44264000000001 meters 0.016104702014713704 Centerline is valid? [True, True] Translation: X:88.06, Y:-10.23, Z:-3.68 [[ 9.80575753e-01 1.94581794e-01 2.46803196e-02 8.80649396e+01] [-1.94522747e-01 9.80886291e-01 -4.79429641e-03 -1.02340316e+01] [-2.51414699e-02 -9.97127472e-05 9.99683898e-01 -3.68466410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.47264000000001 meters 0.01622802576410594 Centerline is valid? [True, True] Translation: X:88.09, Y:-10.24, Z:-3.69 [[ 9.80615802e-01 1.94375170e-01 2.47172281e-02 8.80927785e+01] [-1.94315907e-01 9.80927257e-01 -4.80042025e-03 -1.02385988e+01] [-2.51788852e-02 -9.55826373e-05 9.99682957e-01 -3.68656147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.50264000000001 meters 0.015179570241849898 Centerline is valid? [True, True] Translation: X:88.12, Y:-10.26, Z:-3.69 [[ 9.80327273e-01 1.93500276e-01 3.89368807e-02 8.81160443e+01] [-1.94127840e-01 9.80890048e-01 1.30036390e-02 -1.02554039e+01] [-3.56765911e-02 -2.03065545e-02 9.99157057e-01 -3.68827697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.53264 meters 0.0158101009392394 Centerline is valid? [True, True] Translation: X:88.15, Y:-10.24, Z:-3.69 [[ 9.80817568e-01 1.93703776e-01 2.18115803e-02 8.81529481e+01] [-1.93166036e-01 9.80858940e-01 -2.45483898e-02 -1.02370557e+01] [-2.61491993e-02 1.98642355e-02 9.99460670e-01 -3.68728982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56264 meters 0.02568173411681527 Centerline is valid? [True, True] Translation: X:88.18, Y:-10.25, Z:-3.69 [[ 9.81058344e-01 1.92068628e-01 2.51826786e-02 8.81788807e+01] [-1.92006389e-01 9.81381496e-01 -4.88934849e-03 -1.02534765e+01] [-2.56529053e-02 -3.84990627e-05 9.99670909e-01 -3.68963818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.59264 meters 0.024168145230843385 Centerline is valid? [True, True] Translation: X:88.21, Y:-10.26, Z:-3.69 [[ 9.81328709e-01 1.90757527e-01 2.46075510e-02 8.82069688e+01] [-1.90697717e-01 9.81637186e-01 -4.77648848e-03 -1.02594246e+01] [-2.50668383e-02 -5.29851830e-06 9.99685777e-01 -3.69183965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62264 meters 0.01623165301490775 Centerline is valid? [True, True] Translation: X:88.23, Y:-10.27, Z:-3.69 [[ 9.81772955e-01 1.88376646e-01 2.52211041e-02 8.82344907e+01] [-1.88313065e-01 9.82096857e-01 -4.89423649e-03 -1.02661398e+01] [-2.56915269e-02 5.55655961e-05 9.99669917e-01 -3.69362813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.65264 meters 0.016057410587611346 Centerline is valid? [True, True] Translation: X:88.26, Y:-10.27, Z:-3.69 [[ 9.81923251e-01 1.87546871e-01 2.55519118e-02 8.82629851e+01] [-1.87481364e-01 9.82255652e-01 -4.95707557e-03 -1.02716760e+01] [-2.60281938e-02 7.69604663e-05 9.99661206e-01 -3.69358699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68264 meters 0.01576999833088243 Centerline is valid? [True, True] Translation: X:88.29, Y:-10.27, Z:-3.69 [[ 9.82177604e-01 1.86328864e-01 2.46720175e-02 8.82937008e+01] [-1.85915985e-01 9.82398792e-01 -1.81069200e-02 -1.02703993e+01] [-2.76116020e-02 1.31972889e-02 9.99531606e-01 -3.69266554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.71264000000001 meters 0.027313729360772226 Centerline is valid? [True, True] Translation: X:88.32, Y:-10.29, Z:-3.69 [[ 9.82206017e-01 1.85769861e-01 2.75844083e-02 8.83187319e+01] [-1.86015618e-01 9.82524585e-01 6.60528398e-03 -1.02912690e+01] [-2.58752967e-02 -1.16188804e-02 9.99597654e-01 -3.69477242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74264000000001 meters 0.016819538265331013 Centerline is valid? [True, True] Translation: X:88.35, Y:-10.29, Z:-3.70 [[ 9.82390967e-01 1.85113792e-01 2.53154322e-02 8.83466976e+01] [-1.85048790e-01 9.82717083e-01 -4.90711949e-03 -1.02924218e+01] [-2.57862831e-02 1.36119776e-04 9.99667469e-01 -3.69511859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.77264000000001 meters 0.017362906047269963 Centerline is valid? [True, True] Translation: X:88.37, Y:-10.30, Z:-3.70 [[ 9.82529467e-01 1.84340413e-01 2.55823993e-02 8.83734067e+01] [-1.84273811e-01 9.82862446e-01 -4.95729758e-03 -1.02992281e+01] [-2.60578098e-02 1.56524723e-04 9.99660425e-01 -3.69749680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80264000000001 meters 0.019571878579489516 Centerline is valid? [True, True] Translation: X:88.40, Y:-10.31, Z:-3.70 [[ 9.82663444e-01 1.83675572e-01 2.52158526e-02 8.84016209e+01] [-1.83610697e-01 9.82986905e-01 -4.88432231e-03 -1.03055872e+01] [-2.56839836e-02 1.69744720e-04 9.99670098e-01 -3.69856322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.83264000000001 meters 0.017612733487486366 Centerline is valid? [True, True] Translation: X:88.43, Y:-10.31, Z:-3.70 [[ 9.82849340e-01 1.82670153e-01 2.52742922e-02 8.84311215e+01] [-1.82604687e-01 9.83174236e-01 -4.89397233e-03 -1.03113074e+01] [-2.57430156e-02 1.94833266e-04 9.99668575e-01 -3.69755261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86264000000001 meters 0.0190556552170819 Centerline is valid? [True, True] Translation: X:88.46, Y:-10.32, Z:-3.70 [[ 9.83124057e-01 1.81066373e-01 2.61162274e-02 8.84587357e+01] [-1.80995919e-01 9.83470848e-01 -5.05651339e-03 -1.03201638e+01] [-2.66001129e-02 2.44249381e-04 9.99646125e-01 -3.69901888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.89264 meters 0.029642987561917123 Centerline is valid? [True, True] Translation: X:88.49, Y:-10.32, Z:-3.70 [[ 9.83501978e-01 1.79295768e-01 2.40184587e-02 8.84924743e+01] [-1.78895273e-01 9.83705005e-01 -1.79149394e-02 -1.03207081e+01] [-2.68391509e-02 1.33225896e-02 9.99550983e-01 -3.69978301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.92264 meters 0.029582570508973862 Centerline is valid? [True, True] Translation: X:88.52, Y:-10.34, Z:-3.70 [[ 9.83524487e-01 1.78683783e-01 2.74169668e-02 8.85154891e+01] [-1.78956618e-01 9.83825861e-01 7.82324818e-03 -1.03444161e+01] [-2.55756334e-02 -1.26008038e-02 9.99593471e-01 -3.70206366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.95264 meters 0.027305335226700138 Centerline is valid? [True, True] Translation: X:88.55, Y:-10.34, Z:-3.71 [[ 9.84036972e-01 1.76051302e-01 2.60226362e-02 8.85492602e+01] [-1.75799054e-01 9.84356535e-01 -1.17005917e-02 -1.03441439e+01] [-2.76754564e-02 6.93906002e-03 9.99592876e-01 -3.70538490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98264 meters 0.021900372051752395 Centerline is valid? [True, True] Translation: X:88.57, Y:-10.36, Z:-3.70 [[ 9.83959156e-01 1.76514468e-01 2.58267829e-02 8.85734127e+01] [-1.76611316e-01 9.84279530e-01 1.50011874e-03 -1.03606398e+01] [-2.51559811e-02 -6.03735768e-03 9.99665307e-01 -3.70408976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.01264 meters 0.021679413910898965 Centerline is valid? [True, True] Translation: X:88.61, Y:-10.36, Z:-3.70 [[ 9.84158176e-01 1.75533933e-01 2.49102828e-02 8.86079197e+01] [-1.75152876e-01 9.84398753e-01 -1.67501037e-02 -1.03590107e+01] [-2.74618629e-02 1.21216438e-02 9.99549354e-01 -3.70309878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04264 meters 0.03163857080540743 Centerline is valid? [True, True] Translation: X:88.63, Y:-10.38, Z:-3.71 [[ 9.83927862e-01 1.76410006e-01 2.76671695e-02 8.86304269e+01] [-1.76648640e-01 9.84253084e-01 6.41286281e-03 -1.03828243e+01] [-2.61002037e-02 -1.11971623e-02 9.99596620e-01 -3.70716657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07264 meters 0.031980719283728594 Centerline is valid? [True, True] Translation: X:88.67, Y:-10.38, Z:-3.71 [[ 9.84019707e-01 1.75957291e-01 2.72809007e-02 8.86660195e+01] [-1.75714657e-01 9.84378913e-01 -1.10686133e-02 -1.03781265e+01] [-2.88023466e-02 6.09807953e-03 9.99566525e-01 -3.70842832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10264000000001 meters 0.02885398463897206 Centerline is valid? [True, True] Translation: X:88.69, Y:-10.39, Z:-3.71 [[ 9.83647813e-01 1.78249270e-01 2.57716512e-02 8.86912037e+01] [-1.78323182e-01 9.83971802e-01 5.80184763e-04 -1.03922238e+01] [-2.52551606e-02 -5.16638031e-03 9.99667687e-01 -3.71142010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.13264000000001 meters 0.019377636826348174 Centerline is valid? [True, True] Translation: X:88.72, Y:-10.39, Z:-3.71 [[ 9.83147584e-01 1.81270151e-01 2.37056954e-02 8.87214612e+01] [-1.81212021e-01 9.83433314e-01 -4.59572596e-03 -1.03947127e+01] [-2.41460386e-02 2.22519888e-04 9.99708417e-01 -3.71180231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16264000000001 meters 0.017855287455219998 Centerline is valid? [True, True] Translation: X:88.76, Y:-10.39, Z:-3.71 [[ 9.82933444e-01 1.82271302e-01 2.48800704e-02 8.87553915e+01] [-1.81982855e-01 9.83210090e-01 -1.34223619e-02 -1.03949511e+01] [-2.69088477e-02 8.66554217e-03 9.99600331e-01 -3.71233352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.19264000000001 meters 0.01713872602587108 Centerline is valid? [True, True] Translation: X:88.78, Y:-10.41, Z:-3.71 [[ 9.82410957e-01 1.85070706e-01 2.48504442e-02 8.87828776e+01] [-1.85195674e-01 9.82697661e-01 2.80518405e-03 -1.04076553e+01] [-2.39013160e-02 -7.35803832e-03 9.99687244e-01 -3.71296208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22264000000001 meters 0.017310523901822143 Centerline is valid? [True, True] Translation: X:88.81, Y:-10.41, Z:-3.72 [[ 9.81897034e-01 1.87985447e-01 2.32311438e-02 8.88133663e+01] [-1.87931537e-01 9.82171812e-01 -4.50206470e-03 -1.04069632e+01] [-2.36632973e-02 5.46994202e-05 9.99719983e-01 -3.71730057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.25264000000001 meters 0.017280175039109044 Centerline is valid? [True, True] Translation: X:88.84, Y:-10.41, Z:-3.72 [[ 9.80899740e-01 1.93172311e-01 2.28069560e-02 8.88423713e+01] [-1.93121742e-01 9.81164845e-01 -4.42032938e-03 -1.04073033e+01] [-2.32312687e-02 -6.86191323e-05 9.99730115e-01 -3.71767449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.28264 meters 0.027321007493714303 Centerline is valid? [True, True] Translation: X:88.87, Y:-10.41, Z:-3.72 [[ 9.80397112e-01 1.95690931e-01 2.29469325e-02 8.88700703e+01] [-1.95640450e-01 9.80665612e-01 -4.44653629e-03 -1.04091859e+01] [-2.33734145e-02 -1.29976877e-04 9.99726796e-01 -3.72059237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.31264 meters 0.026895099194456047 Centerline is valid? [True, True] Translation: X:88.90, Y:-10.41, Z:-3.72 [[ 9.79960694e-01 1.97819709e-01 2.33324154e-02 8.88990336e+01] [-1.97768163e-01 9.80238404e-01 -4.51946537e-03 -1.04117330e+01] [-2.37653689e-02 -1.85510491e-04 9.99717547e-01 -3.72075606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34264 meters 0.026895099194456047 Centerline is valid? [True, True] Translation: X:88.93, Y:-10.42, Z:-3.72 [[ 9.79970131e-01 1.97772926e-01 2.33326305e-02 8.89268441e+01] [-1.97721393e-01 9.80247844e-01 -4.51835423e-03 -1.04170245e+01] [-2.37653689e-02 -1.85508013e-04 9.99717547e-01 -3.72199258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.37264 meters 0.019979693395296916 Centerline is valid? [True, True] Translation: X:88.96, Y:-10.42, Z:-3.72 [[ 9.79319986e-01 2.00873412e-01 2.41295832e-02 8.89558530e+01] [-2.00819269e-01 9.79617170e-01 -4.67145527e-03 -1.04208588e+01] [-2.45761252e-02 -2.70835740e-04 9.99697925e-01 -3.71867405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40264 meters 0.021692713514430792 Centerline is valid? [True, True] Translation: X:88.98, Y:-10.42, Z:-3.72 [[ 9.79105755e-01 2.01780865e-01 2.52270405e-02 8.89838726e+01] [-2.01722013e-01 9.79430645e-01 -4.88279818e-03 -1.04240202e+01] [-2.56933918e-02 -3.08073608e-04 9.99669823e-01 -3.72089286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.43264 meters 0.027275986776123643 Centerline is valid? [True, True] Translation: X:89.01, Y:-10.43, Z:-3.72 [[ 9.79096439e-01 2.00655901e-01 3.32772000e-02 8.90144282e+01] [-2.00781466e-01 9.79635957e-01 4.41240720e-04 -1.04344441e+01] [-3.25110041e-02 -7.11346223e-03 9.99446063e-01 -3.72014303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46264000000001 meters 0.02147195187350943 Centerline is valid? [True, True] Translation: X:89.04, Y:-10.43, Z:-3.72 [[ 9.78972968e-01 2.02578659e-01 2.39544529e-02 8.90430735e+01] [-2.02346899e-01 9.79243322e-01 -1.17579362e-02 -1.04315277e+01] [-2.58391449e-02 6.66359241e-03 9.99643904e-01 -3.72177777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.49264000000001 meters 0.02147568304946568 Centerline is valid? [True, True] Translation: X:89.07, Y:-10.44, Z:-3.72 [[ 9.79113474e-01 2.01819684e-01 2.46093619e-02 8.90705665e+01] [-2.01763689e-01 9.79422648e-01 -4.76336524e-03 -1.04422982e+01] [-2.50643073e-02 -3.01400549e-04 9.99685795e-01 -3.72351768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52264000000001 meters 0.021357597205544317 Centerline is valid? [True, True] Translation: X:89.10, Y:-10.45, Z:-3.72 [[ 9.79203253e-01 2.01405579e-01 2.44291210e-02 8.90972787e+01] [-2.01350296e-01 9.79507891e-01 -4.72751172e-03 -1.04485199e+01] [-2.48806640e-02 -2.89615885e-04 9.99690386e-01 -3.72492157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.55264000000001 meters 0.026358989792287024 Centerline is valid? [True, True] Translation: X:89.13, Y:-10.46, Z:-3.73 [[ 9.79376401e-01 2.00575447e-01 2.43177989e-02 8.91254303e+01] [-2.00520453e-01 9.79678222e-01 -4.70424635e-03 -1.04559754e+01] [-2.47671743e-02 -2.68988203e-04 9.99693210e-01 -3.72634859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58264000000001 meters 0.019808806341785966 Centerline is valid? [True, True] Translation: X:89.15, Y:-10.46, Z:-3.73 [[ 9.79711864e-01 1.99055103e-01 2.32750686e-02 8.91528066e+01] [-1.99004321e-01 9.79988274e-01 -4.50149102e-03 -1.04641065e+01] [-2.37053390e-02 -2.21675058e-04 9.99718964e-01 -3.72796730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.61264000000001 meters 0.019375148758229634 Centerline is valid? [True, True] Translation: X:89.18, Y:-10.47, Z:-3.73 [[ 9.79927808e-01 1.98016363e-01 2.30436754e-02 8.91807648e+01] [-1.97966325e-01 9.80198695e-01 -4.45560823e-03 -1.04704813e+01] [-2.34696639e-02 -1.95697337e-04 9.99724530e-01 -3.73004388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.64264 meters 0.020084507511030376 Centerline is valid? [True, True] Translation: X:89.21, Y:-10.48, Z:-3.73 [[ 9.80134673e-01 1.96983869e-01 2.30949766e-02 8.92079592e+01] [-1.96933343e-01 9.80406714e-01 -4.46461623e-03 -1.04758415e+01] [-2.35219275e-02 -1.72245784e-04 9.99723306e-01 -3.73490401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.67264 meters 0.01845292419882599 Centerline is valid? [True, True] Translation: X:89.24, Y:-10.48, Z:-3.73 [[ 9.80317828e-01 1.96016225e-01 2.35498691e-02 8.92356887e+01] [-1.95963452e-01 9.80600640e-01 -4.55080760e-03 -1.04842476e+01] [-2.39850489e-02 -1.53675818e-04 9.99712306e-01 -3.73280995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.70264 meters 0.026571557648724993 Centerline is valid? [True, True] Translation: X:89.26, Y:-10.49, Z:-3.73 [[ 9.80647549e-01 1.94385131e-01 2.33410763e-02 8.92642826e+01] [-1.94332865e-01 9.80925281e-01 -4.50886654e-03 -1.04939566e+01] [-2.37723084e-02 -1.14329301e-04 9.99717392e-01 -3.73225719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.73264 meters 0.0240769971894454 Centerline is valid? [True, True] Translation: X:89.29, Y:-10.50, Z:-3.73 [[ 9.80714766e-01 1.94131956e-01 2.26126288e-02 8.92928845e+01] [-1.94082847e-01 9.80975419e-01 -4.36761724e-03 -1.05008548e+01] [-2.30303271e-02 -1.05336651e-04 9.99734761e-01 -3.73340528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76264 meters 0.018050026696576113 Centerline is valid? [True, True] Translation: X:89.32, Y:-10.51, Z:-3.74 [[ 9.80692300e-01 1.94233865e-01 2.27116548e-02 8.93206984e+01] [-1.94184365e-01 9.80955246e-01 -4.38615733e-03 -1.05060226e+01] [-2.31310572e-02 -1.08777564e-04 9.99732435e-01 -3.73651683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.79264 meters 0.01835867324905162 Centerline is valid? [True, True] Translation: X:89.35, Y:-10.51, Z:-3.74 [[ 9.80583582e-01 1.94816164e-01 2.24165182e-02 8.93498253e+01] [-1.94768096e-01 9.80839767e-01 -4.32910394e-03 -1.05090172e+01] [-2.28303919e-02 -1.20974309e-04 9.99739345e-01 -3.73770297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82264 meters 0.018028013301672495 Centerline is valid? [True, True] Translation: X:89.38, Y:-10.51, Z:-3.74 [[ 9.80479866e-01 1.95321008e-01 2.25596035e-02 8.93783730e+01] [-1.95272483e-01 9.80739357e-01 -4.35564456e-03 -1.05133504e+01] [-2.29758400e-02 -1.34648006e-04 9.99736011e-01 -3.73687932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.85264000000001 meters 0.018411389149345973 Centerline is valid? [True, True] Translation: X:89.41, Y:-10.52, Z:-3.74 [[ 9.80396250e-01 1.95677494e-01 2.30978676e-02 8.94059376e+01] [-1.95626747e-01 9.80668291e-01 -4.45858849e-03 -1.05176783e+01] [-2.35237918e-02 -1.47377281e-04 9.99723266e-01 -3.73844631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88264000000001 meters 0.017995185611932998 Centerline is valid? [True, True] Translation: X:89.43, Y:-10.52, Z:-3.74 [[ 9.80279588e-01 1.96168797e-01 2.38690518e-02 8.94341449e+01] [-1.96114795e-01 9.80570128e-01 -4.60561430e-03 -1.05230975e+01] [-2.43087570e-02 -1.66284516e-04 9.99704485e-01 -3.73725449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.91264000000001 meters 0.018148963895088705 Centerline is valid? [True, True] Translation: X:89.46, Y:-10.53, Z:-3.74 [[ 9.80148852e-01 1.96817612e-01 2.38967503e-02 8.94636848e+01] [-1.96763719e-01 9.80440102e-01 -4.60927201e-03 -1.05276186e+01] [-2.43365182e-02 -1.84240789e-04 9.99703806e-01 -3.73760308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94264000000001 meters 0.02892520564940516 Centerline is valid? [True, True] Translation: X:89.49, Y:-10.53, Z:-3.74 [[ 9.80180790e-01 1.96740465e-01 2.32122270e-02 8.94917885e+01] [-1.96689601e-01 9.80455587e-01 -4.47692421e-03 -1.05321621e+01] [-2.36393498e-02 -1.77408577e-04 9.99720536e-01 -3.74192265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.97264000000001 meters 0.018136962883448522 Centerline is valid? [True, True] Translation: X:89.52, Y:-10.54, Z:-3.74 [[ 9.80271060e-01 1.96230002e-01 2.37156955e-02 8.95201603e+01] [-1.96176775e-01 9.80557881e-01 -4.57332498e-03 -1.05382424e+01] [-2.41520357e-02 -1.69370546e-04 9.99708283e-01 -3.74085592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.00264000000001 meters 0.02694042590558721 Centerline is valid? [True, True] Translation: X:89.55, Y:-10.54, Z:-3.74 [[ 9.80377718e-01 1.95783683e-01 2.29843175e-02 8.95491834e+01] [-1.95733604e-01 9.80647095e-01 -4.43069041e-03 -1.05442413e+01] [-2.34069611e-02 -1.55053148e-04 9.99726008e-01 -3.74245990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.03264 meters 0.017860260499341137 Centerline is valid? [True, True] Translation: X:89.58, Y:-10.55, Z:-3.75 [[ 9.80708550e-01 1.94139444e-01 2.28170038e-02 8.95773427e+01] [-1.94089654e-01 9.80973936e-01 -4.39811859e-03 -1.05512253e+01] [-2.32367343e-02 -1.15271852e-04 9.99729984e-01 -3.74620946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06264 meters 0.017766788327760075 Centerline is valid? [True, True] Translation: X:89.61, Y:-10.56, Z:-3.75 [[ 9.80899651e-01 1.93118309e-01 2.32635653e-02 8.96054431e+01] [-1.93066285e-01 9.81175474e-01 -4.48326036e-03 -1.05588263e+01] [-2.36914393e-02 -9.37815962e-05 9.99719314e-01 -3.74841536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.09264 meters 0.01659324476322634 Centerline is valid? [True, True] Translation: X:89.63, Y:-10.57, Z:-3.75 [[ 9.81213926e-01 1.91488262e-01 2.34835573e-02 8.96332212e+01] [-1.91434809e-01 9.81494902e-01 -4.52454840e-03 -1.05695753e+01] [-2.39153896e-02 -5.60203966e-05 9.99713985e-01 -3.74639850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12264 meters 0.017124772985772647 Centerline is valid? [True, True] Translation: X:89.66, Y:-10.58, Z:-3.75 [[ 9.81330745e-01 1.90894671e-01 2.34348977e-02 8.96616715e+01] [-1.90841290e-01 9.81610525e-01 -4.51432121e-03 -1.05756375e+01] [-2.38657021e-02 -4.23039305e-05 9.99715173e-01 -3.74977086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.15264 meters 0.015131979891374407 Centerline is valid? [True, True] Translation: X:89.69, Y:-10.59, Z:-3.75 [[ 9.81108781e-01 1.90084157e-01 3.59662675e-02 8.96898869e+01] [-1.90682680e-01 9.81552123e-01 1.39837389e-02 -1.05948687e+01] [-3.26446790e-02 -2.05777133e-02 9.99255164e-01 -3.74718445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18264 meters 0.016782470861399442 Centerline is valid? [True, True] Translation: X:89.72, Y:-10.58, Z:-3.75 [[ 9.81388192e-01 1.90965081e-01 2.02374372e-02 8.97230522e+01] [-1.90449435e-01 9.81380366e-01 -2.49317121e-02 -1.05778751e+01] [-2.46217099e-02 2.06134794e-02 9.99484295e-01 -3.75161394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21264000000001 meters 0.01620037877282567 Centerline is valid? [True, True] Translation: X:89.75, Y:-10.60, Z:-3.75 [[ 9.81540944e-01 1.89713376e-01 2.42117790e-02 8.97504305e+01] [-1.89655986e-01 9.81839516e-01 -4.66607320e-03 -1.05979439e+01] [-2.46572979e-02 -1.19669212e-05 9.99695963e-01 -3.75045957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24264000000001 meters 0.016645035394436413 Centerline is valid? [True, True] Translation: X:89.78, Y:-10.61, Z:-3.75 [[ 9.81556664e-01 1.89667397e-01 2.39331108e-02 8.97791012e+01] [-1.89611301e-01 9.81848399e-01 -4.61261048e-03 -1.06060237e+01] [-2.43735483e-02 -1.04497234e-05 9.99702921e-01 -3.75369355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.27264000000001 meters 0.016760298441349086 Centerline is valid? [True, True] Translation: X:89.81, Y:-10.61, Z:-3.76 [[ 9.81454669e-01 1.90237587e-01 2.35879937e-02 8.98087959e+01] [-1.90183274e-01 9.81738081e-01 -4.54555700e-03 -1.06113532e+01] [-2.40219675e-02 -2.47837471e-05 9.99711431e-01 -3.75538191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30264000000001 meters 0.016848469916803874 Centerline is valid? [True, True] Translation: X:89.84, Y:-10.62, Z:-3.76 [[ 9.81270572e-01 1.91280054e-01 2.28036112e-02 8.98391777e+01] [-1.91229576e-01 9.81535500e-01 -4.39440148e-03 -1.06160725e+01] [-2.32231153e-02 -4.86280458e-05 9.99730306e-01 -3.75584403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.33264000000001 meters 0.01771392633876353 Centerline is valid? [True, True] Translation: X:89.87, Y:-10.62, Z:-3.76 [[ 9.80680684e-01 1.94259794e-01 2.29897525e-02 8.98676170e+01] [-1.94209288e-01 9.80950110e-01 -4.43104352e-03 -1.06186200e+01] [-2.34125739e-02 -1.19384690e-04 9.99725881e-01 -3.75827805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36264000000001 meters 0.018197022308315266 Centerline is valid? [True, True] Translation: X:89.90, Y:-10.62, Z:-3.76 [[ 9.80396145e-01 1.95687322e-01 2.30189139e-02 8.98966780e+01] [-1.95637108e-01 9.80666329e-01 -4.43550745e-03 -1.06227009e+01] [-2.34418464e-02 -1.54799354e-04 9.99725190e-01 -3.75913635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.39264 meters 0.019992441617676715 Centerline is valid? [True, True] Translation: X:89.93, Y:-10.63, Z:-3.76 [[ 9.80132458e-01 1.96990221e-01 2.31347690e-02 8.99271347e+01] [-1.96939890e-01 9.80405435e-01 -4.45673134e-03 -1.06271840e+01] [-2.35593857e-02 -1.87971802e-04 9.99722421e-01 -3.75848228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42264 meters 0.020032101593698146 Centerline is valid? [True, True] Translation: X:89.96, Y:-10.63, Z:-3.76 [[ 9.79839588e-01 1.98324207e-01 2.41224247e-02 8.99561338e+01] [-1.98269872e-01 9.80136448e-01 -4.64773377e-03 -1.06292618e+01] [-2.45650257e-02 -2.28716507e-04 9.99698208e-01 -3.76214437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.45264 meters 0.021188986587331704 Centerline is valid? [True, True] Translation: X:89.99, Y:-10.63, Z:-3.76 [[ 9.79375152e-01 2.00468231e-01 2.52348811e-02 8.99853097e+01] [-2.00409502e-01 9.79700158e-01 -4.86117825e-03 -1.06308601e+01] [-2.56971288e-02 -2.96392757e-04 9.99669730e-01 -3.76098252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48264 meters 0.020966086172237264 Centerline is valid? [True, True] Translation: X:90.01, Y:-10.64, Z:-3.76 [[ 9.79270670e-01 2.01034515e-01 2.47805981e-02 9.00146623e+01] [-2.00978104e-01 9.79584110e-01 -4.77205758e-03 -1.06361394e+01] [-2.52340285e-02 -3.07221591e-04 9.99681524e-01 -3.76157625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.51264 meters 0.02249296839003932 Centerline is valid? [True, True] Translation: X:90.04, Y:-10.64, Z:-3.77 [[ 9.79190822e-01 2.01496002e-01 2.41804564e-02 9.00417311e+01] [-2.01442428e-01 9.79489287e-01 -4.65661051e-03 -1.06398179e+01] [-2.46227865e-02 -3.11259577e-04 9.99696765e-01 -3.76655927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54264 meters 0.022302917848034877 Centerline is valid? [True, True] Translation: X:90.07, Y:-10.65, Z:-3.77 [[ 9.79154271e-01 2.01795069e-01 2.31444122e-02 9.00692959e+01] [-2.01746109e-01 9.79427719e-01 -4.45547553e-03 -1.06465330e+01] [-2.35673718e-02 -3.06697216e-04 9.99722204e-01 -3.76929897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57264 meters 0.022357748119798734 Centerline is valid? [True, True] Translation: X:90.10, Y:-10.65, Z:-3.77 [[ 9.79124046e-01 2.01847809e-01 2.39492209e-02 9.00966551e+01] [-2.01795426e-01 9.79416847e-01 -4.60935853e-03 -1.06503739e+01] [-2.43866593e-02 -3.19709451e-04 9.99702550e-01 -3.76940802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60264000000001 meters 0.022335859779803256 Centerline is valid? [True, True] Translation: X:90.12, Y:-10.65, Z:-3.77 [[ 9.79109251e-01 2.01828161e-01 2.47076671e-02 9.01241341e+01] [-2.01772442e-01 9.79420892e-01 -4.75368992e-03 -1.06541087e+01] [-2.51586339e-02 -3.30944570e-04 9.99683417e-01 -3.76986486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.63264000000001 meters 0.028308333579332184 Centerline is valid? [True, True] Translation: X:90.15, Y:-10.66, Z:-3.77 [[ 9.79201028e-01 2.01476301e-01 2.39300454e-02 9.01533636e+01] [-2.01423981e-01 9.79493339e-01 -4.60197604e-03 -1.06608506e+01] [-2.43665092e-02 -3.13825338e-04 9.99703043e-01 -3.76952337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66264000000001 meters 0.021697674840248867 Centerline is valid? [True, True] Translation: X:90.18, Y:-10.67, Z:-3.77 [[ 9.79131308e-01 2.01734435e-01 2.45987506e-02 9.01803702e+01] [-2.01679231e-01 9.79440202e-01 -4.73060897e-03 -1.06657190e+01] [-2.50473319e-02 -3.29169743e-04 9.99686212e-01 -3.77039872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.69264000000001 meters 0.021746458547060556 Centerline is valid? [True, True] Translation: X:90.21, Y:-10.67, Z:-3.77 [[ 9.79132656e-01 2.01718310e-01 2.46772108e-02 9.02089229e+01] [-2.01662793e-01 9.79443522e-01 -4.74387921e-03 -1.06708930e+01] [-2.51268615e-02 -3.31588205e-04 9.99684216e-01 -3.77212613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72264000000001 meters 0.029780596825139966 Centerline is valid? [True, True] Translation: X:90.24, Y:-10.68, Z:-3.77 [[ 9.79224720e-01 2.01381375e-01 2.37590030e-02 9.02375495e+01] [-2.01329841e-01 9.79512861e-01 -4.56623637e-03 -1.06756941e+01] [-2.41918040e-02 -3.12024777e-04 9.99707287e-01 -3.77463343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.75264000000001 meters 0.03103258129109632 Centerline is valid? [True, True] Translation: X:90.27, Y:-10.68, Z:-3.78 [[ 9.79257048e-01 2.01227746e-01 2.37281982e-02 9.02659680e+01] [-2.01176329e-01 9.79544434e-01 -4.55912513e-03 -1.06804300e+01] [-2.41602470e-02 -3.08996405e-04 9.99708051e-01 -3.77699060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.78264 meters 0.021986833739924078 Centerline is valid? [True, True] Translation: X:90.29, Y:-10.68, Z:-3.78 [[ 9.79175127e-01 2.01427284e-01 2.53598191e-02 9.02934732e+01] [-2.01368650e-01 9.79503413e-01 -4.87142161e-03 -1.06838874e+01] [-2.58212666e-02 -3.36697667e-04 9.99666519e-01 -3.77665492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.81264 meters 0.02178368341945378 Centerline is valid? [True, True] Translation: X:90.32, Y:-10.69, Z:-3.78 [[ 9.79243090e-01 2.01098982e-01 2.53410753e-02 9.03214020e+01] [-2.01040372e-01 9.79570871e-01 -4.86602184e-03 -1.06895305e+01] [-2.58019312e-02 -3.29560932e-04 9.99667020e-01 -3.77812854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84264 meters 0.030849689952826234 Centerline is valid? [True, True] Translation: X:90.35, Y:-10.70, Z:-3.78 [[ 9.79417783e-01 2.00339500e-01 2.45945153e-02 9.03490088e+01] [-2.00284077e-01 9.79726489e-01 -4.72172499e-03 -1.06953259e+01] [-2.50418462e-02 -3.01348374e-04 9.99686358e-01 -3.78101001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.87264 meters 0.021089059642742866 Centerline is valid? [True, True] Translation: X:90.38, Y:-10.70, Z:-3.78 [[ 9.79526421e-01 1.99749845e-01 2.50597151e-02 9.03769284e+01] [-1.99692159e-01 9.79846883e-01 -4.80919675e-03 -1.07023670e+01] [-2.55153200e-02 -2.93493330e-04 9.99674388e-01 -3.78233134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90264 meters 0.020206535801285373 Centerline is valid? [True, True] Translation: X:90.41, Y:-10.71, Z:-3.78 [[ 9.79694463e-01 1.98996175e-01 2.44802249e-02 9.04055297e+01] [-1.98940931e-01 9.80000230e-01 -4.69638576e-03 -1.07089622e+01] [-2.49251889e-02 -2.69095619e-04 9.99689283e-01 -3.78345134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.93264 meters 0.019549725941853325 Centerline is valid? [True, True] Translation: X:90.43, Y:-10.71, Z:-3.78 [[ 9.79836524e-01 1.98337113e-01 2.41407481e-02 9.04343616e+01] [-1.98283205e-01 9.80133831e-01 -4.63067540e-03 -1.07149292e+01] [-2.45795987e-02 -2.49400013e-04 9.99697845e-01 -3.78475005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96264000000001 meters 0.020743118429713023 Centerline is valid? [True, True] Translation: X:90.46, Y:-10.72, Z:-3.79 [[ 9.79841318e-01 1.98234238e-01 2.47826361e-02 9.04635010e+01] [-1.98177409e-01 9.80154642e-01 -4.75313237e-03 -1.07170978e+01] [-2.52330494e-02 -2.54043133e-04 9.99681564e-01 -3.78824551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.99264000000001 meters 0.0271245217875626 Centerline is valid? [True, True] Translation: X:90.49, Y:-10.72, Z:-3.79 [[ 9.79825008e-01 1.98301928e-01 2.48857251e-02 9.04919840e+01] [-1.98244652e-01 9.80140949e-01 -4.77270478e-03 -1.07223521e+01] [-2.53379548e-02 -2.57046404e-04 9.99678909e-01 -3.78740655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02264000000001 meters 0.02107832267208098 Centerline is valid? [True, True] Translation: X:90.52, Y:-10.73, Z:-3.79 [[ 9.79674439e-01 1.98978655e-01 2.54064606e-02 9.05197884e+01] [-1.98919212e-01 9.80003784e-01 -4.87146802e-03 -1.07254275e+01] [-2.58677457e-02 -2.81380438e-04 9.99665334e-01 -3.78942006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.05264000000001 meters 0.020105971333804196 Centerline is valid? [True, True] Translation: X:90.55, Y:-10.73, Z:-3.79 [[ 9.79589103e-01 1.99367971e-01 2.56437441e-02 9.05483229e+01] [-1.99307594e-01 9.79924652e-01 -4.91513775e-03 -1.07320177e+01] [-2.61088580e-02 -2.96177559e-04 9.99659062e-01 -3.78766983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08264000000001 meters 0.02130903028621475 Centerline is valid? [True, True] Translation: X:90.58, Y:-10.74, Z:-3.79 [[ 9.79514030e-01 1.99769980e-01 2.53814915e-02 9.05765955e+01] [-1.99711005e-01 9.79842774e-01 -4.86336531e-03 -1.07372493e+01] [-2.58414254e-02 -3.05228636e-04 9.99666008e-01 -3.79131411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.11264000000001 meters 0.02200427726575253 Centerline is valid? [True, True] Translation: X:90.61, Y:-10.74, Z:-3.79 [[ 9.79636504e-01 1.99205135e-01 2.50925160e-02 9.06053717e+01] [-1.99147340e-01 9.79957770e-01 -4.80683294e-03 -1.07437214e+01] [-2.55471518e-02 -2.88158807e-04 9.99673577e-01 -3.79149655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.14264 meters 0.01969050186872921 Centerline is valid? [True, True] Translation: X:90.63, Y:-10.75, Z:-3.79 [[ 9.79710282e-01 1.98786792e-01 2.55259610e-02 9.06346110e+01] [-1.98726858e-01 9.80042719e-01 -4.88920416e-03 -1.07492437e+01] [-2.59884414e-02 -2.82690455e-04 9.99662203e-01 -3.79150207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.17264 meters 0.01928972054499766 Centerline is valid? [True, True] Translation: X:90.66, Y:-10.75, Z:-3.79 [[ 9.80020499e-01 1.97163183e-01 2.62011501e-02 9.06630570e+01] [-1.97099469e-01 9.80370654e-01 -5.01803995e-03 -1.07542860e+01] [-2.66762113e-02 -2.46450741e-04 9.99644096e-01 -3.79372854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.20264 meters 0.019902560231209065 Centerline is valid? [True, True] Translation: X:90.69, Y:-10.76, Z:-3.80 [[ 9.80205442e-01 1.96222072e-01 2.63474824e-02 9.06904894e+01] [-1.96157322e-01 9.80559457e-01 -5.04542794e-03 -1.07595129e+01] [-2.68252973e-02 -2.22695648e-04 9.99640112e-01 -3.79783051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23264 meters 0.017693493215930108 Centerline is valid? [True, True] Translation: X:90.72, Y:-10.77, Z:-3.79 [[ 9.80396775e-01 1.95237949e-01 2.65387783e-02 9.07189601e+01] [-1.95171955e-01 9.80755884e-01 -5.07980324e-03 -1.07695398e+01] [-2.70198333e-02 -1.99402537e-04 9.99634878e-01 -3.79443412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26264 meters 0.01743430723699571 Centerline is valid? [True, True] Translation: X:90.75, Y:-10.78, Z:-3.80 [[ 9.80483355e-01 1.94757914e-01 2.68653148e-02 9.07476601e+01] [-1.94690125e-01 9.80851324e-01 -5.14160999e-03 -1.07771649e+01] [-2.73522488e-02 -1.89148472e-04 9.99625839e-01 -3.79535346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.29264 meters 0.01743430723699571 Centerline is valid? [True, True] Translation: X:90.78, Y:-10.78, Z:-3.80 [[ 9.80488124e-01 1.94733889e-01 2.68654403e-02 9.07762911e+01] [-1.94666109e-01 9.80856094e-01 -5.14095422e-03 -1.07825980e+01] [-2.73522488e-02 -1.89146169e-04 9.99625839e-01 -3.79662827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32264 meters 0.02473618975596514 Centerline is valid? [True, True] Translation: X:90.80, Y:-10.79, Z:-3.80 [[ 9.80425568e-01 1.95141966e-01 2.61786008e-02 9.08047404e+01] [-1.95077776e-01 9.80774987e-01 -5.00867055e-03 -1.07885069e+01] [-2.66527187e-02 -1.96234554e-04 9.99644734e-01 -3.79931409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.35264000000001 meters 0.018845749822021602 Centerline is valid? [True, True] Translation: X:90.83, Y:-10.79, Z:-3.80 [[ 9.80143231e-01 1.96553511e-01 2.61909259e-02 9.08347869e+01] [-1.96489767e-01 9.80493071e-01 -5.01090397e-03 -1.07911749e+01] [-2.66649321e-02 -2.34845329e-04 9.99644400e-01 -3.80036258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38264000000001 meters 0.01945109040432233 Centerline is valid? [True, True] Translation: X:90.86, Y:-10.79, Z:-3.80 [[ 9.79948496e-01 1.97534305e-01 2.60987323e-02 9.08632495e+01] [-1.97471363e-01 9.80295940e-01 -4.99303825e-03 -1.07933093e+01] [-2.65707777e-02 -2.60831925e-04 9.99646901e-01 -3.80162367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.41264000000001 meters 0.020937656366559452 Centerline is valid? [True, True] Translation: X:90.89, Y:-10.79, Z:-3.80 [[ 9.79573879e-01 1.99385632e-01 2.60841794e-02 9.08920627e+01] [-1.99323451e-01 9.79921054e-01 -4.98894779e-03 -1.07944246e+01] [-2.65551611e-02 -3.12145719e-04 9.99647301e-01 -3.80405036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44264000000001 meters 0.02123912106355101 Centerline is valid? [True, True] Translation: X:90.92, Y:-10.80, Z:-3.81 [[ 9.79548099e-01 1.99538380e-01 2.58835174e-02 9.09203611e+01] [-1.99477239e-01 9.79889961e-01 -4.94929606e-03 -1.07996545e+01] [-2.63505734e-02 -3.15099053e-04 9.99652714e-01 -3.80621486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.47264000000001 meters 0.027477613081751222 Centerline is valid? [True, True] Translation: X:90.95, Y:-10.81, Z:-3.81 [[ 9.79645904e-01 1.99134386e-01 2.52863440e-02 9.09492593e+01] [-1.99075942e-01 9.79972146e-01 -4.83348067e-03 -1.08072465e+01] [-2.57424250e-02 -2.98803203e-04 9.99668564e-01 -3.80693771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.50264000000001 meters 0.020182062852096307 Centerline is valid? [True, True] Translation: X:90.98, Y:-10.81, Z:-3.81 [[ 9.79650089e-01 1.99071451e-01 2.56175906e-02 9.09768887e+01] [-1.99011455e-01 9.79984932e-01 -4.89634420e-03 -1.08136737e+01] [-2.60795752e-02 -3.01489956e-04 9.99659825e-01 -3.80759778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.53264 meters 0.021710081808116028 Centerline is valid? [True, True] Translation: X:91.01, Y:-10.82, Z:-3.81 [[ 9.79776099e-01 1.98544557e-01 2.48767681e-02 9.10059688e+01] [-1.98487841e-01 9.80091822e-01 -4.75361036e-03 -1.08201751e+01] [-2.53253204e-02 -2.80262170e-04 9.99679223e-01 -3.81055394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56264 meters 0.019787155570745264 Centerline is valid? [True, True] Translation: X:91.03, Y:-10.83, Z:-3.81 [[ 9.79923084e-01 1.97830241e-01 2.47779292e-02 9.10341811e+01] [-1.97773756e-01 9.80236261e-01 -4.73432736e-03 -1.08271166e+01] [-2.52248178e-02 -2.61147442e-04 9.99681770e-01 -3.81149012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.59264 meters 0.026943539750277277 Centerline is valid? [True, True] Translation: X:91.06, Y:-10.83, Z:-3.81 [[ 9.80032442e-01 1.97267199e-01 2.49412454e-02 9.10630062e+01] [-1.97209815e-01 9.80349728e-01 -4.76434105e-03 -1.08328915e+01] [-2.53909913e-02 -2.49449584e-04 9.99677566e-01 -3.81276470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62264 meters 0.019637475376126676 Centerline is valid? [True, True] Translation: X:91.09, Y:-10.84, Z:-3.81 [[ 9.79909968e-01 1.97766341e-01 2.57862349e-02 9.10912415e+01] [-1.97705187e-01 9.80249152e-01 -4.92527683e-03 -1.08375597e+01] [-2.62509889e-02 -2.71744546e-04 9.99655346e-01 -3.81273184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.65264 meters 0.020292751735642423 Centerline is valid? [True, True] Translation: X:91.12, Y:-10.84, Z:-3.81 [[ 9.79868020e-01 1.97943835e-01 2.60173325e-02 9.11193346e+01] [-1.97881669e-01 9.80213324e-01 -4.96841508e-03 -1.08419290e+01] [-2.64860031e-02 -2.79962133e-04 9.99649145e-01 -3.81440618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68264 meters 0.026038509363499246 Centerline is valid? [True, True] Translation: X:91.15, Y:-10.85, Z:-3.82 [[ 9.79815020e-01 1.98148340e-01 2.64530213e-02 9.11473661e+01] [-1.98084171e-01 9.80172001e-01 -5.05079990e-03 -1.08472787e+01] [-2.69293185e-02 -2.91075202e-04 9.99637298e-01 -3.81513089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71264000000001 meters 0.02093652490033044 Centerline is valid? [True, True] Translation: X:91.18, Y:-10.85, Z:-3.82 [[ 9.79714555e-01 1.98612029e-01 2.66955485e-02 9.11751023e+01] [-1.98546878e-01 9.80078144e-01 -5.09605317e-03 -1.08516010e+01] [-2.71758611e-02 -3.07640362e-04 9.99630621e-01 -3.81623479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74264000000001 meters 0.02014661413424722 Centerline is valid? [True, True] Translation: X:91.20, Y:-10.86, Z:-3.82 [[ 9.79689751e-01 1.98807811e-01 2.61427993e-02 9.12039360e+01] [-1.98745463e-01 9.80038448e-01 -4.98817769e-03 -1.08585867e+01] [-2.66126372e-02 -3.08896202e-04 9.99645773e-01 -3.81628352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.77264000000001 meters 0.02063745726942169 Centerline is valid? [True, True] Translation: X:91.23, Y:-10.86, Z:-3.82 [[ 9.79587174e-01 1.99357318e-01 2.57997759e-02 9.12326868e+01] [-1.99296803e-01 9.79926812e-01 -4.92209268e-03 -1.08638995e+01] [-2.62631474e-02 -3.20194001e-04 9.99655013e-01 -3.81770768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80264000000001 meters 0.022765008019473468 Centerline is valid? [True, True] Translation: X:91.26, Y:-10.86, Z:-3.82 [[ 9.78764635e-01 2.03698716e-01 2.29482620e-02 9.12604694e+01] [-2.03284893e-01 9.78932533e-01 -1.91402336e-02 -1.08585588e+01] [-2.63636412e-02 1.40687488e-02 9.99553415e-01 -3.81845353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.83264000000001 meters 0.022367407159715393 Centerline is valid? [True, True] Translation: X:91.29, Y:-10.88, Z:-3.82 [[ 9.79241037e-01 2.00760384e-01 2.79689150e-02 9.12890531e+01] [-2.01086979e-01 9.79528568e-01 9.37077792e-03 -1.08792537e+01] [-2.55150703e-02 -1.48004349e-02 9.99564869e-01 -3.82067515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86264000000001 meters 0.023360027796045475 Centerline is valid? [True, True] Translation: X:91.32, Y:-10.87, Z:-3.82 [[ 9.79060437e-01 2.02083267e-01 2.45563526e-02 9.13185720e+01] [-2.02029339e-01 9.79368272e-01 -4.68339778e-03 -1.08736723e+01] [-2.49961489e-02 -3.75774202e-04 9.99687477e-01 -3.82380843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.89264 meters 0.02463943436416281 Centerline is valid? [True, True] Translation: X:91.35, Y:-10.88, Z:-3.83 [[ 9.79023518e-01 2.02315215e-01 2.41144277e-02 9.13469879e+01] [-2.02263331e-01 9.79320383e-01 -4.59709033e-03 -1.08788315e+01] [-2.45458119e-02 -3.76804935e-04 9.99698635e-01 -3.82578949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92264 meters 0.02439785997755953 Centerline is valid? [True, True] Translation: X:91.37, Y:-10.88, Z:-3.83 [[ 9.78950673e-01 2.02619657e-01 2.45123151e-02 9.13746090e+01] [-2.02566166e-01 9.79257434e-01 -4.67197402e-03 -1.08823665e+01] [-2.49505005e-02 -3.91733572e-04 9.99688611e-01 -3.82761879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.95264 meters 0.023445200022360817 Centerline is valid? [True, True] Translation: X:91.40, Y:-10.89, Z:-3.83 [[ 9.78875158e-01 2.02905125e-01 2.51582148e-02 9.14031437e+01] [-2.02848924e-01 9.79198315e-01 -4.79301554e-03 -1.08882140e+01] [-2.56074090e-02 -4.11552964e-04 9.99671992e-01 -3.82643142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98264 meters 0.031082554033217333 Centerline is valid? [True, True] Translation: X:91.43, Y:-10.89, Z:-3.83 [[ 9.78813901e-01 2.03145781e-01 2.55956698e-02 9.14311023e+01] [-2.03087721e-01 9.79148411e-01 -4.87522742e-03 -1.08896473e+01] [-2.60523412e-02 -4.26225856e-04 9.99660489e-01 -3.82856210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.01264 meters 0.025285263920767326 Centerline is valid? [True, True] Translation: X:91.46, Y:-10.89, Z:-3.83 [[ 9.78722031e-01 2.03538821e-01 2.59833409e-02 9.14598846e+01] [-2.03479177e-01 9.79066775e-01 -4.94714283e-03 -1.08930254e+01] [-2.64463614e-02 -4.45191142e-04 9.99650135e-01 -3.82880768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04264 meters 0.025266718657317645 Centerline is valid? [True, True] Translation: X:91.49, Y:-10.90, Z:-3.83 [[ 9.78708215e-01 2.03658104e-01 2.55657371e-02 9.14884635e+01] [-2.03600435e-01 9.79041971e-01 -4.86642347e-03 -1.08967056e+01] [-2.60210162e-02 -4.42386567e-04 9.99661298e-01 -3.83068971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07264 meters 0.02570958932911661 Centerline is valid? [True, True] Translation: X:91.52, Y:-10.90, Z:-3.83 [[ 9.78724834e-01 2.03688973e-01 2.46678373e-02 9.15173863e+01] [-2.03635322e-01 9.79035555e-01 -4.69436620e-03 -1.09004343e+01] [-2.51068804e-02 -4.28750230e-04 9.99684681e-01 -3.83367946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10264000000001 meters 0.024563364639297456 Centerline is valid? [True, True] Translation: X:91.55, Y:-10.90, Z:-3.83 [[ 9.78707011e-01 2.03759078e-01 2.47956715e-02 9.15461579e+01] [-2.03704922e-01 9.79020965e-01 -4.71750129e-03 -1.09044260e+01] [-2.52367160e-02 -4.33948757e-04 9.99681409e-01 -3.83347215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.13264000000001 meters 0.02412539055695564 Centerline is valid? [True, True] Translation: X:91.57, Y:-10.91, Z:-3.83 [[ 9.78707598e-01 2.03720823e-01 2.50851414e-02 9.15745080e+01] [-2.03665416e-01 9.79028924e-01 -4.77128813e-03 -1.09083656e+01] [-2.55310898e-02 -4.39279822e-04 9.99673932e-01 -3.83318422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16264000000001 meters 0.026338280791282972 Centerline is valid? [True, True] Translation: X:91.60, Y:-10.91, Z:-3.84 [[ 9.78710365e-01 2.03717581e-01 2.50033610e-02 9.16030697e+01] [-2.03662560e-01 9.79029598e-01 -4.75468816e-03 -1.09088429e+01] [-2.54476440e-02 -4.38785927e-04 9.99676060e-01 -3.83719208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.19264000000001 meters 0.02452065474276264 Centerline is valid? [True, True] Translation: X:91.63, Y:-10.92, Z:-3.84 [[ 9.78802354e-01 2.03272779e-01 2.50225565e-02 9.16317913e+01] [-2.03217575e-01 9.79122052e-01 -4.75651468e-03 -1.09150086e+01] [-2.54670069e-02 -4.29335481e-04 9.99675571e-01 -3.83634376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22264000000001 meters 0.02409170176224739 Centerline is valid? [True, True] Translation: X:91.66, Y:-10.92, Z:-3.84 [[ 9.79122353e-01 2.01595184e-01 2.60537759e-02 9.16598169e+01] [-2.01534773e-01 9.79468846e-01 -4.95134301e-03 -1.09172761e+01] [-2.65170287e-02 -4.02771169e-04 9.99648281e-01 -3.83727471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.25264000000001 meters 0.02285462913215227 Centerline is valid? [True, True] Translation: X:91.69, Y:-10.92, Z:-3.84 [[ 9.79458805e-01 1.99954182e-01 2.60533105e-02 9.16884217e+01] [-1.99893241e-01 9.79805182e-01 -4.94940162e-03 -1.09228992e+01] [-2.65168222e-02 -3.60145685e-04 9.99648302e-01 -3.83853234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.28264 meters 0.02124255839619665 Centerline is valid? [True, True] Translation: X:91.72, Y:-10.93, Z:-3.84 [[ 9.79938204e-01 1.97649882e-01 2.56054875e-02 9.17150220e+01] [-1.97590258e-01 9.80272634e-01 -4.86333188e-03 -1.09295740e+01] [-2.60615957e-02 -2.93630197e-04 9.99660296e-01 -3.84068968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.31264 meters 0.016993664167636313 Centerline is valid? [True, True] Translation: X:91.74, Y:-10.94, Z:-3.84 [[ 9.81154006e-01 1.91524471e-01 2.55967412e-02 9.17425359e+01] [-1.91462839e-01 9.81487830e-01 -4.86020952e-03 -1.09419785e+01] [-2.60537390e-02 -1.32210693e-04 9.99660535e-01 -3.84132658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34264 meters 0.038500728172182086 Centerline is valid? [True, True] Translation: X:91.77, Y:-10.95, Z:-3.84 [[ 9.81871552e-01 1.87851516e-01 2.52994705e-02 9.17712103e+01] [-1.87790147e-01 9.82197438e-01 -4.80145692e-03 -1.09520192e+01] [-2.57510361e-02 -3.65773207e-05 9.99668386e-01 -3.84245508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37264 meters 0.015909438537486782 Centerline is valid? [True, True] Translation: X:91.80, Y:-10.96, Z:-3.84 [[ 9.82474990e-01 1.84546573e-01 2.61812086e-02 9.17987121e+01] [-1.84479690e-01 9.82823768e-01 -4.96829932e-03 -1.09624126e+01] [-2.66483967e-02 5.13285743e-05 9.99644867e-01 -3.84325332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40264 meters 0.016633531391253294 Centerline is valid? [True, True] Translation: X:91.83, Y:-10.97, Z:-3.84 [[ 9.83063377e-01 1.81336568e-01 2.65225543e-02 9.18275644e+01] [-1.81266806e-01 9.83421085e-01 -5.03141414e-03 -1.09732594e+01] [-2.69952185e-02 1.38540289e-04 9.99635553e-01 -3.84372748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.43264 meters 0.026496444397643804 Centerline is valid? [True, True] Translation: X:91.86, Y:-10.99, Z:-3.84 [[ 9.83921698e-01 1.76622724e-01 2.65048195e-02 9.18580189e+01] [-1.76551423e-01 9.84278590e-01 -5.02511938e-03 -1.09862235e+01] [-2.69756766e-02 2.64860399e-04 9.99636055e-01 -3.84341145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46264000000001 meters 0.019568323322082942 Centerline is valid? [True, True] Translation: X:91.89, Y:-11.00, Z:-3.84 [[ 9.84163922e-01 1.75235818e-01 2.67167177e-02 9.18889411e+01] [-1.75162729e-01 9.84526440e-01 -5.07015590e-03 -1.09950126e+01] [-2.71917879e-02 3.10091325e-04 9.99630187e-01 -3.84380894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.49264000000001 meters 0.021477478673171024 Centerline is valid? [True, True] Translation: X:91.92, Y:-11.01, Z:-3.85 [[ 9.84365534e-01 1.74081544e-01 2.68348871e-02 9.19187129e+01] [-1.74007241e-01 9.84731179e-01 -5.09759977e-03 -1.10053300e+01] [-2.73125480e-02 3.48436854e-04 9.99626882e-01 -3.84705310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52264000000001 meters 0.022296195123399067 Centerline is valid? [True, True] Translation: X:91.95, Y:-11.01, Z:-3.85 [[ 9.84487059e-01 1.73419524e-01 2.66626916e-02 9.19498252e+01] [-1.73345813e-01 9.84847975e-01 -5.06912931e-03 -1.10143053e+01] [-2.71377838e-02 3.68626239e-04 9.99631635e-01 -3.84888109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.55264000000001 meters 0.0220960595683809 Centerline is valid? [True, True] Translation: X:91.98, Y:-11.02, Z:-3.85 [[ 9.84657492e-01 1.72439435e-01 2.67257391e-02 9.19811564e+01] [-1.72364893e-01 9.85020041e-01 -5.08557014e-03 -1.10225229e+01] [-2.72023415e-02 4.00965566e-04 9.99629867e-01 -3.84832693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58264000000001 meters 0.021640748144380127 Centerline is valid? [True, True] Translation: X:92.01, Y:-11.03, Z:-3.85 [[ 9.84657049e-01 1.72366215e-01 2.72099738e-02 9.20131942e+01] [-1.72288796e-01 9.85032850e-01 -5.18216141e-03 -1.10296672e+01] [-2.76959476e-02 4.14678121e-04 9.99616308e-01 -3.84832993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.61264000000001 meters 0.02210093992472288 Centerline is valid? [True, True] Translation: X:92.04, Y:-11.04, Z:-3.85 [[ 9.84601418e-01 1.72763335e-01 2.66997741e-02 9.20436674e+01] [-1.72688788e-01 9.84963283e-01 -5.09054244e-03 -1.10408228e+01] [-2.71777562e-02 4.01403683e-04 9.99630536e-01 -3.85151127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.64264 meters 0.022072896788963424 Centerline is valid? [True, True] Translation: X:92.07, Y:-11.05, Z:-3.85 [[ 9.84531609e-01 1.73354578e-01 2.54106540e-02 9.20746367e+01] [-1.73287130e-01 9.84859408e-01 -4.84953986e-03 -1.10484045e+01] [-2.58666116e-02 3.71185970e-04 9.99665334e-01 -3.85466574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.67264 meters 0.022828199001528857 Centerline is valid? [True, True] Translation: X:92.11, Y:-11.06, Z:-3.86 [[ 9.84378050e-01 1.74284076e-01 2.49983044e-02 9.21053002e+01] [-1.74218995e-01 9.84695355e-01 -4.77491067e-03 -1.10567613e+01] [-2.54479051e-02 3.45137779e-04 9.99676090e-01 -3.85864243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.70264 meters 0.022375310062320727 Centerline is valid? [True, True] Translation: X:92.14, Y:-11.06, Z:-3.86 [[ 9.84173676e-01 1.75435198e-01 2.49933295e-02 9.21377418e+01] [-1.75370339e-01 9.84490928e-01 -4.78086653e-03 -1.10615113e+01] [-2.54444384e-02 3.22114330e-04 9.99676186e-01 -3.85774275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73264 meters 0.02760591215331752 Centerline is valid? [True, True] Translation: X:92.17, Y:-11.07, Z:-3.86 [[ 9.83916450e-01 1.76901993e-01 2.47811112e-02 9.21681595e+01] [-1.76838703e-01 9.84228432e-01 -4.74000498e-03 -1.10685010e+01] [-2.52287905e-02 2.81509323e-04 9.99681664e-01 -3.86064582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76264 meters 0.017729428731983698 Centerline is valid? [True, True] Translation: X:92.20, Y:-11.07, Z:-3.86 [[ 9.83213454e-01 1.80778386e-01 2.47078727e-02 9.21996966e+01] [-1.80716597e-01 9.83523838e-01 -4.72980108e-03 -1.10740616e+01] [-2.51558276e-02 1.85281390e-04 9.99683525e-01 -3.86052831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.79264 meters 0.0167156587918424 Centerline is valid? [True, True] Translation: X:92.23, Y:-11.08, Z:-3.86 [[ 9.82773639e-01 1.83109554e-01 2.50372802e-02 9.22310626e+01] [-1.83046744e-01 9.83092505e-01 -4.79743539e-03 -1.10793783e+01] [-2.54924188e-02 1.31800408e-04 9.99675007e-01 -3.86189500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82264 meters 0.016647381569354316 Centerline is valid? [True, True] Translation: X:92.26, Y:-11.09, Z:-3.87 [[ 9.82369635e-01 1.85270137e-01 2.49975178e-02 9.22616711e+01] [-1.85208107e-01 9.82687626e-01 -4.79446801e-03 -1.10852700e+01] [-2.54530231e-02 8.01968383e-05 9.99676016e-01 -3.86513270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85264000000001 meters 0.01544962797317669 Centerline is valid? [True, True] Translation: X:92.29, Y:-11.09, Z:-3.86 [[ 9.81448889e-01 1.89980273e-01 2.57987231e-02 9.22920383e+01] [-1.89915640e-01 9.81787907e-01 -4.95533177e-03 -1.10881320e+01] [-2.62702896e-02 -3.61761349e-05 9.99654876e-01 -3.86275299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88264000000001 meters 0.029655631687317816 Centerline is valid? [True, True] Translation: X:92.32, Y:-11.09, Z:-3.87 [[ 9.80963795e-01 1.92387773e-01 2.64003273e-02 9.23210696e+01] [-1.92320962e-01 9.81318977e-01 -5.07082196e-03 -1.10911871e+01] [-2.68827063e-02 -1.03043594e-04 9.99638589e-01 -3.86562391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.91264000000001 meters 0.021927278139759 Centerline is valid? [True, True] Translation: X:92.35, Y:-11.10, Z:-3.86 [[ 9.80514715e-01 1.94599597e-01 2.68680228e-02 9.23517608e+01] [-1.94531211e-01 9.80882750e-01 -5.16124280e-03 -1.10952567e+01] [-2.73587559e-02 -1.65994510e-04 9.99625665e-01 -3.86469584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94264000000001 meters 0.018921311135010527 Centerline is valid? [True, True] Translation: X:92.38, Y:-11.10, Z:-3.87 [[ 9.79804363e-01 1.98206263e-01 2.64137746e-02 9.23816477e+01] [-1.98141474e-01 9.80160298e-01 -5.07419285e-03 -1.10977755e+01] [-2.68954700e-02 -2.61947938e-04 9.99638217e-01 -3.86717253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.97264000000001 meters 0.02956679636626659 Centerline is valid? [True, True] Translation: X:92.41, Y:-11.10, Z:-3.87 [[ 9.79576578e-01 1.99365132e-01 2.61394511e-02 9.24104445e+01] [-1.99302098e-01 9.79925232e-01 -5.02137078e-03 -1.11026128e+01] [-2.66157939e-02 -2.90830251e-04 9.99645695e-01 -3.86962536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.00264000000001 meters 0.01974819756902782 Centerline is valid? [True, True] Translation: X:92.44, Y:-11.11, Z:-3.87 [[ 9.79334359e-01 2.00414382e-01 2.71714676e-02 9.24395931e+01] [-2.00346695e-01 9.79711164e-01 -5.21890831e-03 -1.11076536e+01] [-2.76661344e-02 -3.32657514e-04 9.99617164e-01 -3.86748147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.03264 meters 0.020378636205983805 Centerline is valid? [True, True] Translation: X:92.47, Y:-11.11, Z:-3.87 [[ 9.79128243e-01 2.01381565e-01 2.74472096e-02 9.24697573e+01] [-2.01312907e-01 9.79512804e-01 -5.27077470e-03 -1.11128891e+01] [-2.79463301e-02 -3.64713189e-04 9.99609359e-01 -3.86843760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06264 meters 0.02183211841610419 Centerline is valid? [True, True] Translation: X:92.50, Y:-11.12, Z:-3.87 [[ 9.78770122e-01 2.03152811e-01 2.71658365e-02 9.24993627e+01] [-2.03086225e-01 9.79146959e-01 -5.21713761e-03 -1.11163928e+01] [-2.76592224e-02 -4.10628769e-04 9.99617326e-01 -3.86929637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.09264 meters 0.024010271189647308 Centerline is valid? [True, True] Translation: X:92.53, Y:-11.12, Z:-3.87 [[ 9.78506222e-01 2.04337573e-01 2.77800273e-02 9.25285344e+01] [-2.04268433e-01 9.78900378e-01 -5.33455336e-03 -1.11183583e+01] [-2.82839290e-02 -4.54689009e-04 9.99599826e-01 -3.87094392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12264 meters 0.024151750269531848 Centerline is valid? [True, True] Translation: X:92.56, Y:-11.12, Z:-3.87 [[ 9.78275373e-01 2.05399321e-01 2.80787062e-02 9.25576753e+01] [-2.05329160e-01 9.78678127e-01 -5.39064520e-03 -1.11227315e+01] [-2.85872505e-02 -4.91841719e-04 9.99591180e-01 -3.87076704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.15264 meters 0.03676649310172725 Centerline is valid? [True, True] Translation: X:92.59, Y:-11.12, Z:-3.88 [[ 9.78007747e-01 2.06857934e-01 2.66578809e-02 9.25866555e+01] [-2.06795249e-01 9.78370859e-01 -5.11739643e-03 -1.11241367e+01] [-2.71398678e-02 -5.07869747e-04 9.99631517e-01 -3.87541390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18264 meters 0.03676649310172725 Centerline is valid? [True, True] Translation: X:92.61, Y:-11.13, Z:-3.88 [[ 9.78017506e-01 2.06811773e-01 2.66579948e-02 9.26144769e+01] [-2.06749087e-01 9.78380618e-01 -5.11680272e-03 -1.11293855e+01] [-2.71398805e-02 -5.07193465e-04 9.99631517e-01 -3.87665100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.21264000000001 meters 0.02658675964687561 Centerline is valid? [True, True] Translation: X:92.64, Y:-11.13, Z:-3.88 [[ 9.77973863e-01 2.07055244e-01 2.63675702e-02 9.26431611e+01] [-2.06994040e-01 9.78329120e-01 -5.05979002e-03 -1.11322148e+01] [-2.68438178e-02 -5.09587474e-04 9.99639510e-01 -3.87808688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24264000000001 meters 0.028446330497635598 Centerline is valid? [True, True] Translation: X:92.67, Y:-11.14, Z:-3.88 [[ 9.78036796e-01 2.06860676e-01 2.55477317e-02 9.26714809e+01] [-2.06803183e-01 9.78370288e-01 -4.90128218e-03 -1.11359528e+01] [-2.60090241e-02 -4.89717921e-04 9.99661588e-01 -3.88091664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.27264000000001 meters 0.02615492281011916 Centerline is valid? [True, True] Translation: X:92.70, Y:-11.14, Z:-3.88 [[ 9.78149263e-01 2.06231183e-01 2.63195284e-02 9.27000239e+01] [-2.06169972e-01 9.78503173e-01 -5.04799546e-03 -1.11404297e+01] [-2.67947962e-02 -4.88603413e-04 9.99640836e-01 -3.88190786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30264000000001 meters 0.022199513280377857 Centerline is valid? [True, True] Translation: X:92.73, Y:-11.15, Z:-3.88 [[ 9.78702087e-01 2.03478822e-01 2.71770920e-02 9.27292721e+01] [-2.03412549e-01 9.79079254e-01 -5.21051524e-03 -1.11491105e+01] [-2.76687565e-02 -4.28619417e-04 9.99617055e-01 -3.88059626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.33264000000001 meters 0.020486428692853716 Centerline is valid? [True, True] Translation: X:92.76, Y:-11.16, Z:-3.88 [[ 9.79160425e-01 2.01270431e-01 2.71122898e-02 9.27587132e+01] [-2.01203626e-01 9.79535645e-01 -5.19812443e-03 -1.11557182e+01] [-2.76036830e-02 -3.65293300e-04 9.99618879e-01 -3.88226007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36264000000001 meters 0.017041256761186903 Centerline is valid? [True, True] Translation: X:92.79, Y:-11.16, Z:-3.88 [[ 9.80259393e-01 1.95864547e-01 2.69926124e-02 9.27867905e+01] [-1.95796317e-01 9.80630937e-01 -5.17381728e-03 -1.11641723e+01] [-2.74831582e-02 -2.13371121e-04 9.99622244e-01 -3.88472640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.39264 meters 0.015783467955645746 Centerline is valid? [True, True] Translation: X:92.82, Y:-11.17, Z:-3.89 [[ 9.80923760e-01 1.92585379e-01 2.64470878e-02 9.28161120e+01] [-1.92518702e-01 9.81280214e-01 -5.06868175e-03 -1.11729091e+01] [-2.69281580e-02 -1.19568670e-04 9.99637364e-01 -3.88782204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.42264 meters 0.019155162776865988 Centerline is valid? [True, True] Translation: X:92.85, Y:-11.18, Z:-3.89 [[ 9.81589340e-01 1.89214549e-01 2.60810538e-02 9.28458511e+01] [-1.89148524e-01 9.81935769e-01 -4.99820873e-03 -1.11833365e+01] [-2.65556535e-02 -2.70044241e-05 9.99647336e-01 -3.89063687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.45264 meters 0.015068966904186163 Centerline is valid? [True, True] Translation: X:92.88, Y:-11.19, Z:-3.89 [[ 9.82150128e-01 1.86173385e-01 2.68439236e-02 9.28761449e+01] [-1.86102285e-01 9.82516904e-01 -5.14511696e-03 -1.11937068e+01] [-2.73324925e-02 5.75617726e-05 9.99626396e-01 -3.89080071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48264 meters 0.028011916060354244 Centerline is valid? [True, True] Translation: X:92.91, Y:-11.21, Z:-3.89 [[ 9.83170732e-01 1.80653074e-01 2.71988791e-02 9.29065876e+01] [-1.80578013e-01 9.83546858e-01 -5.21147211e-03 -1.12062202e+01] [-2.76928405e-02 2.12247288e-04 9.99616457e-01 -3.89213990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.51264 meters 0.01780531094908682 Centerline is valid? [True, True] Translation: X:92.94, Y:-11.21, Z:-3.89 [[ 9.83477309e-01 1.78869198e-01 2.78961076e-02 9.29388472e+01] [-1.78789386e-01 9.83872825e-01 -5.34980093e-03 -1.12132788e+01] [-2.84031368e-02 2.73879855e-04 9.99596512e-01 -3.89088896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54264 meters 0.024901081846577675 Centerline is valid? [True, True] Translation: X:92.97, Y:-11.22, Z:-3.89 [[ 9.83763299e-01 1.77200213e-01 2.84579707e-02 9.29689492e+01] [-1.77116265e-01 9.84174767e-01 -5.46412513e-03 -1.12223502e+01] [-2.89758609e-02 3.35036288e-04 9.99580055e-01 -3.89384943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57264 meters 0.020643188348164608 Centerline is valid? [True, True] Translation: X:93.00, Y:-11.23, Z:-3.89 [[ 9.84217654e-01 1.74492378e-01 2.94621831e-02 9.30006137e+01] [-1.74401038e-01 9.84658429e-01 -5.66184789e-03 -1.12307287e+01] [-2.99981363e-02 4.34255314e-04 9.99549860e-01 -3.89120277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60264000000001 meters 0.03025828022981638 Centerline is valid? [True, True] Translation: X:93.03, Y:-11.24, Z:-3.90 [[ 9.84477287e-01 1.73171036e-01 2.85703316e-02 9.30305578e+01] [-1.73084439e-01 9.84891657e-01 -5.49556553e-03 -1.12404434e+01] [-2.90903540e-02 4.65179635e-04 9.99576678e-01 -3.89671126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.63264000000001 meters 0.029202922557801353 Centerline is valid? [True, True] Translation: X:93.06, Y:-11.25, Z:-3.90 [[ 9.84666338e-01 1.72203141e-01 2.78976821e-02 9.30615947e+01] [-1.72120031e-01 9.85061339e-01 -5.37161493e-03 -1.12463394e+01] [-2.84059370e-02 4.87498498e-04 9.99596351e-01 -3.89857215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66264000000001 meters 0.024476927653913128 Centerline is valid? [True, True] Translation: X:93.09, Y:-11.25, Z:-3.90 [[ 9.84881231e-01 1.70948400e-01 2.80286718e-02 9.30922711e+01] [-1.70863947e-01 9.85279841e-01 -5.39867389e-03 -1.12545725e+01] [-2.85389799e-02 5.27963095e-04 9.99592541e-01 -3.89872500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.69264000000001 meters 0.02474483398405751 Centerline is valid? [True, True] Translation: X:93.12, Y:-11.26, Z:-3.90 [[ 9.84871347e-01 1.70898177e-01 2.86747762e-02 9.31221301e+01] [-1.70809621e-01 9.85288544e-01 -5.52802642e-03 -1.12618016e+01] [-2.91976581e-02 5.46467179e-04 9.99573508e-01 -3.90003691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72264000000001 meters 0.02447988658922092 Centerline is valid? [True, True] Translation: X:93.15, Y:-11.27, Z:-3.90 [[ 9.84789371e-01 1.71304455e-01 2.90633611e-02 9.31532369e+01] [-1.71213518e-01 9.85217989e-01 -5.60765294e-03 -1.12680985e+01] [-2.95943621e-02 5.46316704e-04 9.99561842e-01 -3.90039538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.75264000000001 meters 0.03134971150737107 Centerline is valid? [True, True] Translation: X:93.18, Y:-11.27, Z:-3.90 [[ 9.84585905e-01 1.72264871e-01 3.02557561e-02 9.31844400e+01] [-1.72166598e-01 9.85050515e-01 -5.84333911e-03 -1.12744304e+01] [-3.08100502e-02 5.44238741e-04 9.99525110e-01 -3.90150588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78264 meters 0.03259558715433869 Centerline is valid? [True, True] Translation: X:93.21, Y:-11.28, Z:-3.90 [[ 9.84382994e-01 1.73463973e-01 3.00061958e-02 9.32143814e+01] [-1.73367705e-01 9.84840085e-01 -5.80056636e-03 -1.12820920e+01] [-3.05574937e-02 5.07873559e-04 9.99532882e-01 -3.90471596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.81264 meters 0.04028276151556738 Centerline is valid? [True, True] Translation: X:93.25, Y:-11.29, Z:-3.91 [[ 9.84215477e-01 1.74555399e-01 2.91600411e-02 9.32466484e+01] [-1.74464844e-01 9.84647245e-01 -5.64104733e-03 -1.12870590e+01] [-2.96970294e-02 4.64604058e-04 9.99558838e-01 -3.90704133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84264 meters 0.021777532123092504 Centerline is valid? [True, True] Translation: X:93.28, Y:-11.29, Z:-3.91 [[ 9.84015717e-01 1.75895632e-01 2.78171834e-02 9.32778592e+01] [-1.75813609e-01 9.84408736e-01 -5.38665983e-03 -1.12927857e+01] [-2.83309682e-02 4.09918521e-04 9.99598514e-01 -3.90911229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87264 meters 0.02024178449000871 Centerline is valid? [True, True] Translation: X:93.31, Y:-11.30, Z:-3.91 [[ 9.83654274e-01 1.77949598e-01 2.75355913e-02 9.33097967e+01] [-1.77869884e-01 9.84039540e-01 -5.33740505e-03 -1.12977517e+01] [-2.80458996e-02 3.52408854e-04 9.99606574e-01 -3.91185936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90264 meters 0.029047284283676898 Centerline is valid? [True, True] Translation: X:93.34, Y:-11.31, Z:-3.91 [[ 9.83513137e-01 1.78553554e-01 2.86450398e-02 9.33403645e+01] [-1.78467381e-01 9.83930131e-01 -5.55799012e-03 -1.13052478e+01] [-2.91771166e-02 3.54151077e-04 9.99574195e-01 -3.91498788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93264 meters 0.03944619358950439 Centerline is valid? [True, True] Translation: X:93.37, Y:-11.31, Z:-3.91 [[ 9.83292708e-01 1.79520785e-01 3.01286817e-02 9.33718541e+01] [-1.79425748e-01 9.83754119e-01 -5.85096021e-03 -1.13100591e+01] [-3.06895837e-02 3.47345255e-04 9.99528903e-01 -3.91383358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96264000000001 meters 0.023283073404951064 Centerline is valid? [True, True] Translation: X:93.40, Y:-11.32, Z:-3.91 [[ 9.83164565e-01 1.80125666e-01 3.06949763e-02 9.34031313e+01] [-1.80027144e-01 9.83643548e-01 -5.96648352e-03 -1.13161756e+01] [-3.12676322e-02 3.40106272e-04 9.99510990e-01 -3.91313814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.99264000000001 meters 0.01848926998008719 Centerline is valid? [True, True] Translation: X:93.43, Y:-11.32, Z:-3.92 [[ 9.83013677e-01 1.81089587e-01 2.98441172e-02 9.34336205e+01] [-1.80996746e-01 9.83466557e-01 -5.80603957e-03 -1.13248558e+01] [-3.04021045e-02 3.05728204e-04 9.99537702e-01 -3.91515111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02264000000001 meters 0.029258634482388236 Centerline is valid? [True, True] Translation: X:93.47, Y:-11.33, Z:-3.92 [[ 9.82964700e-01 1.81320446e-01 3.00548747e-02 9.34662105e+01] [-1.81226226e-01 9.83424020e-01 -5.85257326e-03 -1.13322239e+01] [-3.06178768e-02 3.06141401e-04 9.99531116e-01 -3.91768961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.05264000000001 meters 0.02385547901537789 Centerline is valid? [True, True] Translation: X:93.50, Y:-11.34, Z:-3.92 [[ 9.83002517e-01 1.81289067e-01 2.89883712e-02 9.34954839e+01] [-1.81201190e-01 9.83429805e-01 -5.65212327e-03 -1.13429178e+01] [-2.95326964e-02 3.03324033e-04 9.99563769e-01 -3.92215643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08264000000001 meters 0.03927958762029764 Centerline is valid? [True, True] Translation: X:93.53, Y:-11.36, Z:-3.92 [[ 9.83074589e-01 1.80799420e-01 2.95959849e-02 9.35267498e+01] [-1.80707546e-01 9.83519935e-01 -5.77231348e-03 -1.13556178e+01] [-3.01518721e-02 3.26396906e-04 9.99545276e-01 -3.92495970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.11264000000001 meters 0.018920111965928334 Centerline is valid? [True, True] Translation: X:93.56, Y:-11.36, Z:-3.92 [[ 9.83116516e-01 1.80669547e-01 2.89901714e-02 9.35584808e+01] [-1.80581169e-01 9.83543800e-01 -5.65993748e-03 -1.13641827e+01] [-2.95356817e-02 3.29298975e-04 9.99563672e-01 -3.92235571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.14264 meters 0.02001191780627669 Centerline is valid? [True, True] Translation: X:93.59, Y:-11.38, Z:-3.92 [[ 9.83192973e-01 1.80209258e-01 2.92609300e-02 9.35887824e+01] [-1.80118866e-01 9.83628233e-01 -5.71786932e-03 -1.13750445e+01] [-2.98122898e-02 3.51323389e-04 9.99555453e-01 -3.92448329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.17264 meters 0.0375814543444185 Centerline is valid? [True, True] Translation: X:93.62, Y:-11.38, Z:-3.93 [[ 9.83151757e-01 1.80178737e-01 3.07935804e-02 9.36195759e+01] [-1.80078410e-01 9.83633814e-01 -6.02374280e-03 -1.13845434e+01] [-3.13749573e-02 3.76994316e-04 9.99507614e-01 -3.92567755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.20264 meters 0.024104149923904528 Centerline is valid? [True, True] Translation: X:93.65, Y:-11.39, Z:-3.93 [[ 9.83041302e-01 1.80832649e-01 3.04852765e-02 9.36507937e+01] [-1.80734475e-01 9.83513815e-01 -5.96861029e-03 -1.13927052e+01] [-3.10620103e-02 3.57649964e-04 9.99517395e-01 -3.92745021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23264 meters 0.019109996268089843 Centerline is valid? [True, True] Translation: X:93.68, Y:-11.40, Z:-3.93 [[ 9.82811916e-01 1.82190492e-01 2.97886265e-02 9.36812639e+01] [-1.82097212e-01 9.83263203e-01 -5.83770555e-03 -1.14011100e+01] [-3.03536348e-02 3.12940745e-04 9.99539173e-01 -3.92880543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26264 meters 0.015240319767820488 Centerline is valid? [True, True] Translation: X:93.71, Y:-11.40, Z:-3.93 [[ 9.81976338e-01 1.86509579e-01 3.06047132e-02 9.37132826e+01] [-1.86413022e-01 9.82453124e-01 -6.00371225e-03 -1.14047952e+01] [-3.11874459e-02 1.90386305e-04 9.99513535e-01 -3.92667286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.29264 meters 0.01373152847208895 Centerline is valid? [True, True] Translation: X:93.75, Y:-11.41, Z:-3.93 [[ 9.81323763e-01 1.89761943e-01 3.15289892e-02 9.37456120e+01] [-1.89660956e-01 9.81830126e-01 -6.19078745e-03 -1.14079088e+01] [-3.21308873e-02 9.53486002e-05 9.99483665e-01 -3.92723167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32264 meters 0.01330604609004126 Centerline is valid? [True, True] Translation: X:93.78, Y:-11.41, Z:-3.93 [[ 9.80658939e-01 1.93186030e-01 3.14197984e-02 9.37791803e+01] [-1.93087331e-01 9.81162147e-01 -6.17453585e-03 -1.14105396e+01] [-3.20207509e-02 -1.16512407e-05 9.99487204e-01 -3.92877259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.35264000000001 meters 0.02114703996156331 Centerline is valid? [True, True] Translation: X:93.81, Y:-11.41, Z:-3.93 [[ 9.79364451e-01 1.99682861e-01 3.11773457e-02 9.38107859e+01] [-1.99588756e-01 9.79860556e-01 -6.13351624e-03 -1.14086300e+01] [-3.17742094e-02 -2.15699878e-04 9.99495049e-01 -3.93327678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38264000000001 meters 0.016895192267317054 Centerline is valid? [True, True] Translation: X:93.84, Y:-11.41, Z:-3.93 [[ 9.78725789e-01 2.02826837e-01 3.09371029e-02 9.38429931e+01] [-2.02735596e-01 9.79214572e-01 -6.09101408e-03 -1.14113249e+01] [-3.15294831e-02 -3.10619450e-04 9.99502774e-01 -3.93272610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.41264000000001 meters 0.021040061403898233 Centerline is valid? [True, True] Translation: X:93.87, Y:-11.41, Z:-3.94 [[ 9.78172926e-01 2.05435715e-01 3.12072703e-02 9.38738701e+01] [-2.05343988e-01 9.78670534e-01 -6.15083768e-03 -1.14129049e+01] [-3.18052376e-02 -3.91642457e-04 9.99494009e-01 -3.93629673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44264000000001 meters 0.022510328376462888 Centerline is valid? [True, True] Translation: X:93.91, Y:-11.41, Z:-3.94 [[ 9.77470519e-01 2.09000866e-01 2.94961411e-02 9.39050080e+01] [-2.08920454e-01 9.77915339e-01 -5.81663716e-03 -1.14136758e+01] [-3.00604110e-02 -4.76755852e-04 9.99547970e-01 -3.93928117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.47264000000001 meters 0.030833497637141303 Centerline is valid? [True, True] Translation: X:93.93, Y:-11.42, Z:-3.94 [[ 9.77206153e-01 2.10217131e-01 2.96123763e-02 9.39348719e+01] [-2.10136613e-01 9.77654587e-01 -5.84051984e-03 -1.14161675e+01] [-3.01784528e-02 -5.15252524e-04 9.99544394e-01 -3.94469824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.50264000000001 meters 0.025469496002874438 Centerline is valid? [True, True] Translation: X:93.96, Y:-11.42, Z:-3.94 [[ 9.77058698e-01 2.10988959e-01 2.89820507e-02 9.39644158e+01] [-2.10912095e-01 9.77488304e-01 -5.71877657e-03 -1.14193364e+01] [-2.95362142e-02 -5.25084640e-04 9.99563573e-01 -3.94381990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.53264 meters 0.023139122609196767 Centerline is valid? [True, True] Translation: X:93.99, Y:-11.43, Z:-3.94 [[ 9.77105537e-01 2.10677658e-01 2.96596452e-02 9.39948633e+01] [-2.10597056e-01 9.77555443e-01 -5.85109732e-03 -1.14271625e+01] [-3.02266431e-02 -5.29094379e-04 9.99542931e-01 -3.94243224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56264 meters 0.023639489886507756 Centerline is valid? [True, True] Translation: X:94.02, Y:-11.43, Z:-3.94 [[ 9.77263649e-01 2.09886576e-01 3.00563870e-02 9.40246336e+01] [-2.09803401e-01 9.77725608e-01 -5.93030103e-03 -1.14323929e+01] [-3.06315898e-02 -5.10464583e-04 9.99530612e-01 -3.94436991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.59264 meters 0.020679623897747478 Centerline is valid? [True, True] Translation: X:94.06, Y:-11.44, Z:-3.94 [[ 9.77434053e-01 2.09024879e-01 3.05167449e-02 9.40558667e+01] [-2.08938767e-01 9.77910199e-01 -6.01946048e-03 -1.14423354e+01] [-3.11008531e-02 -4.92505414e-04 9.99516130e-01 -3.94290680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62264 meters 0.026212213554285123 Centerline is valid? [True, True] Translation: X:94.09, Y:-11.45, Z:-3.95 [[ 9.77665703e-01 2.07778695e-01 3.15877589e-02 9.40873748e+01] [-2.07685590e-01 9.78175751e-01 -6.23665657e-03 -1.14499495e+01] [-3.21942241e-02 -4.62957132e-04 9.99481524e-01 -3.94546182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.65264 meters 0.01783340157879391 Centerline is valid? [True, True] Translation: X:94.12, Y:-11.46, Z:-3.95 [[ 9.78505558e-01 2.03876151e-01 3.10062587e-02 9.41177902e+01] [-2.03784303e-01 9.78996635e-01 -6.12754467e-03 -1.14562311e+01] [-3.16042831e-02 -3.22752316e-04 9.99500408e-01 -3.94814251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68264 meters 0.014771839827363471 Centerline is valid? [True, True] Translation: X:94.15, Y:-11.46, Z:-3.95 [[ 9.79462481e-01 2.00235158e-01 2.36459238e-02 9.41544762e+01] [-1.99643649e-01 9.79544560e-01 -2.51965751e-02 -1.14563144e+01] [-2.82074762e-02 1.99583414e-02 9.99402823e-01 -3.94555677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71264000000001 meters 0.023598653478182446 Centerline is valid? [True, True] Translation: X:94.18, Y:-11.49, Z:-3.95 [[ 9.79399864e-01 1.98581784e-01 3.66221506e-02 9.41765628e+01] [-1.99171190e-01 9.79876069e-01 1.31805272e-02 -1.14873187e+01] [-3.32677564e-02 -2.02030839e-02 9.99242259e-01 -3.95027822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74264000000001 meters 0.013205936445441942 Centerline is valid? [True, True] Translation: X:94.21, Y:-11.49, Z:-3.95 [[ 9.79747067e-01 1.97686742e-01 3.18690616e-02 9.42105525e+01] [-1.97586028e-01 9.80265239e-01 -6.31050856e-03 -1.14857541e+01] [-3.24876372e-02 -1.14179056e-04 9.99472131e-01 -3.94914714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.77264000000001 meters 0.0227433127345129 Centerline is valid? [True, True] Translation: X:94.24, Y:-11.50, Z:-3.96 [[ 9.80473778e-01 1.93963003e-01 3.23963650e-02 9.42396568e+01] [-1.93856657e-01 9.81008845e-01 -6.42210620e-03 -1.14972901e+01] [-3.30267716e-02 1.64557107e-05 9.99454467e-01 -3.95524934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80264000000001 meters 0.014334583240742011 Centerline is valid? [True, True] Translation: X:94.28, Y:-11.49, Z:-3.95 [[ 9.81325792e-01 1.90954169e-01 2.31559029e-02 9.42762570e+01] [-1.90365281e-01 9.81383785e-01 -2.54347625e-02 -1.14932927e+01] [-2.75817015e-02 2.05517085e-02 9.99408263e-01 -3.95319290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.83264000000001 meters 0.013738865760704804 Centerline is valid? [True, True] Translation: X:94.30, Y:-11.52, Z:-3.95 [[ 9.81059325e-01 1.90423303e-01 3.55185354e-02 9.42988716e+01] [-1.91004089e-01 9.81493427e-01 1.37146063e-02 -1.15240776e+01] [-3.22496284e-02 -2.02390279e-02 9.99274909e-01 -3.95354941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86264000000001 meters 0.03308588309946337 Centerline is valid? [True, True] Translation: X:94.33, Y:-11.52, Z:-3.96 [[ 9.81010619e-01 1.91222619e-01 3.24357197e-02 9.43326868e+01] [-1.91114136e-01 9.81546685e-01 -6.44136866e-03 -1.15185811e+01] [-3.30689086e-02 1.20126493e-04 9.99453067e-01 -3.95710137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.89264000000001 meters 0.02439897879381394 Centerline is valid? [True, True] Translation: X:94.36, Y:-11.52, Z:-3.96 [[ 9.80937285e-01 1.91640219e-01 3.21880407e-02 9.43649966e+01] [-1.91533435e-01 9.81465238e-01 -6.39759166e-03 -1.15239472e+01] [-3.28174789e-02 1.10550204e-04 9.99461355e-01 -3.95858036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92264 meters 0.013362627389446534 Centerline is valid? [True, True] Translation: X:94.40, Y:-11.53, Z:-3.96 [[ 9.80693468e-01 1.93224429e-01 3.00772736e-02 9.43974137e+01] [-1.93131760e-01 9.81154583e-01 -5.98387556e-03 -1.15263261e+01] [-3.06666857e-02 5.94709093e-05 9.99529665e-01 -3.95902691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.95264 meters 0.01980261126540356 Centerline is valid? [True, True] Translation: X:94.43, Y:-11.53, Z:-3.96 [[ 9.80522661e-01 1.94019444e-01 3.05248581e-02 9.44278409e+01] [-1.93924200e-01 9.80997683e-01 -6.07872775e-03 -1.15311654e+01] [-3.11242065e-02 4.08216041e-05 9.99515524e-01 -3.96301956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98264 meters 0.021425265279357807 Centerline is valid? [True, True] Translation: X:94.46, Y:-11.54, Z:-3.96 [[ 9.80253315e-01 1.95361089e-01 3.06183543e-02 9.44605197e+01] [-1.95265769e-01 9.80731383e-01 -6.10201837e-03 -1.15354168e+01] [-3.12204779e-02 2.80723136e-06 9.99512522e-01 -3.96433893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.01264 meters 0.02596831050944129 Centerline is valid? [True, True] Translation: X:94.49, Y:-11.53, Z:-3.97 [[ 9.79832590e-01 1.97571960e-01 2.98900727e-02 9.44920896e+01] [-1.97481954e-01 9.80288385e-01 -5.96328590e-03 -1.15346258e+01] [-3.04790692e-02 -5.97281085e-05 9.99535403e-01 -3.96823817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04264 meters 0.03134685810688711 Centerline is valid? [True, True] Translation: X:94.53, Y:-11.54, Z:-3.97 [[ 9.79981194e-01 1.96546874e-01 3.17204201e-02 9.45265484e+01] [-1.96422070e-01 9.80494205e-01 -7.03445206e-03 -1.15387426e+01] [-3.24842876e-02 6.63040144e-04 9.99472026e-01 -3.96660523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.07264 meters 0.013615802605085417 Centerline is valid? [True, True] Translation: X:94.55, Y:-11.54, Z:-3.97 [[ 9.79611700e-01 1.98645177e-01 3.00168351e-02 9.45549884e+01] [-1.98572465e-01 9.80071254e-01 -5.41421703e-03 -1.15445630e+01] [-3.04941453e-02 -6.56686600e-04 9.99534730e-01 -3.96688625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10264000000001 meters 0.013615802605085417 Centerline is valid? [True, True] Translation: X:94.59, Y:-11.55, Z:-3.97 [[ 9.79576662e-01 1.98834878e-01 2.99040783e-02 9.45860565e+01] [-1.98745010e-01 9.80033001e-01 -5.97808367e-03 -1.15505836e+01] [-3.04956352e-02 -8.72950798e-05 9.99534896e-01 -3.96829626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.13264000000001 meters 0.01329236948295666 Centerline is valid? [True, True] Translation: X:94.62, Y:-11.55, Z:-3.97 [[ 9.80225178e-01 1.95735955e-01 2.90867132e-02 9.46204430e+01] [-1.95438290e-01 9.80632801e-01 -1.27743932e-02 -1.15536573e+01] [-3.10237931e-02 6.83712439e-03 9.99495262e-01 -3.96952839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16264000000001 meters 0.028065630454656095 Centerline is valid? [True, True] Translation: X:94.65, Y:-11.57, Z:-3.97 [[ 9.80157276e-01 1.95691577e-01 3.15677123e-02 9.46456874e+01] [-1.95803472e-01 9.80643047e-01 4.62914653e-04 -1.15703160e+01] [-3.08660691e-02 -6.63479684e-03 9.99501508e-01 -3.97218335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.19264000000001 meters 0.017978280297104948 Centerline is valid? [True, True] Translation: X:94.68, Y:-11.57, Z:-3.97 [[ 9.80392298e-01 1.94657045e-01 3.06525092e-02 9.46779555e+01] [-1.94560261e-01 9.80871364e-01 -6.13783277e-03 -1.15745882e+01] [-3.12609409e-02 5.37237881e-05 9.99511256e-01 -3.97262342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22264000000001 meters 0.013473498081728267 Centerline is valid? [True, True] Translation: X:94.71, Y:-11.58, Z:-3.97 [[ 9.80603581e-01 1.93541337e-01 3.09575081e-02 9.47097002e+01] [-1.93441874e-01 9.81092117e-01 -6.20479286e-03 -1.15829933e+01] [-3.15730511e-02 9.59637095e-05 9.99501442e-01 -3.97096124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.25264000000001 meters 0.022591027943060477 Centerline is valid? [True, True] Translation: X:94.74, Y:-11.59, Z:-3.97 [[ 9.81173292e-01 1.90628372e-01 3.09805421e-02 9.47402503e+01] [-1.90527099e-01 9.81662256e-01 -6.21604182e-03 -1.15936927e+01] [-3.15973828e-02 1.96381386e-04 9.99500659e-01 -3.97414106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.28264 meters 0.0157944996961058 Centerline is valid? [True, True] Translation: X:94.77, Y:-11.60, Z:-3.97 [[ 9.81374723e-01 1.89714892e-01 3.01979010e-02 9.47704971e+01] [-1.89618074e-01 9.81839197e-01 -6.06443753e-03 -1.16020773e+01] [-3.07999970e-02 2.25417891e-04 9.99525542e-01 -3.97471843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.31264 meters 0.016987633930988538 Centerline is valid? [True, True] Translation: X:94.80, Y:-11.61, Z:-3.98 [[ 9.81526484e-01 1.88977950e-01 2.98846939e-02 9.48007160e+01] [-1.88882638e-01 9.81981299e-01 -6.00647668e-03 -1.16108150e+01] [-3.04813022e-02 2.50816113e-04 9.99535306e-01 -3.97757090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34264 meters 0.03235413534040424 Centerline is valid? [True, True] Translation: X:94.83, Y:-11.62, Z:-3.98 [[ 9.81572880e-01 1.88589098e-01 3.08031276e-02 9.48319752e+01] [-1.88487484e-01 9.82056045e-01 -6.19616040e-03 -1.16186433e+01] [-3.14189260e-02 2.75978983e-04 9.99506266e-01 -3.97966452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37264 meters 0.02522233716847448 Centerline is valid? [True, True] Translation: X:94.86, Y:-11.63, Z:-3.98 [[ 9.81452413e-01 1.89220533e-01 3.07693270e-02 9.48634284e+01] [-1.89119289e-01 9.81934581e-01 -6.19454477e-03 -1.16252829e+01] [-3.13856013e-02 2.60577658e-04 9.99507317e-01 -3.98062474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40264 meters 0.023930000816069674 Centerline is valid? [True, True] Translation: X:94.90, Y:-11.63, Z:-3.98 [[ 9.81121434e-01 1.90872184e-01 3.11213927e-02 9.48960458e+01] [-1.90769252e-01 9.81614875e-01 -6.27135884e-03 -1.16289931e+01] [-3.17462500e-02 2.15959781e-04 9.99495937e-01 -3.97932808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.43264 meters 0.014810402101240235 Centerline is valid? [True, True] Translation: X:94.93, Y:-11.64, Z:-3.98 [[ 9.80847369e-01 1.92309329e-01 3.09121279e-02 9.49266274e+01] [-1.92208288e-01 9.81334342e-01 -6.23561322e-03 -1.16355115e+01] [-3.15342993e-02 1.74617663e-04 9.99502655e-01 -3.97918092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46264000000001 meters 0.02218221504609834 Centerline is valid? [True, True] Translation: X:94.96, Y:-11.64, Z:-3.98 [[ 9.80673959e-01 1.93209117e-01 3.08029712e-02 9.49578032e+01] [-1.93109165e-01 9.81157590e-01 -6.21569920e-03 -1.16417859e+01] [-3.14234987e-02 1.47238294e-04 9.99506149e-01 -3.98468215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.49264000000001 meters 0.02463061258753443 Centerline is valid? [True, True] Translation: X:94.99, Y:-11.65, Z:-3.99 [[ 9.80172549e-01 1.95814919e-01 3.03033123e-02 9.49905210e+01] [-1.95719268e-01 9.80640868e-01 -6.12006275e-03 -1.16453969e+01] [-3.09150661e-02 6.77754016e-05 9.99522013e-01 -3.98536005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52264000000001 meters 0.02717515205738984 Centerline is valid? [True, True] Translation: X:95.02, Y:-11.65, Z:-3.99 [[ 9.79869155e-01 1.97262242e-01 3.07253548e-02 9.50207884e+01] [-1.97164407e-01 9.80350757e-01 -6.21207093e-03 -1.16502727e+01] [-3.13470319e-02 2.90703537e-05 9.99508561e-01 -3.98781974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.55264000000001 meters 0.013274227621514558 Centerline is valid? [True, True] Translation: X:95.05, Y:-11.66, Z:-3.99 [[ 9.79452291e-01 1.99359125e-01 3.04819479e-02 9.50533425e+01] [-1.99263689e-01 9.79926496e-01 -6.16797752e-03 -1.16562841e+01] [-3.10997110e-02 -3.27056696e-05 9.99516286e-01 -3.98551432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58264000000001 meters 0.02428542005633086 Centerline is valid? [True, True] Translation: X:95.08, Y:-11.66, Z:-3.99 [[ 9.79282717e-01 2.00064603e-01 3.12971891e-02 9.50837331e+01] [-1.99964104e-01 9.79782707e-01 -6.34070485e-03 -1.16624113e+01] [-3.19329953e-02 -4.89717164e-05 9.99490011e-01 -3.98999632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.61264000000001 meters 0.014074982009265135 Centerline is valid? [True, True] Translation: X:95.12, Y:-11.67, Z:-3.99 [[ 9.78630934e-01 2.03422019e-01 3.00162862e-02 9.51154748e+01] [-2.03331104e-01 9.79091140e-01 -6.08297670e-03 -1.16670047e+01] [-3.06260913e-02 -1.50255445e-04 9.99530900e-01 -3.98756943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64264000000001 meters 0.01540310671798983 Centerline is valid? [True, True] Translation: X:95.15, Y:-11.67, Z:-3.99 [[ 9.78280390e-01 2.05121783e-01 2.98753009e-02 9.51461023e+01] [-2.05032342e-01 9.78736438e-01 -6.05996476e-03 -1.16705847e+01] [-3.04830764e-02 -1.97058226e-04 9.99535264e-01 -3.99079717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.67264 meters 0.015966548861392805 Centerline is valid? [True, True] Translation: X:95.18, Y:-11.68, Z:-3.99 [[ 9.77863104e-01 2.07106843e-01 2.98413443e-02 9.51781987e+01] [-2.07018383e-01 9.78318297e-01 -6.05789194e-03 -1.16757614e+01] [-3.04489641e-02 -2.53917822e-04 9.99536291e-01 -3.99095444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70264 meters 0.020224649090782174 Centerline is valid? [True, True] Translation: X:95.21, Y:-11.67, Z:-4.00 [[ 9.77076280e-01 2.10797776e-01 2.97697959e-02 9.52089459e+01] [-2.10711220e-01 9.77529625e-01 -6.05095989e-03 -1.16740708e+01] [-3.03763863e-02 -3.60580643e-04 9.99538466e-01 -3.99509435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73264 meters 0.021088976720147437 Centerline is valid? [True, True] Translation: X:95.24, Y:-11.68, Z:-4.00 [[ 9.76681451e-01 2.12723321e-01 2.90195023e-02 9.52387620e+01] [-2.12641914e-01 9.77112389e-01 -5.89879335e-03 -1.16778398e+01] [-2.96101262e-02 -4.09520456e-04 9.99561440e-01 -3.99599135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76264 meters 0.023249324635557934 Centerline is valid? [True, True] Translation: X:95.27, Y:-11.68, Z:-4.00 [[ 9.76038724e-01 2.15564761e-01 2.96688803e-02 9.52688971e+01] [-2.15481002e-01 9.76489414e-01 -6.03004416e-03 -1.16792469e+01] [-3.02712126e-02 -5.07523449e-04 9.99541593e-01 -3.99640229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.79264 meters 0.03006174931517011 Centerline is valid? [True, True] Translation: X:95.30, Y:-11.68, Z:-4.00 [[ 9.75926641e-01 2.16002732e-01 3.01663970e-02 9.52975589e+01] [-2.15916373e-01 9.76392615e-01 -6.13040083e-03 -1.16843079e+01] [-3.07784306e-02 -5.30597523e-04 9.99526091e-01 -3.99960520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82264 meters 0.02494003425535205 Centerline is valid? [True, True] Translation: X:95.33, Y:-11.69, Z:-4.00 [[ 9.75698034e-01 2.17100174e-01 2.96792939e-02 9.53259485e+01] [-2.17017106e-01 9.76149171e-01 -6.03084825e-03 -1.16873343e+01] [-3.02807164e-02 -5.56627688e-04 9.99541279e-01 -3.99888419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85264000000001 meters 0.025062125323644595 Centerline is valid? [True, True] Translation: X:95.35, Y:-11.69, Z:-4.00 [[ 9.75576045e-01 2.17692231e-01 2.93508604e-02 9.53548367e+01] [-2.17611291e-01 9.76017299e-01 -5.96303980e-03 -1.16915451e+01] [-2.99450549e-02 -5.69679834e-04 9.99551384e-01 -3.99970848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88264000000001 meters 0.024835186396478148 Centerline is valid? [True, True] Translation: X:95.38, Y:-11.70, Z:-4.00 [[ 9.75521986e-01 2.18003285e-01 2.88344105e-02 9.53846553e+01] [-2.17925341e-01 9.75947869e-01 -5.85690569e-03 -1.16957586e+01] [-2.94177062e-02 -5.70208460e-04 9.99567043e-01 -4.00118925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.91264000000001 meters 0.027034270462814897 Centerline is valid? [True, True] Translation: X:95.41, Y:-11.70, Z:-4.01 [[ 9.75617447e-01 2.17570893e-01 2.88704469e-02 9.54118756e+01] [-2.17492571e-01 9.76044361e-01 -5.86402013e-03 -1.16995177e+01] [-2.94546770e-02 -5.58067374e-04 9.99565961e-01 -4.00506268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94264000000001 meters 0.03629836675422199 Centerline is valid? [True, True] Translation: X:95.44, Y:-11.70, Z:-4.01 [[ 9.75760170e-01 2.16907283e-01 2.90399835e-02 9.54398295e+01] [-2.16827805e-01 9.76192059e-01 -5.89642665e-03 -1.17045970e+01] [-2.96275792e-02 -5.43177604e-04 9.99560859e-01 -4.00826023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.97264000000001 meters 0.032667362536356895 Centerline is valid? [True, True] Translation: X:95.47, Y:-11.71, Z:-4.01 [[ 9.75962136e-01 2.16041972e-01 2.87014952e-02 9.54680516e+01] [-2.15964003e-01 9.76383943e-01 -5.82630377e-03 -1.17086649e+01] [-2.92824052e-02 -5.12237913e-04 9.99571047e-01 -4.01042688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.00264000000001 meters 0.021956604220969702 Centerline is valid? [True, True] Translation: X:95.50, Y:-11.73, Z:-4.01 [[ 9.76435394e-01 2.11758544e-01 4.16201919e-02 9.55014794e+01] [-2.12456160e-01 9.77083179e-01 1.30706525e-02 -1.17273053e+01] [-3.78985670e-02 -2.16051139e-02 9.99048006e-01 -4.01003674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.03264 meters 0.024303145153773995 Centerline is valid? [True, True] Translation: X:95.53, Y:-11.71, Z:-4.01 [[ 9.76114228e-01 2.15937243e-01 2.39190336e-02 9.55302517e+01] [-2.15291446e-01 9.76178359e-01 -2.69333579e-02 -1.17057979e+01] [-2.91651580e-02 2.11404706e-02 9.99351026e-01 -4.01164562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06264 meters 0.021725114561177903 Centerline is valid? [True, True] Translation: X:95.56, Y:-11.72, Z:-4.01 [[ 9.76413786e-01 2.13944720e-01 2.90478213e-02 9.55559463e+01] [-2.13863966e-01 9.76845663e-01 -5.89535284e-03 -1.17229146e+01] [-2.96365179e-02 -4.55978500e-04 9.99560638e-01 -4.00864332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.09264 meters 0.03183307896546414 Centerline is valid? [True, True] Translation: X:95.58, Y:-11.73, Z:-4.01 [[ 9.76615038e-01 2.13057787e-01 2.88001367e-02 9.55840082e+01] [-2.12978061e-01 9.77039506e-01 -5.84365170e-03 -1.17270741e+01] [-2.93839068e-02 -4.26799144e-04 9.99568109e-01 -4.01317251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12264 meters 0.021072226536072106 Centerline is valid? [True, True] Translation: X:95.61, Y:-11.73, Z:-4.01 [[ 9.76765573e-01 2.12624661e-01 2.68284985e-02 9.56124983e+01] [-2.12555349e-01 9.77133872e-01 -5.44239645e-03 -1.17317892e+01] [-2.73722223e-02 -3.86595371e-04 9.99625236e-01 -4.01411208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.15264 meters 0.027000739754016675 Centerline is valid? [True, True] Translation: X:95.64, Y:-11.74, Z:-4.02 [[ 9.77008745e-01 2.11487567e-01 2.69614865e-02 9.56395717e+01] [-2.11417165e-01 9.77380622e-01 -5.46822462e-03 -1.17351067e+01] [-2.75080960e-02 -3.57617758e-04 9.99621517e-01 -4.01892541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18264 meters 0.018989762970313902 Centerline is valid? [True, True] Translation: X:95.67, Y:-11.74, Z:-4.02 [[ 9.76865873e-01 2.11488469e-01 3.17126796e-02 9.56688284e+01] [-2.11490512e-01 9.77374384e-01 -3.32824721e-03 -1.17432314e+01] [-3.16990466e-02 -3.45567974e-03 9.99491485e-01 -4.01587033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.21264000000001 meters 0.019146738691721083 Centerline is valid? [True, True] Translation: X:95.70, Y:-11.74, Z:-4.02 [[ 9.77638539e-01 2.08542982e-01 2.70686650e-02 9.56983553e+01] [-2.08383818e-01 9.78009275e-01 -8.60475241e-03 -1.17424229e+01] [-2.82678661e-02 2.77166581e-03 9.99596541e-01 -4.01902598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24264000000001 meters 0.027034307225614992 Centerline is valid? [True, True] Translation: X:95.73, Y:-11.75, Z:-4.02 [[ 9.78167701e-01 2.05984439e-01 2.75383118e-02 9.57253595e+01] [-2.05908900e-01 9.78555245e-01 -5.58196070e-03 -1.17525140e+01] [-2.80975565e-02 -2.10289830e-04 9.99605164e-01 -4.02260378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.27264000000001 meters 0.01614249704564672 Centerline is valid? [True, True] Translation: X:95.75, Y:-11.76, Z:-4.02 [[ 9.78613459e-01 2.03890429e-01 2.72835243e-02 9.57526780e+01] [-2.03815504e-01 9.78993703e-01 -5.52900228e-03 -1.17613397e+01] [-2.78377092e-02 -1.50049197e-04 9.99612445e-01 -4.02149985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30264000000001 meters 0.01728540164530042 Centerline is valid? [True, True] Translation: X:95.78, Y:-11.77, Z:-4.02 [[ 9.79197738e-01 2.01071854e-01 2.72378222e-02 9.57806469e+01] [-2.00996137e-01 9.79576492e-01 -5.51802706e-03 -1.17710998e+01] [-2.77910503e-02 -7.14574295e-05 9.99613752e-01 -4.02310641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.33264000000001 meters 0.015390449744021512 Centerline is valid? [True, True] Translation: X:95.81, Y:-11.79, Z:-4.02 [[ 9.80287493e-01 1.95712932e-01 2.70717268e-02 9.58079410e+01] [-1.95636125e-01 9.80661227e-01 -5.48311874e-03 -1.17868072e+01] [-2.76213100e-02 7.88250031e-05 9.99618456e-01 -4.02412476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36264000000001 meters 0.016057310715474074 Centerline is valid? [True, True] Translation: X:95.84, Y:-11.80, Z:-4.02 [[ 9.80785520e-01 1.93337847e-01 2.60814459e-02 9.58388658e+01] [-1.93265783e-01 9.81132233e-01 -5.28007610e-03 -1.17977037e+01] [-2.66101858e-02 1.37971120e-04 9.99645877e-01 -4.02418722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.39264000000001 meters 0.017325186871043678 Centerline is valid? [True, True] Translation: X:95.87, Y:-11.83, Z:-4.03 [[ 9.80902502e-01 1.88313285e-01 4.86660807e-02 9.58663820e+01] [-1.89828525e-01 9.81400177e-01 2.86150861e-02 -1.18295155e+01] [-4.23722994e-02 -3.73068199e-02 9.98405123e-01 -4.02526157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.42264 meters 0.02795678649894929 Centerline is valid? [True, True] Translation: X:95.90, Y:-11.80, Z:-4.03 [[ 9.81566169e-01 1.90161752e-01 1.91406162e-02 9.59024313e+01] [-1.89220445e-01 9.81005641e-01 -4.27031128e-02 -1.17958497e+01] [-2.68975512e-02 3.82941350e-02 9.98904440e-01 -4.02944522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.45264 meters 0.02086501679326853 Centerline is valid? [True, True] Translation: X:95.93, Y:-11.83, Z:-4.03 [[ 9.82079507e-01 1.86402944e-01 2.78169837e-02 9.59269354e+01] [-1.86317931e-01 9.82473315e-01 -5.64031661e-03 -1.18315100e+01] [-2.83808158e-02 3.56436512e-04 9.99597120e-01 -4.02643574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48264 meters 0.02931171021855838 Centerline is valid? [True, True] Translation: X:95.96, Y:-11.84, Z:-4.03 [[ 9.82232676e-01 1.85529776e-01 2.82430962e-02 9.59586958e+01] [-1.85441658e-01 9.82638565e-01 -5.73084155e-03 -1.18413688e+01] [-2.88159972e-02 3.91573234e-04 9.99584656e-01 -4.02820227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.51264 meters 0.020394504178199515 Centerline is valid? [True, True] Translation: X:95.99, Y:-11.85, Z:-4.03 [[ 9.82290727e-01 1.85243027e-01 2.81060324e-02 9.59901766e+01] [-1.85155474e-01 9.82692657e-01 -5.70900127e-03 -1.18508452e+01] [-2.86771443e-02 4.03913250e-04 9.99588645e-01 -4.02560806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54264 meters 0.02479201530468475 Centerline is valid? [True, True] Translation: X:96.02, Y:-11.86, Z:-4.04 [[ 9.82268439e-01 1.86069235e-01 2.29554728e-02 9.60191604e+01] [-1.86010934e-01 9.82536585e-01 -4.66818523e-03 -1.18626424e+01] [-2.34231975e-02 3.15442083e-04 9.99725590e-01 -4.03718939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.57264 meters 0.03138105777694082 Centerline is valid? [True, True] Translation: X:96.05, Y:-11.87, Z:-4.04 [[ 9.82095380e-01 1.87174633e-01 2.13148355e-02 9.60489317e+01] [-1.87124663e-01 9.82326619e-01 -4.33302355e-03 -1.18709010e+01] [-2.17491623e-02 2.66911012e-04 9.99763423e-01 -4.04328167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60264000000001 meters 0.019676258432753682 Centerline is valid? [True, True] Translation: X:96.08, Y:-11.87, Z:-4.04 [[ 9.81100965e-01 1.92295622e-01 2.15241677e-02 9.60795736e+01] [-1.92245819e-01 9.81337031e-01 -4.37905978e-03 -1.18748935e+01] [-2.19645369e-02 1.58368513e-04 9.99758738e-01 -4.04354722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.63264000000001 meters 0.025607298202740488 Centerline is valid? [True, True] Translation: X:96.11, Y:-11.88, Z:-4.04 [[ 9.80545541e-01 1.95120093e-01 2.14147221e-02 9.61118888e+01] [-1.95071390e-01 9.80779353e-01 -4.36039746e-03 -1.18779304e+01] [-2.18539185e-02 9.81686730e-05 9.99761170e-01 -4.04396587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66264000000001 meters 0.016036355862818496 Centerline is valid? [True, True] Translation: X:96.15, Y:-11.87, Z:-4.04 [[ 9.79503274e-01 2.00663062e-01 1.75405451e-02 9.61459587e+01] [-2.00229608e-01 9.79461619e-01 -2.37285002e-02 -1.18712186e+01] [-2.19417242e-02 1.97300072e-02 9.99564549e-01 -4.04144344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.69264000000001 meters 0.036654983212923306 Centerline is valid? [True, True] Translation: X:96.17, Y:-11.90, Z:-4.04 [[ 9.78501569e-01 2.04550746e-01 2.63376667e-02 9.61718240e+01] [-2.04981790e-01 9.78653348e-01 1.48354520e-02 -1.18963981e+01] [-2.27408429e-02 -1.99152551e-02 9.99543014e-01 -4.04275559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72264000000001 meters 0.018663534085294555 Centerline is valid? [True, True] Translation: X:96.20, Y:-11.89, Z:-4.04 [[ 9.77537893e-01 2.09378571e-01 2.40890206e-02 9.62046539e+01] [-2.09320948e-01 9.77834627e-01 -4.91756087e-03 -1.18875581e+01] [-2.45847103e-02 -2.35234521e-04 9.99697723e-01 -4.03804933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.75264000000001 meters 0.023701087635229743 Centerline is valid? [True, True] Translation: X:96.23, Y:-11.88, Z:-4.04 [[ 9.76604293e-01 2.13567910e-01 2.51555721e-02 9.62341171e+01] [-2.13506440e-01 9.76928156e-01 -5.13595995e-03 -1.18846128e+01] [-2.56720629e-02 -3.55076124e-04 9.99670355e-01 -4.04078121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.78264 meters 0.02553464585809325 Centerline is valid? [True, True] Translation: X:96.26, Y:-11.89, Z:-4.04 [[ 9.75710883e-01 2.17535062e-01 2.58218917e-02 9.62644465e+01] [-2.17471713e-01 9.76052393e-01 -5.27074809e-03 -1.18866107e+01] [-2.63500917e-02 -4.72804751e-04 9.99652664e-01 -4.03827581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.81264 meters 0.0343376571010556 Centerline is valid? [True, True] Translation: X:96.29, Y:-11.89, Z:-4.04 [[ 9.74347804e-01 2.23497969e-01 2.63631277e-02 9.62948371e+01] [-2.23434138e-01 9.74704180e-01 -5.38034904e-03 -1.18873064e+01] [-2.68987479e-02 -6.48091455e-04 9.99637953e-01 -4.03934406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84264 meters 0.032236358790475574 Centerline is valid? [True, True] Translation: X:96.32, Y:-11.88, Z:-4.04 [[ 9.72988900e-01 2.29672401e-01 2.33064055e-02 9.63245054e+01] [-2.29260892e-01 9.73178597e-01 -1.90489316e-02 -1.18833360e+01] [-2.70563089e-02 1.31911517e-02 9.99546872e-01 -4.03889218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.87264 meters 0.03493474969295898 Centerline is valid? [True, True] Translation: X:96.35, Y:-11.89, Z:-4.04 [[ 9.72909145e-01 2.29491896e-01 2.79511079e-02 9.63509287e+01] [-2.29463862e-01 9.73307904e-01 -4.24976538e-03 -1.18938988e+01] [-2.81803209e-02 -2.27913357e-03 9.99600258e-01 -4.04103683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90264 meters 0.033638257762896195 Centerline is valid? [True, True] Translation: X:96.38, Y:-11.91, Z:-4.04 [[ 9.73456607e-01 2.26876257e-01 3.01562279e-02 9.63780250e+01] [-2.27235964e-01 9.73797721e-01 9.04517260e-03 -1.19082291e+01] [-2.73139311e-02 -1.56576626e-02 9.99504271e-01 -4.04064524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.93264 meters 0.039539612652798636 Centerline is valid? [True, True] Translation: X:96.41, Y:-11.91, Z:-4.04 [[ 9.73806241e-01 2.25747241e-01 2.71953717e-02 9.64075126e+01] [-2.25680296e-01 9.74185630e-01 -5.54643409e-03 -1.19071297e+01] [-2.77454325e-02 -7.36307400e-04 9.99614750e-01 -4.04494354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96264000000001 meters 0.03121087473216299 Centerline is valid? [True, True] Translation: X:96.43, Y:-11.91, Z:-4.05 [[ 9.74580523e-01 2.22434867e-01 2.67494613e-02 9.64348919e+01] [-2.22368879e-01 9.74947347e-01 -5.45450235e-03 -1.19147784e+01] [-2.72925879e-02 -6.32395970e-04 9.99627288e-01 -4.04660286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.99264000000001 meters 0.03121087473216299 Centerline is valid? [True, True] Translation: X:96.46, Y:-11.92, Z:-4.05 [[ 9.74590893e-01 2.22389408e-01 2.67496166e-02 9.64626543e+01] [-2.22323423e-01 9.74957718e-01 -5.45374091e-03 -1.19203458e+01] [-2.72925993e-02 -6.31900101e-04 9.99627288e-01 -4.04785700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02264000000001 meters 0.023769637008169458 Centerline is valid? [True, True] Translation: X:96.49, Y:-11.94, Z:-4.05 [[ 9.75898555e-01 2.16791678e-01 2.49675393e-02 9.64897572e+01] [-2.16732410e-01 9.76217788e-01 -5.08844298e-03 -1.19390041e+01] [-2.54768881e-02 -4.45470814e-04 9.99675312e-01 -4.05026494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.05264000000001 meters 0.020103153548211745 Centerline is valid? [True, True] Translation: X:96.52, Y:-11.96, Z:-4.05 [[ 9.77100149e-01 2.11351563e-01 2.46133358e-02 9.65175183e+01] [-2.11292245e-01 9.77410061e-01 -5.01601310e-03 -1.19550037e+01] [-2.51174643e-02 -2.99459832e-04 9.99684462e-01 -4.05296921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08264000000001 meters 0.01786341518746335 Centerline is valid? [True, True] Translation: X:96.55, Y:-11.97, Z:-4.05 [[ 9.77871032e-01 2.07766177e-01 2.45246766e-02 9.65475890e+01] [-2.07706227e-01 9.78178497e-01 -4.99514195e-03 -1.19685970e+01] [-2.50273329e-02 -2.09323437e-04 9.99686745e-01 -4.05370986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.11264000000001 meters 0.031480787551041875 Centerline is valid? [True, True] Translation: X:96.58, Y:-11.98, Z:-4.06 [[ 9.78061076e-01 2.06866929e-01 2.45480183e-02 9.65787092e+01] [-2.06806471e-01 9.78369072e-01 -5.00430152e-03 -1.19766177e+01] [-2.50522464e-02 -1.82176523e-04 9.99686127e-01 -4.05704972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14264000000001 meters 0.031480787551041875 Centerline is valid? [True, True] Translation: X:96.61, Y:-11.98, Z:-4.06 [[ 9.78025613e-01 2.07034627e-01 2.45471659e-02 9.66096876e+01] [-2.06974117e-01 9.78333599e-01 -5.00847795e-03 -1.19830879e+01] [-2.50522455e-02 -1.82208267e-04 9.99686127e-01 -4.05845199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.17264 meters 0.031480787551041875 Centerline is valid? [True, True] Translation: X:96.64, Y:-11.99, Z:-4.06 [[ 9.77990121e-01 2.07202319e-01 2.45463064e-02 9.66406648e+01] [-2.07141757e-01 9.78298097e-01 -5.01268536e-03 -1.19895633e+01] [-2.50522449e-02 -1.82208262e-04 9.99686127e-01 -4.05985426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.20264 meters 0.017599184512469834 Centerline is valid? [True, True] Translation: X:96.67, Y:-12.00, Z:-4.06 [[ 9.77941373e-01 2.07546216e-01 2.35635126e-02 9.66716045e+01] [-2.07490407e-01 9.78225197e-01 -4.81610701e-03 -1.19965594e+01] [-2.40499865e-02 -1.79332511e-04 9.99710741e-01 -4.05955572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23264 meters 0.01845653758666953 Centerline is valid? [True, True] Translation: X:96.70, Y:-12.00, Z:-4.06 [[ 9.77748351e-01 2.08453987e-01 2.35605232e-02 9.67018807e+01] [-2.08398360e-01 9.78032155e-01 -4.81946933e-03 -1.20018302e+01] [-2.40475869e-02 -1.97746208e-04 9.99710795e-01 -4.06259208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26264 meters 0.020146318568762086 Centerline is valid? [True, True] Translation: X:96.73, Y:-12.00, Z:-4.06 [[ 9.77227020e-01 2.10906629e-01 2.33611998e-02 9.67324231e+01] [-2.10852476e-01 9.77506180e-01 -4.78556760e-03 -1.20043538e+01] [-2.38450251e-02 -2.49180865e-04 9.99715636e-01 -4.06476000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.29264 meters 0.020631753120143596 Centerline is valid? [True, True] Translation: X:96.76, Y:-12.01, Z:-4.06 [[ 9.76870674e-01 2.12634841e-01 2.25856136e-02 9.67637103e+01] [-2.12584686e-01 9.77131693e-01 -4.62667756e-03 -1.20093157e+01] [-2.30529117e-02 -2.81689946e-04 9.99734207e-01 -4.06439225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32264 meters 0.02298320565836901 Centerline is valid? [True, True] Translation: X:96.79, Y:-12.01, Z:-4.07 [[ 9.76387106e-01 2.14743002e-01 2.35300265e-02 9.67932326e+01] [-2.14689154e-01 9.76670530e-01 -4.82107119e-03 -1.20111298e+01] [-2.40163748e-02 -3.44409741e-04 9.99711506e-01 -4.06666006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35264000000001 meters 0.03105490934341099 Centerline is valid? [True, True] Translation: X:96.82, Y:-12.01, Z:-4.07 [[ 9.75901200e-01 2.16873216e-01 2.41423972e-02 9.68226231e+01] [-2.16817155e-01 9.76199694e-01 -4.94752068e-03 -1.20136509e+01] [-2.46407854e-02 -4.06194494e-04 9.99696287e-01 -4.06800742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38264000000001 meters 0.028909396631049338 Centerline is valid? [True, True] Translation: X:96.85, Y:-12.01, Z:-4.07 [[ 9.74594197e-01 2.22567474e-01 2.50972172e-02 9.68536016e+01] [-2.22508785e-01 9.74917121e-01 -5.14280062e-03 -1.20093431e+01] [-2.56123268e-02 -5.72207659e-04 9.99671787e-01 -4.06512955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.41264000000001 meters 0.030586092767687242 Centerline is valid? [True, True] Translation: X:96.88, Y:-12.01, Z:-4.07 [[ 9.73918881e-01 2.25479963e-01 2.53140124e-02 9.68840115e+01] [-2.25421271e-01 9.74247585e-01 -5.18596310e-03 -1.20102896e+01] [-2.58314463e-02 -6.55609483e-04 9.99666098e-01 -4.06565972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44264000000001 meters 0.03569051667250213 Centerline is valid? [True, True] Translation: X:96.91, Y:-12.01, Z:-4.07 [[ 9.72749853e-01 2.30520272e-01 2.48621629e-02 9.69142324e+01] [-2.30465315e-01 9.73067214e-01 -5.09277653e-03 -1.20070561e+01] [-2.53665438e-02 -7.75868582e-04 9.99677916e-01 -4.06827174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.47264000000001 meters 0.03772245249049989 Centerline is valid? [True, True] Translation: X:96.94, Y:-12.01, Z:-4.07 [[ 9.72398943e-01 2.32008065e-01 2.47498230e-02 9.69416386e+01] [-2.31954082e-01 9.72713524e-01 -5.06987762e-03 -1.20094559e+01] [-2.52507401e-02 -8.10878849e-04 9.99680820e-01 -4.07025589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.50264000000001 meters 0.04646821363194809 Centerline is valid? [True, True] Translation: X:96.97, Y:-12.01, Z:-4.07 [[ 9.72241153e-01 2.32616829e-01 2.52299563e-02 9.69697000e+01] [-2.32560980e-01 9.72568094e-01 -5.16649018e-03 -1.20097518e+01] [-2.57396631e-02 -8.44429008e-04 9.99668323e-01 -4.07450687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.53264 meters 0.03814115146268193 Centerline is valid? [True, True] Translation: X:97.00, Y:-12.02, Z:-4.07 [[ 9.72200589e-01 2.32662594e-01 2.63463907e-02 9.69978386e+01] [-2.32601762e-01 9.72557111e-01 -5.39314775e-03 -1.20161480e+01] [-2.68781533e-02 -8.84995485e-04 9.99638325e-01 -4.07094521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56264 meters 0.03995794061123449 Centerline is valid? [True, True] Translation: X:97.03, Y:-12.02, Z:-4.07 [[ 9.72374696e-01 2.31917343e-01 2.64914609e-02 9.70253756e+01] [-2.31855593e-01 9.72735107e-01 -5.42171399e-03 -1.20184046e+01] [-2.70265636e-02 -8.70255899e-04 9.99634337e-01 -4.07408874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59264 meters 0.03440622779607421 Centerline is valid? [True, True] Translation: X:97.05, Y:-12.03, Z:-4.07 [[ 9.72674070e-01 2.30667267e-01 2.64152609e-02 9.70527882e+01] [-2.30605461e-01 9.73032330e-01 -5.40430145e-03 -1.20305992e+01] [-2.69494984e-02 -8.34879533e-04 9.99636448e-01 -4.07212645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62264 meters 0.03649428504149368 Centerline is valid? [True, True] Translation: X:97.08, Y:-12.03, Z:-4.07 [[ 9.72856255e-01 2.29832883e-01 2.69732085e-02 9.70809262e+01] [-2.29768151e-01 9.73229755e-01 -5.51721234e-03 -1.20326927e+01] [-2.75191660e-02 -8.30129728e-04 9.99620931e-01 -4.07427564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.65264 meters 0.03334290870579675 Centerline is valid? [True, True] Translation: X:97.11, Y:-12.04, Z:-4.07 [[ 9.73139954e-01 2.28687096e-01 2.64734414e-02 9.71088800e+01] [-2.28624368e-01 9.73499664e-01 -5.41311875e-03 -1.20392673e+01] [-2.70097968e-02 -7.84751687e-04 9.99634861e-01 -4.07436808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68264 meters 0.03410755551516267 Centerline is valid? [True, True] Translation: X:97.14, Y:-12.04, Z:-4.08 [[ 9.73129165e-01 2.28839545e-01 2.55360861e-02 9.71369175e+01] [-2.28781260e-01 9.73463858e-01 -5.22045046e-03 -1.20422404e+01] [-2.60531024e-02 -7.62005354e-04 9.99660270e-01 -4.07758306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71264000000001 meters 0.03707052838165344 Centerline is valid? [True, True] Translation: X:97.17, Y:-12.04, Z:-4.08 [[ 9.72870912e-01 2.29964902e-01 2.52652461e-02 9.71658285e+01] [-2.29908267e-01 9.73198606e-01 -5.16349143e-03 -1.20408404e+01] [-2.57755241e-02 -7.85278335e-04 9.99667448e-01 -4.08089577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74264000000001 meters 0.039705926507225195 Centerline is valid? [True, True] Translation: X:97.19, Y:-12.04, Z:-4.08 [[ 9.72666428e-01 2.30784322e-01 2.56635208e-02 9.71940111e+01] [-2.30726216e-01 9.73004585e-01 -5.24319987e-03 -1.20413267e+01] [-2.61807717e-02 -8.21362547e-04 9.99656887e-01 -4.08277365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.77264000000001 meters 0.03949037030689058 Centerline is valid? [True, True] Translation: X:97.22, Y:-12.05, Z:-4.08 [[ 9.72407022e-01 2.31810250e-01 2.62410278e-02 9.72229610e+01] [-2.31749923e-01 9.72760634e-01 -5.35928608e-03 -1.20454024e+01] [-2.67685763e-02 -8.69948764e-04 9.99641279e-01 -4.08216999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80264000000001 meters 0.042798355743797936 Centerline is valid? [True, True] Translation: X:97.25, Y:-12.04, Z:-4.08 [[ 9.71875799e-01 2.33935444e-01 2.70488294e-02 9.72530751e+01] [-2.33872212e-01 9.72251659e-01 -5.52266404e-03 -1.20418211e+01] [-2.75902161e-02 -9.58626014e-04 9.99618858e-01 -4.08280691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.83264000000001 meters 0.041381024674603244 Centerline is valid? [True, True] Translation: X:97.28, Y:-12.05, Z:-4.08 [[ 9.71765686e-01 2.34427994e-01 2.67388795e-02 9.72810410e+01] [-2.34366408e-01 9.72133010e-01 -5.45865343e-03 -1.20475863e+01] [-2.72734086e-02 -9.62163041e-04 9.99627548e-01 -4.08360634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86264000000001 meters 0.03987588114812984 Centerline is valid? [True, True] Translation: X:97.31, Y:-12.05, Z:-4.08 [[ 9.71704070e-01 2.34708966e-01 2.65122995e-02 9.73097893e+01] [-2.34648560e-01 9.72065211e-01 -5.41106833e-03 -1.20496508e+01] [-2.70417103e-02 -9.63115799e-04 9.99633842e-01 -4.08484859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.89264000000001 meters 0.04649834648610413 Centerline is valid? [True, True] Translation: X:97.34, Y:-12.05, Z:-4.09 [[ 9.71997929e-01 2.33590757e-01 2.56004822e-02 9.73379623e+01] [-2.33534073e-01 9.72334586e-01 -5.22396627e-03 -1.20482279e+01] [-2.61125045e-02 -9.00900498e-04 9.99658604e-01 -4.09292827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.92264 meters 0.048197084439538414 Centerline is valid? [True, True] Translation: X:97.37, Y:-12.06, Z:-4.09 [[ 9.72273542e-01 2.32430804e-01 2.56920315e-02 9.73658414e+01] [-2.32373359e-01 9.72612542e-01 -5.24077509e-03 -1.20566745e+01] [-2.62065096e-02 -8.74676681e-04 9.99656168e-01 -4.09396440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.95264 meters 0.038359136840930924 Centerline is valid? [True, True] Translation: X:97.39, Y:-12.06, Z:-4.09 [[ 9.72682519e-01 2.30644313e-01 2.63043155e-02 9.73936026e+01] [-2.30583481e-01 9.73037760e-01 -5.36430878e-03 -1.20627242e+01] [-2.68323395e-02 -8.47571258e-04 9.99639589e-01 -4.09317589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98264 meters 0.03541707167110557 Centerline is valid? [True, True] Translation: X:97.42, Y:-12.07, Z:-4.09 [[ 9.73166394e-01 2.28551621e-01 2.66706898e-02 9.74217620e+01] [-2.28488339e-01 9.73531465e-01 -5.43747702e-03 -1.20710584e+01] [-2.72074998e-02 -8.02371714e-04 9.99629485e-01 -4.09283225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.01264 meters 0.030938765554450888 Centerline is valid? [True, True] Translation: X:97.45, Y:-12.08, Z:-4.09 [[ 9.74234170e-01 2.23879446e-01 2.73088794e-02 9.74511156e+01] [-2.23811310e-01 9.74616601e-01 -5.56591763e-03 -1.20794975e+01] [-2.78617818e-02 -6.89528934e-04 9.99611547e-01 -4.09292479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04264 meters 0.02899150923021778 Centerline is valid? [True, True] Translation: X:97.48, Y:-12.09, Z:-4.09 [[ 9.74662808e-01 2.21934890e-01 2.78803641e-02 9.74791786e+01] [-2.21863054e-01 9.75061273e-01 -5.68317643e-03 -1.20851860e+01] [-2.84463584e-02 -6.46442018e-04 9.99595111e-01 -4.09272724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07264 meters 0.026189780062018022 Centerline is valid? [True, True] Translation: X:97.51, Y:-12.09, Z:-4.09 [[ 9.75188908e-01 2.19521259e-01 2.85834015e-02 9.75078643e+01] [-2.19444767e-01 9.75607537e-01 -5.82479990e-03 -1.20910871e+01] [-2.91648493e-02 -5.92197617e-04 9.99574440e-01 -4.09334293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10264000000001 meters 0.025296778800770796 Centerline is valid? [True, True] Translation: X:97.54, Y:-12.10, Z:-4.09 [[ 9.75342186e-01 2.18802367e-01 2.88642398e-02 9.75361430e+01] [-2.18724076e-01 9.75769025e-01 -5.88110392e-03 -1.20971294e+01] [-2.94516306e-02 -5.77215442e-04 9.99566040e-01 -4.09383563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.13264000000001 meters 0.02769368138754064 Centerline is valid? [True, True] Translation: X:97.56, Y:-12.10, Z:-4.10 [[ 9.75503181e-01 2.18019073e-01 2.93466808e-02 9.75640686e+01] [-2.17937835e-01 9.75944345e-01 -5.97785946e-03 -1.21015544e+01] [-2.99440146e-02 -5.64331159e-04 9.99551418e-01 -4.09579457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16264000000001 meters 0.02503501681268645 Centerline is valid? [True, True] Translation: X:97.59, Y:-12.11, Z:-4.10 [[ 9.75805273e-01 2.16712946e-01 2.89752881e-02 9.75914120e+01] [-2.16633214e-01 9.76235233e-01 -5.90092429e-03 -1.21050759e+01] [-2.95655038e-02 -5.18856739e-04 9.99562710e-01 -4.09783819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.19264000000001 meters 0.023899144361893002 Centerline is valid? [True, True] Translation: X:97.62, Y:-12.11, Z:-4.10 [[ 9.76052339e-01 2.15595976e-01 2.89863216e-02 9.76195936e+01] [-2.15515750e-01 9.76482533e-01 -5.90115082e-03 -1.21122121e+01] [-2.95769011e-02 -4.87176782e-04 9.99562389e-01 -4.09950230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22264000000001 meters 0.021762971805598323 Centerline is valid? [True, True] Translation: X:97.65, Y:-12.12, Z:-4.10 [[ 9.76657983e-01 2.12755999e-01 2.95646434e-02 9.76465482e+01] [-2.12671278e-01 9.77105274e-01 -6.01758343e-03 -1.21178320e+01] [-3.01680460e-02 -4.10429590e-04 9.99544757e-01 -4.10016643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.25264000000001 meters 0.026909755122087375 Centerline is valid? [True, True] Translation: X:97.67, Y:-12.12, Z:-4.10 [[ 9.77021288e-01 2.11104639e-01 2.93978663e-02 9.76748503e+01] [-2.11020186e-01 9.77463402e-01 -5.98155013e-03 -1.21242243e+01] [-2.99980713e-02 -3.59441393e-04 9.99549892e-01 -4.10194681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.28264 meters 0.01850945977693459 Centerline is valid? [True, True] Translation: X:97.70, Y:-12.13, Z:-4.10 [[ 9.77401227e-01 2.09359253e-01 2.92496793e-02 9.77022279e+01] [-2.09274907e-01 9.77838744e-01 -5.95009295e-03 -1.21298400e+01] [-2.98471767e-02 -3.05595762e-04 9.99554427e-01 -4.10298995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.31264 meters 0.029820511074167763 Centerline is valid? [True, True] Translation: X:97.73, Y:-12.14, Z:-4.11 [[ 9.77854906e-01 2.07234381e-01 2.92180432e-02 9.77293813e+01] [-2.07149329e-01 9.78291292e-01 -5.94162102e-03 -1.21383992e+01] [-2.98150654e-02 -2.42454796e-04 9.99555403e-01 -4.10634102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34264 meters 0.015258410173679095 Centerline is valid? [True, True] Translation: X:97.75, Y:-12.15, Z:-4.11 [[ 9.78746926e-01 2.02978585e-01 2.92258337e-02 9.77549728e+01] [-2.02891629e-01 9.79183170e-01 -5.94187781e-03 -1.21529036e+01] [-2.98235184e-02 -1.14082377e-04 9.99555173e-01 -4.10780830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37264 meters 0.014617853159930104 Centerline is valid? [True, True] Translation: X:97.78, Y:-12.16, Z:-4.11 [[ 9.79157777e-01 2.01039939e-01 2.88615907e-02 9.77832532e+01] [-2.00954365e-01 9.79583044e-01 -5.86546588e-03 -1.21623582e+01] [-2.94515178e-02 -5.66460996e-05 9.99566208e-01 -4.10892838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40264 meters 0.014794846674183215 Centerline is valid? [True, True] Translation: X:97.81, Y:-12.17, Z:-4.11 [[ 9.79621614e-01 1.98762421e-01 2.88962558e-02 9.78106669e+01] [-1.98675672e-01 9.80047703e-01 -5.87176362e-03 -1.21704060e+01] [-2.94867951e-02 1.11235111e-05 9.99565170e-01 -4.11170249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.43264 meters 0.01883325698271028 Centerline is valid? [True, True] Translation: X:97.84, Y:-12.18, Z:-4.11 [[ 9.79665451e-01 1.98487680e-01 2.92958116e-02 9.78399537e+01] [-1.98398414e-01 9.80103383e-01 -5.95219921e-03 -1.21765142e+01] [-2.98943622e-02 1.89213732e-05 9.99553063e-01 -4.11304773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46264000000001 meters 0.02044932194486794 Centerline is valid? [True, True] Translation: X:97.87, Y:-12.18, Z:-4.11 [[ 9.79636126e-01 1.98747596e-01 2.85035879e-02 9.78690455e+01] [-1.98663224e-01 9.80050709e-01 -5.79055672e-03 -1.21820697e+01] [-2.90858208e-02 1.00238963e-05 9.99576918e-01 -4.11389843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.49264000000001 meters 0.014520973545530398 Centerline is valid? [True, True] Translation: X:97.90, Y:-12.19, Z:-4.12 [[ 9.79491046e-01 1.99534164e-01 2.79894243e-02 9.78970391e+01] [-1.99453145e-01 9.79890870e-01 -5.68559084e-03 -1.21870415e+01] [-2.85610509e-02 -1.35933726e-05 9.99592050e-01 -4.11548665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52264000000001 meters 0.028710579350248355 Centerline is valid? [True, True] Translation: X:97.93, Y:-12.19, Z:-4.12 [[ 9.79058903e-01 2.01631392e-01 2.80792950e-02 9.79260717e+01] [-2.01550739e-01 9.79461472e-01 -5.70294224e-03 -1.21895100e+01] [-2.86524799e-02 -7.58862905e-05 9.99589431e-01 -4.11772975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.55264000000001 meters 0.015223721915654739 Centerline is valid? [True, True] Translation: X:97.95, Y:-12.19, Z:-4.12 [[ 9.78764681e-01 2.03053181e-01 2.80910059e-02 9.79539500e+01] [-2.02973083e-01 9.79167703e-01 -5.70406520e-03 -1.21925648e+01] [-2.86640343e-02 -1.18780500e-04 9.99589095e-01 -4.11792868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58264000000001 meters 0.015586042212777767 Centerline is valid? [True, True] Translation: X:97.98, Y:-12.20, Z:-4.12 [[ 9.78513349e-01 2.04256874e-01 2.81203779e-02 9.79830893e+01] [-2.04177161e-01 9.78917313e-01 -5.70802874e-03 -1.21959373e+01] [-2.86934289e-02 -1.56156612e-04 9.99588247e-01 -4.11947393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.61264000000001 meters 0.024873569150851205 Centerline is valid? [True, True] Translation: X:98.01, Y:-12.20, Z:-4.12 [[ 9.78113973e-01 2.06119567e-01 2.84214733e-02 9.80116410e+01] [-2.06038962e-01 9.78526790e-01 -5.76784392e-03 -1.21960985e+01] [-2.90000385e-02 -2.14322137e-04 9.99579387e-01 -4.12181094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64264000000001 meters 0.026108883407267164 Centerline is valid? [True, True] Translation: X:98.04, Y:-12.20, Z:-4.12 [[ 9.77851094e-01 2.07277603e-01 2.90384759e-02 9.80407735e+01] [-2.07194033e-01 9.78282132e-01 -5.89095382e-03 -1.21992289e+01] [-2.96288849e-02 -2.56123297e-04 9.99560935e-01 -4.12109079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.67264 meters 0.018598208136443306 Centerline is valid? [True, True] Translation: X:98.07, Y:-12.20, Z:-4.12 [[ 9.77668806e-01 2.08011692e-01 2.99139048e-02 9.80687264e+01] [-2.07923392e-01 9.78126297e-01 -6.06714410e-03 -1.22003028e+01] [-3.05216139e-02 -2.88143023e-04 9.99534065e-01 -4.12297864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.70264 meters 0.018887382509385195 Centerline is valid? [True, True] Translation: X:98.10, Y:-12.20, Z:-4.12 [[ 9.77398275e-01 2.09119936e-01 3.10074926e-02 9.80977651e+01] [-2.09025697e-01 9.77889942e-01 -6.28641295e-03 -1.22039468e+01] [-3.16365294e-02 -3.37033589e-04 9.99499383e-01 -4.12232540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.73264 meters 0.01819265518330421 Centerline is valid? [True, True] Translation: X:98.13, Y:-12.21, Z:-4.12 [[ 9.77451578e-01 2.08921564e-01 3.06625805e-02 9.81262531e+01] [-2.08829358e-01 9.77932346e-01 -6.21503732e-03 -1.22108985e+01] [-3.12843846e-02 -3.28348971e-04 9.99510470e-01 -4.12297063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76264 meters 0.02513486258192433 Centerline is valid? [True, True] Translation: X:98.15, Y:-12.22, Z:-4.13 [[ 9.77926873e-01 2.06764301e-01 3.01256522e-02 9.81538157e+01] [-2.06674319e-01 9.78390749e-01 -6.10473722e-03 -1.22187898e+01] [-3.07369012e-02 -2.56212067e-04 9.99527477e-01 -4.12645952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.79264 meters 0.0165154442659038 Centerline is valid? [True, True] Translation: X:98.18, Y:-12.22, Z:-4.13 [[ 9.78388369e-01 2.04555618e-01 3.02191813e-02 9.81809970e+01] [-2.04464065e-01 9.78854925e-01 -6.12230380e-03 -1.22243028e+01] [-3.08325461e-02 -1.88745841e-04 9.99524546e-01 -4.13005985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82264 meters 0.014045059325749353 Centerline is valid? [True, True] Translation: X:98.21, Y:-12.23, Z:-4.13 [[ 9.78952239e-01 2.01770287e-01 3.06800514e-02 9.82080045e+01] [-2.01674618e-01 9.79432867e-01 -6.21354290e-03 -1.22348660e+01] [-3.13027590e-02 -1.04625915e-04 9.99509943e-01 -4.12727144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.85264000000001 meters 0.013699684501240393 Centerline is valid? [True, True] Translation: X:98.24, Y:-12.25, Z:-4.13 [[ 9.79635705e-01 1.98377407e-01 3.09885320e-02 9.82352295e+01] [-1.98278163e-01 9.80125708e-01 -6.27420733e-03 -1.22457481e+01] [-3.16173178e-02 2.08833115e-06 9.99500048e-01 -4.12980444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88264000000001 meters 0.01696593072662775 Centerline is valid? [True, True] Translation: X:98.26, Y:-12.27, Z:-4.14 [[ 9.81011437e-01 1.91564198e-01 3.03268533e-02 9.82622418e+01] [-1.91465946e-01 9.81480062e-01 -6.13841239e-03 -1.22658053e+01] [-3.09411019e-02 2.15293126e-04 9.99521186e-01 -4.13511392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.91264000000001 meters 0.01696593072662775 Centerline is valid? [True, True] Translation: X:98.29, Y:-12.27, Z:-4.14 [[ 9.81015752e-01 1.91542128e-01 3.03266867e-02 9.82908116e+01] [-1.91443839e-01 9.81484369e-01 -6.13923546e-03 -1.22715403e+01] [-3.09410911e-02 2.16829371e-04 9.99521186e-01 -4.13640466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94264000000001 meters 0.027038977470233216 Centerline is valid? [True, True] Translation: X:98.32, Y:-12.29, Z:-4.14 [[ 9.81937487e-01 1.86817108e-01 2.99689684e-02 9.83203556e+01] [-1.86719021e-01 9.82394646e-01 -6.06361708e-03 -1.22853725e+01] [-3.05741415e-02 3.58316477e-04 9.99532437e-01 -4.13823800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.97264000000001 meters 0.02104673063657348 Centerline is valid? [True, True] Translation: X:98.35, Y:-12.30, Z:-4.14 [[ 9.82207039e-01 1.85517356e-01 2.92000541e-02 9.83496377e+01] [-1.85423527e-01 9.82640909e-01 -5.91266164e-03 -1.22962549e+01] [-2.97900690e-02 3.93080871e-04 9.99556100e-01 -4.14002239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.00264000000001 meters 0.025555659515875986 Centerline is valid? [True, True] Translation: X:98.38, Y:-12.31, Z:-4.14 [[ 9.82384209e-01 1.84526540e-01 2.95164723e-02 9.83800766e+01] [-1.84430077e-01 9.82827436e-01 -5.98141120e-03 -1.23060824e+01] [-3.01133279e-02 4.32318639e-04 9.99546397e-01 -4.14116863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.03264 meters 0.020613942548413533 Centerline is valid? [True, True] Translation: X:98.41, Y:-12.31, Z:-4.14 [[ 9.82238687e-01 1.85313721e-01 2.94276435e-02 9.84118120e+01] [-1.85218035e-01 9.82679325e-01 -5.96863993e-03 -1.23135630e+01] [-3.00240077e-02 4.12098753e-04 9.99549093e-01 -4.14116475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06264 meters 0.030196338961935226 Centerline is valid? [True, True] Translation: X:98.44, Y:-12.32, Z:-4.14 [[ 9.81749796e-01 1.87738201e-01 3.03596147e-02 9.84417174e+01] [-1.87637309e-01 9.82219040e-01 -6.16429303e-03 -1.23205960e+01] [-3.09770649e-02 3.55197025e-04 9.99520032e-01 -4.14366149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09264 meters 0.017345328514931084 Centerline is valid? [True, True] Translation: X:98.47, Y:-12.33, Z:-4.14 [[ 9.81263353e-01 1.90218789e-01 3.06438379e-02 9.84741558e+01] [-1.90117138e-01 9.81741683e-01 -6.22420195e-03 -1.23250170e+01] [-3.12682931e-02 2.81662510e-04 9.99510988e-01 -4.14223099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12264 meters 0.017345328514931084 Centerline is valid? [True, True] Translation: X:98.51, Y:-12.33, Z:-4.14 [[ 9.81231285e-01 1.90384307e-01 3.06427904e-02 9.85051421e+01] [-1.90282576e-01 9.81709599e-01 -6.22935375e-03 -1.23314655e+01] [-3.12682927e-02 2.81647697e-04 9.99510988e-01 -4.14363314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.15264 meters 0.01432907560483769 Centerline is valid? [True, True] Translation: X:98.54, Y:-12.33, Z:-4.14 [[ 9.80170993e-01 1.95807631e-01 3.04006000e-02 9.85366086e+01] [-1.95709873e-01 9.80642319e-01 -6.18767189e-03 -1.23304202e+01] [-3.10237082e-02 1.15278935e-04 9.99518642e-01 -4.14469307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18264 meters 0.029684599961956434 Centerline is valid? [True, True] Translation: X:98.57, Y:-12.33, Z:-4.15 [[ 9.79581481e-01 1.98688155e-01 3.07105730e-02 9.85657034e+01] [-1.98589814e-01 9.80062761e-01 -6.25057007e-03 -1.23337965e+01] [-3.13402032e-02 2.41357326e-05 9.99508775e-01 -4.14890620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.21264000000001 meters 0.014154842961902425 Centerline is valid? [True, True] Translation: X:98.60, Y:-12.34, Z:-4.15 [[ 9.78963575e-01 2.01677981e-01 3.09242744e-02 9.85951772e+01] [-2.01579725e-01 9.79451881e-01 -6.29503886e-03 -1.23373599e+01] [-3.15584095e-02 -7.10929899e-05 9.99501907e-01 -4.14755862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24264000000001 meters 0.01607414347098529 Centerline is valid? [True, True] Translation: X:98.62, Y:-12.34, Z:-4.15 [[ 9.77925065e-01 2.06677251e-01 3.07746995e-02 9.86248102e+01] [-2.06582429e-01 9.78409148e-01 -6.26415553e-03 -1.23354534e+01] [-3.14049059e-02 -2.31637469e-04 9.99506717e-01 -4.14858854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.27264000000001 meters 0.01811870141424311 Centerline is valid? [True, True] Translation: X:98.65, Y:-12.34, Z:-4.15 [[ 9.77568086e-01 2.08450290e-01 3.01515099e-02 9.86528011e+01] [-2.08360153e-01 9.78032922e-01 -6.13599512e-03 -1.23374957e+01] [-3.07682193e-02 -2.84020222e-04 9.99526506e-01 -4.15255188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30264000000001 meters 0.018259672886860732 Centerline is valid? [True, True] Translation: X:98.68, Y:-12.34, Z:-4.15 [[ 9.77274051e-01 2.09869234e-01 2.98384553e-02 9.86809889e+01] [-2.09781681e-01 9.77729409e-01 -6.07030611e-03 -1.23432786e+01] [-3.04479057e-02 -3.27208653e-04 9.99536301e-01 -4.15275217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.33264000000001 meters 0.019030247737311688 Centerline is valid? [True, True] Translation: X:98.71, Y:-12.35, Z:-4.15 [[ 9.77007091e-01 2.11047853e-01 3.02646284e-02 9.87092892e+01] [-2.10958394e-01 9.77475660e-01 -6.15544145e-03 -1.23476523e+01] [-3.08820304e-02 -3.70667479e-04 9.99522968e-01 -4.15323994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36264000000001 meters 0.02118080297012622 Centerline is valid? [True, True] Translation: X:98.74, Y:-12.35, Z:-4.15 [[ 9.76575080e-01 2.12902883e-01 3.12005659e-02 9.87372614e+01] [-2.12808805e-01 9.77073265e-01 -6.34407462e-03 -1.23471690e+01] [-3.18359106e-02 -4.44289986e-04 9.99493010e-01 -4.15441191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.39264000000001 meters 0.03129722262613497 Centerline is valid? [True, True] Translation: X:98.77, Y:-12.35, Z:-4.16 [[ 9.76583030e-01 2.12933397e-01 3.07401193e-02 9.87650666e+01] [-2.12842131e-01 9.77066617e-01 -6.24918821e-03 -1.23536417e+01] [-3.13658052e-02 -4.39941332e-04 9.99507875e-01 -4.15690924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.42264 meters 0.021299121606901693 Centerline is valid? [True, True] Translation: X:98.79, Y:-12.36, Z:-4.16 [[ 9.76742072e-01 2.12306005e-01 3.00180864e-02 9.87922000e+01] [-2.12218721e-01 9.77203147e-01 -6.10109555e-03 -1.23606084e+01] [-3.06290677e-02 -4.11203176e-04 9.99530735e-01 -4.15985615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.45264 meters 0.021623859217450823 Centerline is valid? [True, True] Translation: X:98.82, Y:-12.37, Z:-4.16 [[ 9.76933216e-01 2.11413503e-01 3.00968849e-02 9.88199234e+01] [-2.11325396e-01 9.77396635e-01 -6.11515425e-03 -1.23653526e+01] [-3.07094202e-02 -3.86138824e-04 9.99528280e-01 -4.16295702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48264 meters 0.018757839577191873 Centerline is valid? [True, True] Translation: X:98.85, Y:-12.37, Z:-4.16 [[ 9.77153205e-01 2.10474621e-01 2.95304463e-02 9.88480312e+01] [-2.10389434e-01 9.77599258e-01 -5.99801954e-03 -1.23747009e+01] [-3.01313733e-02 -3.51909855e-04 9.99545885e-01 -4.16184022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.51264 meters 0.030525728276977828 Centerline is valid? [True, True] Translation: X:98.87, Y:-12.38, Z:-4.17 [[ 9.77944885e-01 2.06857931e-01 2.88721123e-02 9.88747499e+01] [-2.06774943e-01 9.78370963e-01 -5.86361389e-03 -1.23823397e+01] [-2.94605713e-02 -2.35738165e-04 9.99565915e-01 -4.16922225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54264 meters 0.015436277493365444 Centerline is valid? [True, True] Translation: X:98.90, Y:-12.39, Z:-4.17 [[ 9.78362721e-01 2.04773023e-01 2.95701825e-02 9.89031683e+01] [-2.04685097e-01 9.78809469e-01 -6.00287239e-03 -1.23936887e+01] [-3.01728010e-02 -1.79589119e-04 9.99544681e-01 -4.16592352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.57264 meters 0.014054016613764497 Centerline is valid? [True, True] Translation: X:98.93, Y:-12.40, Z:-4.16 [[ 9.78838952e-01 2.02858595e-01 2.68830090e-02 9.89342875e+01] [-2.02545711e-01 9.79173874e-01 -1.39197729e-02 -1.24011250e+01] [-2.91468856e-02 8.18017772e-03 9.99541667e-01 -4.16404845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60264000000001 meters 0.01409212610259769 Centerline is valid? [True, True] Translation: X:98.96, Y:-12.43, Z:-4.17 [[ 9.80020444e-01 1.96337302e-01 3.18055475e-02 9.89604481e+01] [-1.96498408e-01 9.80502123e-01 1.99069918e-03 -1.24251247e+01] [-3.07945583e-02 -8.20066533e-03 9.99492093e-01 -4.16708444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.63264000000001 meters 0.014875894490182583 Centerline is valid? [True, True] Translation: X:98.99, Y:-12.43, Z:-4.17 [[ 9.80437572e-01 1.94579067e-01 2.96842453e-02 9.89924310e+01] [-1.94485830e-01 9.80886828e-01 -6.02437178e-03 -1.24300556e+01] [-3.02891018e-02 1.33355367e-04 9.99541171e-01 -4.16917498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66264000000001 meters 0.020097170649058648 Centerline is valid? [True, True] Translation: X:99.02, Y:-12.44, Z:-4.17 [[ 9.80841121e-01 1.92531884e-01 2.97013425e-02 9.90217607e+01] [-1.92437407e-01 9.81290697e-01 -6.03421907e-03 -1.24401936e+01] [-3.03074307e-02 2.02960856e-04 9.99540604e-01 -4.17381562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.69264000000001 meters 0.029486221051362102 Centerline is valid? [True, True] Translation: X:99.05, Y:-12.45, Z:-4.18 [[ 9.81464614e-01 1.89265679e-01 3.00950986e-02 9.90512582e+01] [-1.89167052e-01 9.81925866e-01 -6.11721333e-03 -1.24537304e+01] [-3.07089342e-02 3.10827350e-04 9.99528321e-01 -4.17507676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72264000000001 meters 0.030372235035426576 Centerline is valid? [True, True] Translation: X:99.08, Y:-12.46, Z:-4.18 [[ 9.81648952e-01 1.88290360e-01 3.02005789e-02 9.90806920e+01] [-1.88190518e-01 9.82113345e-01 -6.14062864e-03 -1.24637105e+01] [-3.08166127e-02 3.44479097e-04 9.99524996e-01 -4.17667822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.75264000000001 meters 0.02722815405532691 Centerline is valid? [True, True] Translation: X:99.11, Y:-12.47, Z:-4.18 [[ 9.81713579e-01 1.87914327e-01 3.04409917e-02 9.91113636e+01] [-1.87812562e-01 9.82185356e-01 -6.19419978e-03 -1.24735552e+01] [-3.10626752e-02 3.63729391e-04 9.99517372e-01 -4.17872901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.78264 meters 0.018264154418208188 Centerline is valid? [True, True] Translation: X:99.14, Y:-12.48, Z:-4.18 [[ 9.81601347e-01 1.88499611e-01 3.04416076e-02 9.91432667e+01] [-1.88397958e-01 9.82073202e-01 -6.19963824e-03 -1.24822452e+01] [-3.10645165e-02 3.50436549e-04 9.99517320e-01 -4.17543739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.81264 meters 0.018075582738950415 Centerline is valid? [True, True] Translation: X:99.17, Y:-12.49, Z:-4.18 [[ 9.81426761e-01 1.89446454e-01 3.01919541e-02 9.91744800e+01] [-1.89346715e-01 9.81891000e-01 -6.15512107e-03 -1.24878553e+01] [-3.08112739e-02 3.24053209e-04 9.99525167e-01 -4.17735096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84264 meters 0.01804804180967132 Centerline is valid? [True, True] Translation: X:99.20, Y:-12.49, Z:-4.18 [[ 9.81176276e-01 1.90733068e-01 3.02326367e-02 9.92047193e+01] [-1.90633480e-01 9.81641896e-01 -6.16958897e-03 -1.24937570e+01] [-3.08543675e-02 2.90101579e-04 9.99523849e-01 -4.18071961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87264 meters 0.015270578257320484 Centerline is valid? [True, True] Translation: X:99.24, Y:-12.50, Z:-4.18 [[ 9.80563360e-01 1.93857257e-01 3.02466567e-02 9.92368921e+01] [-1.93758915e-01 9.81029727e-01 -6.17717918e-03 -1.24994356e+01] [-3.08703604e-02 1.96556192e-04 9.99523378e-01 -4.17977724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90264 meters 0.015390875143828095 Centerline is valid? [True, True] Translation: X:99.27, Y:-12.51, Z:-4.18 [[ 9.80205752e-01 1.95726353e-01 2.97972862e-02 9.92677785e+01] [-1.95631619e-01 9.80658541e-01 -6.09053835e-03 -1.25066675e+01] [-3.04130421e-02 1.40689365e-04 9.99537407e-01 -4.18443692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.93264 meters 0.01885122833704621 Centerline is valid? [True, True] Translation: X:99.30, Y:-12.51, Z:-4.19 [[ 9.79545384e-01 1.99122555e-01 2.90008329e-02 9.92985804e+01] [-1.99034073e-01 9.79974595e-01 -5.93557744e-03 -1.25096241e+01] [-2.96019868e-02 4.20135913e-05 9.99561764e-01 -4.18840895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96264000000001 meters 0.014290765826698294 Centerline is valid? [True, True] Translation: X:99.33, Y:-12.51, Z:-4.19 [[ 9.79031741e-01 2.01623288e-01 2.90671468e-02 9.93297401e+01] [-2.01535482e-01 9.79463143e-01 -5.94985715e-03 -1.25141846e+01] [-2.96698288e-02 -3.29624442e-05 9.99559753e-01 -4.18793728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.99264000000001 meters 0.031171604040428156 Centerline is valid? [True, True] Translation: X:99.36, Y:-12.52, Z:-4.19 [[ 9.78615810e-01 2.03558401e-01 2.95816402e-02 9.93619919e+01] [-2.03468385e-01 9.79062801e-01 -6.05376250e-03 -1.25186708e+01] [-3.01945777e-02 -9.46208670e-05 9.99544035e-01 -4.18874725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02264000000001 meters 0.02697893920453938 Centerline is valid? [True, True] Translation: X:99.39, Y:-12.52, Z:-4.19 [[ 9.78101311e-01 2.05909269e-01 3.03182711e-02 9.93920723e+01] [-2.05815596e-01 9.78571074e-01 -6.21242900e-03 -1.25216288e+01] [-3.09477799e-02 -1.63588076e-04 9.99520989e-01 -4.19007818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.05264000000001 meters 0.016948740767848323 Centerline is valid? [True, True] Translation: X:99.42, Y:-12.52, Z:-4.19 [[ 9.77186662e-01 2.09945331e-01 3.20809267e-02 9.94226909e+01] [-2.09842590e-01 9.77713078e-01 -6.57448485e-03 -1.25228550e+01] [-3.27462240e-02 -3.07445844e-04 9.99463651e-01 -4.18622446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08264000000001 meters 0.029557723704222844 Centerline is valid? [True, True] Translation: X:99.45, Y:-12.53, Z:-4.19 [[ 9.76933970e-01 2.11070699e-01 3.23910354e-02 9.94528146e+01] [-2.10966616e-01 9.77470735e-01 -6.63694628e-03 -1.25274560e+01] [-3.30621541e-02 -3.49568869e-04 9.99453236e-01 -4.18824054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.11264000000001 meters 0.01954526872203848 Centerline is valid? [True, True] Translation: X:99.48, Y:-12.53, Z:-4.19 [[ 9.76293967e-01 2.13780160e-01 3.38841210e-02 9.94821179e+01] [-2.13667891e-01 9.76881687e-01 -6.94279194e-03 -1.25313261e+01] [-3.45850084e-02 -4.61742772e-04 9.99401653e-01 -4.18546969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14264000000001 meters 0.02054999838201132 Centerline is valid? [True, True] Translation: X:99.51, Y:-12.54, Z:-4.19 [[ 9.76109443e-01 2.14552122e-01 3.43182352e-02 9.95107969e+01] [-2.14437408e-01 9.76712415e-01 -7.03249012e-03 -1.25350134e+01] [-3.50278821e-02 -4.94633379e-04 9.99386213e-01 -4.18646422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.17264 meters 0.020686147391262243 Centerline is valid? [True, True] Translation: X:99.54, Y:-12.54, Z:-4.19 [[ 9.75965042e-01 2.15243714e-01 3.40937112e-02 9.95395931e+01] [-2.15130966e-01 9.76560226e-01 -6.98510190e-03 -1.25398026e+01] [-3.47980616e-02 -5.17397751e-04 9.99394230e-01 -4.18812481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.20264 meters 0.025023600576299876 Centerline is valid? [True, True] Translation: X:99.57, Y:-12.54, Z:-4.20 [[ 9.75862188e-01 2.15894082e-01 3.29049455e-02 9.95688900e+01] [-2.15789452e-01 9.76416649e-01 -6.74088966e-03 -1.25375881e+01] [-3.35842548e-02 -5.22360841e-04 9.99435753e-01 -4.19516351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23264 meters 0.021094046888276232 Centerline is valid? [True, True] Translation: X:99.60, Y:-12.55, Z:-4.19 [[ 9.75872538e-01 2.15860556e-01 3.28178395e-02 9.95974569e+01] [-2.15756506e-01 9.76424062e-01 -6.72168913e-03 -1.25485081e+01] [-3.34950757e-02 -5.21150563e-04 9.99438747e-01 -4.19344903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26264 meters 0.022184893607029414 Centerline is valid? [True, True] Translation: X:99.63, Y:-12.55, Z:-4.20 [[ 9.75897906e-01 2.15778457e-01 3.26026755e-02 9.96261588e+01] [-2.15675745e-01 9.76442211e-01 -6.67693544e-03 -1.25520638e+01] [-3.32753674e-02 -5.15599028e-04 9.99446089e-01 -4.19628706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.29264 meters 0.028764595410827938 Centerline is valid? [True, True] Translation: X:99.65, Y:-12.56, Z:-4.20 [[ 9.76021160e-01 2.15299835e-01 3.20729770e-02 9.96545827e+01] [-2.15200211e-01 9.76547868e-01 -6.56740372e-03 -1.25562988e+01] [-3.27347582e-02 -4.92186402e-04 9.99463953e-01 -4.20016904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32264 meters 0.021577337729189766 Centerline is valid? [True, True] Translation: X:99.68, Y:-12.56, Z:-4.20 [[ 9.76120414e-01 2.14997673e-01 3.10634371e-02 9.96836338e+01] [-2.14904116e-01 9.76614449e-01 -6.35922418e-03 -1.25591165e+01] [-3.17042199e-02 -4.68291952e-04 9.99497185e-01 -4.20143111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.35264000000001 meters 0.021504199502659437 Centerline is valid? [True, True] Translation: X:99.71, Y:-12.56, Z:-4.20 [[ 9.76237360e-01 2.14540113e-01 3.05476202e-02 9.97118968e+01] [-2.14449459e-01 9.76715076e-01 -6.25215406e-03 -1.25636601e+01] [-3.11776591e-02 -4.47334266e-04 9.99513759e-01 -4.20432829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38264000000001 meters 0.032333294819383324 Centerline is valid? [True, True] Translation: X:99.74, Y:-12.57, Z:-4.21 [[ 9.76510354e-01 2.13491525e-01 2.91358452e-02 9.97406255e+01] [-2.13408631e-01 9.76944836e-01 -5.96189927e-03 -1.25680134e+01] [-2.97369285e-02 -3.95984459e-04 9.99557681e-01 -4.20863639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.41264000000001 meters 0.01954041510789607 Centerline is valid? [True, True] Translation: X:99.77, Y:-12.57, Z:-4.21 [[ 9.76551523e-01 2.13337218e-01 2.88851913e-02 9.97688417e+01] [-2.13255719e-01 9.76978546e-01 -5.90919358e-03 -1.25739552e+01] [-2.94808632e-02 -3.89300256e-04 9.99565269e-01 -4.20722945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44264000000001 meters 0.019802158090987156 Centerline is valid? [True, True] Translation: X:99.80, Y:-12.58, Z:-4.21 [[ 9.76613171e-01 2.12987214e-01 2.93795976e-02 9.97963263e+01] [-2.12902783e-01 9.77054910e-01 -6.00895187e-03 -1.25770368e+01] [-2.99853100e-02 -3.86576567e-04 9.99550265e-01 -4.20857346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.47264000000001 meters 0.030656565069574288 Centerline is valid? [True, True] Translation: X:99.82, Y:-12.58, Z:-4.21 [[ 9.76951968e-01 2.11249807e-01 3.06328478e-02 9.98247237e+01] [-2.11157230e-01 9.77432042e-01 -6.26317426e-03 -1.25776857e+01] [-3.12646213e-02 -3.49526859e-04 9.99511081e-01 -4.21074589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.50264000000001 meters 0.028215093578614164 Centerline is valid? [True, True] Translation: X:99.85, Y:-12.59, Z:-4.21 [[ 9.77217876e-01 2.09917001e-01 3.13061490e-02 9.98530072e+01] [-2.09819694e-01 9.77719159e-01 -6.39865906e-03 -1.25855344e+01] [-3.19518090e-02 -3.15762587e-04 9.99489361e-01 -4.20909314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.53264 meters 0.01660496387429338 Centerline is valid? [True, True] Translation: X:99.88, Y:-12.59, Z:-4.21 [[ 9.77537823e-01 2.08264984e-01 3.23342001e-02 9.98807948e+01] [-2.08160344e-01 9.78072401e-01 -6.60672101e-03 -1.25916284e+01] [-3.30011374e-02 -2.72378552e-04 9.99455277e-01 -4.20898470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56264 meters 0.014436982863921753 Centerline is valid? [True, True] Translation: X:99.91, Y:-12.60, Z:-4.21 [[ 9.77933331e-01 2.06263477e-01 3.31930346e-02 9.99089910e+01] [-2.06152071e-01 9.78496466e-01 -6.78158694e-03 -1.26004190e+01] [-3.38780607e-02 -2.10872913e-04 9.99425952e-01 -4.20716234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59264 meters 0.012857880995100846 Centerline is valid? [True, True] Translation: X:99.94, Y:-12.61, Z:-4.21 [[ 9.78811532e-01 2.01979462e-01 3.36493983e-02 9.99378645e+01] [-2.01862500e-01 9.79389755e-01 -6.87303646e-03 -1.26106582e+01] [-3.43440881e-02 -6.51443060e-05 9.99410066e-01 -4.20797159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62264 meters 0.012797020289446102 Centerline is valid? [True, True] Translation: X:99.97, Y:-12.62, Z:-4.21 [[ 9.79298006e-01 1.99634867e-01 3.34863508e-02 9.99675205e+01] [-1.99517572e-01 9.79870358e-01 -6.84245050e-03 -1.26195191e+01] [-3.41782742e-02 1.96827313e-05 9.99415752e-01 -4.20971311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.65264 meters 0.01322279400840091 Centerline is valid? [True, True] Translation: X:100.00, Y:-12.63, Z:-4.21 [[ 9.79790050e-01 1.97239080e-01 3.32896923e-02 9.99963947e+01] [-1.97121743e-01 9.80355412e-01 -6.80322912e-03 -1.26284959e+01] [-3.39775927e-02 1.03614026e-04 9.99422590e-01 -4.21186977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68264 meters 0.01552359650228194 Centerline is valid? [True, True] Translation: X:100.03, Y:-12.64, Z:-4.21 [[ 9.80623581e-01 1.93218165e-01 3.23130385e-02 1.00025541e+02] [-1.93105471e-01 9.81155791e-01 -6.60238131e-03 -1.26418647e+01] [-3.29798249e-02 2.34626271e-04 9.99455990e-01 -4.21497833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71264000000001 meters 0.016856646794505534 Centerline is valid? [True, True] Translation: X:100.06, Y:-12.65, Z:-4.22 [[ 9.80985068e-01 1.91442850e-01 3.19050467e-02 1.00055906e+02] [-1.91331885e-01 9.81503718e-01 -6.52395020e-03 -1.26519021e+01] [-3.25638856e-02 2.95444999e-04 9.99469612e-01 -4.21653602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74264000000001 meters 0.028151906282320234 Centerline is valid? [True, True] Translation: X:100.09, Y:-12.66, Z:-4.22 [[ 9.81464479e-01 1.88907764e-01 3.22697002e-02 1.00085631e+02] [-1.88792684e-01 9.81994758e-01 -6.60435283e-03 -1.26630073e+01] [-3.29362900e-02 3.89654388e-04 9.99457377e-01 -4.21852734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.77264000000001 meters 0.029924537804375522 Centerline is valid? [True, True] Translation: X:100.12, Y:-12.67, Z:-4.22 [[ 9.81626633e-01 1.88023174e-01 3.25029118e-02 1.00116434e+02] [-1.87905768e-01 9.82164499e-01 -6.65723621e-03 -1.26715317e+01] [-3.31749208e-02 4.27435743e-04 9.99449469e-01 -4.21976331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80264000000001 meters 0.029924537804375522 Centerline is valid? [True, True] Translation: X:100.15, Y:-12.68, Z:-4.22 [[ 9.81591510e-01 1.88206629e-01 3.25018793e-02 1.00148216e+02] [-1.88089157e-01 9.82129362e-01 -6.66227263e-03 -1.26782474e+01] [-3.31749339e-02 4.26379162e-04 9.99449469e-01 -4.22120240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.83264000000001 meters 0.021855567978603746 Centerline is valid? [True, True] Translation: X:100.18, Y:-12.69, Z:-4.22 [[ 9.81908580e-01 1.86684541e-01 3.16926408e-02 1.00178524e+02] [-1.86571853e-01 9.82419798e-01 -6.50263986e-03 -1.26904705e+01] [-3.23494201e-02 4.72043156e-04 9.99476509e-01 -4.22234195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86264000000001 meters 0.03206106068012891 Centerline is valid? [True, True] Translation: X:100.21, Y:-12.70, Z:-4.23 [[ 9.81942442e-01 1.86583872e-01 3.12329740e-02 1.00208246e+02] [-1.86474208e-01 9.82438921e-01 -6.41370419e-03 -1.26984235e+01] [-3.18811831e-02 4.73744256e-04 9.99491554e-01 -4.22574610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.89264000000001 meters 0.022712608123877206 Centerline is valid? [True, True] Translation: X:100.24, Y:-12.71, Z:-4.23 [[ 9.81948468e-01 1.86515411e-01 3.14516676e-02 1.00240150e+02] [-1.86404024e-01 9.82451916e-01 -6.46314355e-03 -1.27068696e+01] [-3.21052270e-02 4.83756500e-04 9.99484377e-01 -4.22553530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.92264 meters 0.023032342874459752 Centerline is valid? [True, True] Translation: X:100.27, Y:-12.71, Z:-4.23 [[ 9.81902858e-01 1.86739538e-01 3.15455521e-02 1.00271149e+02] [-1.86627399e-01 9.82409340e-01 -6.48870059e-03 -1.27146344e+01] [-3.22023420e-02 4.84009309e-04 9.99481253e-01 -4.22719734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.95264 meters 0.019976694632710394 Centerline is valid? [True, True] Translation: X:100.30, Y:-12.72, Z:-4.23 [[ 9.81678915e-01 1.87953359e-01 3.13056350e-02 1.00302943e+02] [-1.87843358e-01 9.82177853e-01 -6.44493617e-03 -1.27202874e+01] [-3.19590488e-02 4.46302351e-04 9.99489079e-01 -4.22632670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98264 meters 0.031998084714206385 Centerline is valid? [True, True] Translation: X:100.33, Y:-12.73, Z:-4.23 [[ 9.81454820e-01 1.89153654e-01 3.11019647e-02 1.00333270e+02] [-1.89045501e-01 9.81947416e-01 -6.40871550e-03 -1.27286288e+01] [-3.17527259e-02 4.10178198e-04 9.99495671e-01 -4.23145989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.01264 meters 0.023347945860057503 Centerline is valid? [True, True] Translation: X:100.37, Y:-12.73, Z:-4.23 [[ 9.81235348e-01 1.90428180e-01 3.02373861e-02 1.00365963e+02] [-1.90326431e-01 9.81701063e-01 -6.23481936e-03 -1.27342397e+01] [-3.08713594e-02 3.62851347e-04 9.99523300e-01 -4.23189967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04264 meters 0.027258067270054236 Centerline is valid? [True, True] Translation: X:100.40, Y:-12.74, Z:-4.24 [[ 9.80969693e-01 1.91823791e-01 3.00348861e-02 1.00396498e+02] [-1.91723822e-01 9.81429329e-01 -6.20065983e-03 -1.27407132e+01] [-3.06665521e-02 3.24256222e-04 9.99529618e-01 -4.23519161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.07264 meters 0.03090623432070942 Centerline is valid? [True, True] Translation: X:100.43, Y:-12.75, Z:-4.24 [[ 9.80357068e-01 1.94914947e-01 3.01360751e-02 1.00426823e+02] [-1.94815691e-01 9.80820121e-01 -6.22386571e-03 -1.27464662e+01] [-3.07711933e-02 2.30630440e-04 9.99526428e-01 -4.23761899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10264000000001 meters 0.015476567329926652 Centerline is valid? [True, True] Translation: X:100.46, Y:-12.75, Z:-4.23 [[ 9.80139298e-01 1.95884098e-01 3.09253428e-02 1.00458448e+02] [-1.95779893e-01 9.80627032e-01 -6.39198157e-03 -1.27539825e+01] [-3.15783147e-02 2.10472019e-04 9.99501258e-01 -4.23427080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.13264000000001 meters 0.014810612978242321 Centerline is valid? [True, True] Translation: X:100.49, Y:-12.76, Z:-4.23 [[ 9.79956539e-01 1.96719527e-01 3.14103265e-02 1.00489582e+02] [-1.96612276e-01 9.80459785e-01 -6.49784855e-03 -1.27615864e+01] [-3.20748157e-02 1.91953398e-04 9.99485452e-01 -4.23440823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16264000000001 meters 0.02278340631794116 Centerline is valid? [True, True] Translation: X:100.52, Y:-12.77, Z:-4.24 [[ 9.79726179e-01 1.97979230e-01 3.06730796e-02 1.00520606e+02] [-1.97877411e-01 9.80206203e-01 -6.35050133e-03 -1.27704601e+01] [-3.13232103e-02 1.52242819e-04 9.99509296e-01 -4.24153236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.19264000000001 meters 0.016958810797839022 Centerline is valid? [True, True] Translation: X:100.55, Y:-12.78, Z:-4.24 [[ 9.79691507e-01 1.98121937e-01 3.08585247e-02 1.00553094e+02] [-1.98018770e-01 9.80177369e-01 -6.39472311e-03 -1.27784757e+01] [-3.15137625e-02 1.54288809e-04 9.99503306e-01 -4.23957801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22264000000001 meters 0.027377836597230663 Centerline is valid? [True, True] Translation: X:100.58, Y:-12.79, Z:-4.24 [[ 9.79592831e-01 1.98475706e-01 3.17061438e-02 1.00584128e+02] [-1.98366751e-01 9.80105796e-01 -6.57734968e-03 -1.27868470e+01] [-3.23808195e-02 1.53679838e-04 9.99475592e-01 -4.24046206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.25264000000001 meters 0.014710904205274688 Centerline is valid? [True, True] Translation: X:100.61, Y:-12.80, Z:-4.24 [[ 9.79597217e-01 1.98304318e-01 3.26296016e-02 1.00613834e+02] [-1.98188596e-01 9.80140484e-01 -6.77583816e-03 -1.27966280e+01] [-3.33252715e-02 1.70777279e-04 9.99444544e-01 -4.24018643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.28264 meters 0.014126657505318134 Centerline is valid? [True, True] Translation: X:100.65, Y:-12.80, Z:-4.24 [[ 9.79590594e-01 1.98428482e-01 3.20687624e-02 1.00645736e+02] [-1.98316705e-01 9.80115356e-01 -6.66138674e-03 -1.28036356e+01] [-3.27528953e-02 1.65660487e-04 9.99463466e-01 -4.24006508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.31264 meters 0.02417223061702442 Centerline is valid? [True, True] Translation: X:100.68, Y:-12.81, Z:-4.24 [[ 9.79130804e-01 2.00683845e-01 3.20759101e-02 1.00676725e+02] [-2.00573003e-01 9.79656054e-01 -6.66973647e-03 -1.28101234e+01] [-3.27618679e-02 9.69828022e-05 9.99463181e-01 -4.24426967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34264 meters 0.013367103494356988 Centerline is valid? [True, True] Translation: X:100.71, Y:-12.82, Z:-4.25 [[ 9.78801801e-01 2.02306446e-01 3.19239116e-02 1.00707661e+02] [-2.02197334e-01 9.79322265e-01 -6.64366503e-03 -1.28172422e+01] [-3.26078537e-02 4.79014737e-05 9.99468221e-01 -4.24523258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37264 meters 0.01970758194704653 Centerline is valid? [True, True] Translation: X:100.74, Y:-12.82, Z:-4.25 [[ 9.78306835e-01 2.04778421e-01 3.13294435e-02 1.00740631e+02] [-2.04674416e-01 9.78808356e-01 -6.52577813e-03 -1.28223229e+01] [-3.20018596e-02 -2.81222121e-05 9.99487809e-01 -4.24979356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40264 meters 0.014939217754747642 Centerline is valid? [True, True] Translation: X:100.77, Y:-12.82, Z:-4.25 [[ 9.77430925e-01 2.09113702e-01 3.00041030e-02 1.00772505e+02] [-2.09020115e-01 9.77891321e-01 -6.25747078e-03 -1.28224592e+01] [-3.06492748e-02 -1.55215610e-04 9.99530189e-01 -4.25075648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.43264 meters 0.016059090376606383 Centerline is valid? [True, True] Translation: X:100.80, Y:-12.82, Z:-4.25 [[ 9.76916815e-01 2.11494799e-01 3.00580656e-02 1.00804126e+02] [-2.11401979e-01 9.77379096e-01 -6.26945888e-03 -1.28249831e+01] [-3.07040829e-02 -2.29594742e-04 9.99528492e-01 -4.25116670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46264000000001 meters 0.017721919426771676 Centerline is valid? [True, True] Translation: X:100.83, Y:-12.83, Z:-4.25 [[ 9.76416094e-01 2.13743129e-01 3.04217956e-02 1.00833073e+02] [-2.13649093e-01 9.76889852e-01 -6.34681344e-03 -1.28264540e+01] [-3.10753312e-02 -3.02458234e-04 9.99517000e-01 -4.25211123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.49264000000001 meters 0.01907283067310806 Centerline is valid? [True, True] Translation: X:100.86, Y:-12.83, Z:-4.25 [[ 9.76033754e-01 2.15482812e-01 3.04182228e-02 1.00862560e+02] [-2.15389674e-01 9.76507567e-01 -6.34501134e-03 -1.28287544e+01] [-3.10708656e-02 -3.58825863e-04 9.99517120e-01 -4.25324961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52264000000001 meters 0.019380903053773334 Centerline is valid? [True, True] Translation: X:100.89, Y:-12.83, Z:-4.25 [[ 9.75637677e-01 2.17350830e-01 2.98285182e-02 1.00893122e+02] [-2.17262195e-01 9.76093462e-01 -6.22024822e-03 -1.28332922e+01] [-3.04673977e-02 -4.11900835e-04 9.99535676e-01 -4.25329932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.55264000000001 meters 0.020215476308181757 Centerline is valid? [True, True] Translation: X:100.92, Y:-12.84, Z:-4.26 [[ 9.75599368e-01 2.17477146e-01 3.01589841e-02 1.00921867e+02] [-2.17386519e-01 9.76065324e-01 -6.29166642e-03 -1.28383117e+01] [-3.08054322e-02 -4.18010796e-04 9.99525313e-01 -4.25563188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58264000000001 meters 0.020556433817708164 Centerline is valid? [True, True] Translation: X:100.95, Y:-12.84, Z:-4.26 [[ 9.75612886e-01 2.17373336e-01 3.04684945e-02 1.00949903e+02] [-2.17280795e-01 9.76088447e-01 -6.35603860e-03 -1.28429382e+01] [-3.11215788e-02 -4.19185530e-04 9.99515518e-01 -4.25709253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.61264000000001 meters 0.024860832660781915 Centerline is valid? [True, True] Translation: X:100.98, Y:-12.85, Z:-4.26 [[ 9.75741489e-01 2.16722633e-01 3.09813951e-02 1.00978068e+02] [-2.16626646e-01 9.76233136e-01 -6.46224332e-03 -1.28464424e+01] [-3.16455789e-02 -4.05916774e-04 9.99499071e-01 -4.25962533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64264000000001 meters 0.01871895045779397 Centerline is valid? [True, True] Translation: X:101.01, Y:-12.85, Z:-4.26 [[ 9.76016628e-01 2.15523392e-01 3.06791245e-02 1.01006724e+02] [-2.15428716e-01 9.76498610e-01 -6.39794237e-03 -1.28531149e+01] [-3.13370286e-02 -3.64666253e-04 9.99508808e-01 -4.25869001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.67264 meters 0.017540217840712823 Centerline is valid? [True, True] Translation: X:101.04, Y:-12.86, Z:-4.26 [[ 9.76242550e-01 2.14605241e-01 2.99177890e-02 1.01036195e+02] [-2.14514808e-01 9.76700816e-01 -6.23812550e-03 -1.28601195e+01] [-3.05594634e-02 -3.27885218e-04 9.99532897e-01 -4.25995381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.70264 meters 0.017367212028632232 Centerline is valid? [True, True] Translation: X:101.07, Y:-12.87, Z:-4.27 [[ 9.76694309e-01 2.12690200e-01 2.88288980e-02 1.01065413e+02] [-2.12605392e-01 9.77119651e-01 -6.01126536e-03 -1.28657740e+01] [-2.94478200e-02 -2.58010493e-04 9.99566286e-01 -4.26557138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73264 meters 0.016324548466624338 Centerline is valid? [True, True] Translation: X:101.09, Y:-12.87, Z:-4.27 [[ 9.77022281e-01 2.11192721e-01 2.87244933e-02 1.01094514e+02] [-2.11107884e-01 9.77444418e-01 -5.98930779e-03 -1.28734649e+01] [-2.93414938e-02 -2.12279831e-04 9.99569423e-01 -4.26703913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76264 meters 0.01532237061139604 Centerline is valid? [True, True] Translation: X:101.12, Y:-12.88, Z:-4.27 [[ 9.77367643e-01 2.09562118e-01 2.89172937e-02 1.01122875e+02] [-2.09475445e-01 9.77795322e-01 -6.02878986e-03 -1.28810899e+01] [-2.95386005e-02 -1.65118842e-04 9.99563627e-01 -4.26782914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.79264 meters 0.01631688908701051 Centerline is valid? [True, True] Translation: X:101.15, Y:-12.89, Z:-4.27 [[ 9.77975942e-01 2.06545230e-01 3.00353791e-02 1.01151888e+02] [-2.06450334e-01 9.78437051e-01 -6.26078792e-03 -1.28898635e+01] [-3.06808636e-02 -7.79140978e-05 9.99529228e-01 -4.26804523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82264 meters 0.013555239064427538 Centerline is valid? [True, True] Translation: X:101.18, Y:-12.90, Z:-4.27 [[ 9.78363159e-01 2.04713454e-01 2.99654897e-02 1.01182279e+02] [-2.04618150e-01 9.78821946e-01 -6.24589252e-03 -1.28984795e+01] [-3.06094972e-02 -2.07319412e-05 9.99531419e-01 -4.26849893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85264000000001 meters 0.013445744789902197 Centerline is valid? [True, True] Translation: X:101.21, Y:-12.91, Z:-4.27 [[ 9.78682166e-01 2.03222727e-01 2.96941214e-02 1.01212993e+02] [-2.03128493e-01 9.79132536e-01 -6.18812383e-03 -1.29063635e+01] [-3.03320478e-02 2.44843171e-05 9.99539877e-01 -4.26941185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88264000000001 meters 0.01383555314937099 Centerline is valid? [True, True] Translation: X:101.24, Y:-12.91, Z:-4.27 [[ 9.78987417e-01 2.01801662e-01 2.93211096e-02 1.01244171e+02] [-2.01709005e-01 9.79426406e-01 -6.11498976e-03 -1.29143321e+01] [-2.99518841e-02 7.21661805e-05 9.99551339e-01 -4.27111170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.91264000000001 meters 0.014877669744322686 Centerline is valid? [True, True] Translation: X:101.28, Y:-12.92, Z:-4.27 [[ 9.79598566e-01 1.98859203e-01 2.90114831e-02 1.01275131e+02] [-1.98767053e-01 9.80028056e-01 -6.05547661e-03 -1.29239687e+01] [-2.96362546e-02 1.65409216e-04 9.99560736e-01 -4.27303939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94264000000001 meters 0.015621166118587904 Centerline is valid? [True, True] Translation: X:101.31, Y:-12.93, Z:-4.27 [[ 9.79835173e-01 1.97654759e-01 2.92511702e-02 1.01306409e+02] [-1.97560389e-01 9.80271673e-01 -6.11063578e-03 -1.29330298e+01] [-2.98818898e-02 2.08543301e-04 9.99553415e-01 -4.27451106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.97264000000001 meters 0.017490925302720416 Centerline is valid? [True, True] Translation: X:101.34, Y:-12.94, Z:-4.28 [[ 9.80020982e-01 1.96636957e-01 2.98794432e-02 1.01336855e+02] [-1.96537834e-01 9.80476335e-01 -6.24782314e-03 -1.29426958e+01] [-3.05246399e-02 2.50556705e-04 9.99533983e-01 -4.27791837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00264000000001 meters 0.02197669735492043 Centerline is valid? [True, True] Translation: X:101.37, Y:-12.95, Z:-4.28 [[ 9.80059896e-01 1.96406699e-01 3.01165807e-02 1.01369213e+02] [-1.96305714e-01 9.80522482e-01 -6.30306096e-03 -1.29475100e+01] [-3.07679478e-02 2.65320412e-04 9.99526519e-01 -4.27727730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.03264000000001 meters 0.0188936156038867 Centerline is valid? [True, True] Translation: X:101.40, Y:-12.96, Z:-4.28 [[ 9.80412715e-01 1.94707470e-01 2.96632721e-02 1.01398935e+02] [-1.94608529e-01 9.80861304e-01 -6.21466547e-03 -1.29568081e+01] [-3.03055975e-02 3.20211315e-04 9.99540629e-01 -4.27996237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06264 meters 0.019196826281358506 Centerline is valid? [True, True] Translation: X:101.43, Y:-12.96, Z:-4.28 [[ 9.80425492e-01 1.94650464e-01 2.96150472e-02 1.01431401e+02] [-1.94551683e-01 9.80872617e-01 -6.20903739e-03 -1.29648016e+01] [-3.02571809e-02 3.25841270e-04 9.99542094e-01 -4.28154437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09264 meters 0.018511123119033007 Centerline is valid? [True, True] Translation: X:101.46, Y:-12.97, Z:-4.28 [[ 9.80366974e-01 1.94878715e-01 3.00480143e-02 1.01463112e+02] [-1.94776939e-01 9.80827293e-01 -6.30603732e-03 -1.29709895e+01] [-3.07008250e-02 3.29570471e-04 9.99528564e-01 -4.28079343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12264 meters 0.01791879065306718 Centerline is valid? [True, True] Translation: X:101.49, Y:-12.98, Z:-4.28 [[ 9.80183060e-01 1.95806222e-01 3.00182113e-02 1.01494572e+02] [-1.95704923e-01 9.80642560e-01 -6.30497263e-03 -1.29765235e+01] [-3.06716884e-02 3.05315620e-04 9.99529466e-01 -4.28215916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.15264 meters 0.01718003071092561 Centerline is valid? [True, True] Translation: X:101.53, Y:-12.98, Z:-4.28 [[ 9.80153490e-01 1.95897804e-01 3.03839680e-02 1.01526444e+02] [-1.95793913e-01 9.80624267e-01 -6.38671905e-03 -1.29835039e+01] [-3.10464006e-02 3.10968993e-04 9.99517896e-01 -4.28192538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18264 meters 0.017740427064921214 Centerline is valid? [True, True] Translation: X:101.56, Y:-12.99, Z:-4.28 [[ 9.80174659e-01 1.95624808e-01 3.14415816e-02 1.01556213e+02] [-1.95513182e-01 9.80678755e-01 -6.61631915e-03 -1.29926210e+01] [-3.21284072e-02 3.37904717e-04 9.99483692e-01 -4.28202858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.21264000000001 meters 0.019142475601179914 Centerline is valid? [True, True] Translation: X:101.59, Y:-13.00, Z:-4.28 [[ 9.80376453e-01 1.94535881e-01 3.19029947e-02 1.01586505e+02] [-1.94420198e-01 9.80895327e-01 -6.71888557e-03 -1.30021453e+01] [-3.26005628e-02 3.84450645e-04 9.99468386e-01 -4.28349418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24264000000001 meters 0.019231934235078074 Centerline is valid? [True, True] Translation: X:101.62, Y:-13.01, Z:-4.28 [[ 9.80541182e-01 1.93820868e-01 3.11843078e-02 1.01617951e+02] [-1.93709829e-01 9.81036854e-01 -6.57222683e-03 -1.30094651e+01] [-3.18667899e-02 4.03632143e-04 9.99492043e-01 -4.28497907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.27264000000001 meters 0.020946874176392516 Centerline is valid? [True, True] Translation: X:101.65, Y:-13.02, Z:-4.29 [[ 9.80705948e-01 1.93034918e-01 3.08765815e-02 1.01647395e+02] [-1.92925494e-01 9.81191793e-01 -6.51295125e-03 -1.30203268e+01] [-3.15530754e-02 4.30410298e-04 9.99501985e-01 -4.28820108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30264000000001 meters 0.021074098133605522 Centerline is valid? [True, True] Translation: X:101.68, Y:-13.03, Z:-4.29 [[ 9.80864913e-01 1.92209507e-01 3.09762574e-02 1.01678551e+02] [-1.92098806e-01 9.81353805e-01 -6.53895748e-03 -1.30301816e+01] [-3.16555179e-02 4.63331893e-04 9.99498731e-01 -4.28886162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.33264000000001 meters 0.037042459509222476 Centerline is valid? [True, True] Translation: X:101.71, Y:-13.04, Z:-4.29 [[ 9.80951045e-01 1.91717560e-01 3.12957502e-02 1.01710110e+02] [-1.91604143e-01 9.81450018e-01 -6.61172548e-03 -1.30409683e+01] [-3.19827985e-02 4.89383634e-04 9.99488300e-01 -4.29268183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36264000000001 meters 0.02322746611891847 Centerline is valid? [True, True] Translation: X:101.74, Y:-13.05, Z:-4.29 [[ 9.81372480e-01 1.89639347e-01 3.07404299e-02 1.01740588e+02] [-1.89528701e-01 9.81853661e-01 -6.50076398e-03 -1.30544707e+01] [-3.14154043e-02 5.53477117e-04 9.99506261e-01 -4.29080821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.39264000000001 meters 0.026572302258526605 Centerline is valid? [True, True] Translation: X:101.77, Y:-13.06, Z:-4.29 [[ 9.81360866e-01 1.89689693e-01 3.08005134e-02 1.01770620e+02] [-1.89578468e-01 9.81843933e-01 -6.51887497e-03 -1.30646964e+01] [-3.14778606e-02 5.58254628e-04 9.99504293e-01 -4.29479457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.42264 meters 0.023427331379731797 Centerline is valid? [True, True] Translation: X:101.80, Y:-13.08, Z:-4.29 [[ 9.81505809e-01 1.89087826e-01 2.98687321e-02 1.01800591e+02] [-1.88982747e-01 9.81960016e-01 -6.32838440e-03 -1.30760739e+01] [-3.05265211e-02 5.66671016e-04 9.99533797e-01 -4.29454966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.45264 meters 0.02800013647265568 Centerline is valid? [True, True] Translation: X:101.83, Y:-13.08, Z:-4.30 [[ 9.81349463e-01 1.89894642e-01 2.98874047e-02 1.01830125e+02] [-1.89789744e-01 9.81804323e-01 -6.33434498e-03 -1.30848799e+01] [-3.05464413e-02 5.43883173e-04 9.99533201e-01 -4.29833639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48264 meters 0.02480907042106951 Centerline is valid? [True, True] Translation: X:101.86, Y:-13.09, Z:-4.30 [[ 9.81264494e-01 1.90300795e-01 3.00931913e-02 1.01860420e+02] [-1.90194483e-01 9.81725683e-01 -6.38300746e-03 -1.30945708e+01] [-3.07579501e-02 5.39859630e-04 9.99526717e-01 -4.29926693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.51264 meters 0.023995706779636288 Centerline is valid? [True, True] Translation: X:101.89, Y:-13.10, Z:-4.30 [[ 9.81109667e-01 1.91115551e-01 2.99777790e-02 1.01891588e+02] [-1.91010268e-01 9.81567409e-01 -6.36390271e-03 -1.31018913e+01] [-3.06414516e-02 5.17622854e-04 9.99530306e-01 -4.30087531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54264 meters 0.02886125929089386 Centerline is valid? [True, True] Translation: X:101.92, Y:-13.11, Z:-4.30 [[ 9.80819129e-01 1.92586880e-01 3.00687506e-02 1.01922829e+02] [-1.92481489e-01 9.81279810e-01 -6.38838754e-03 -1.31083247e+01] [-3.07361775e-02 4.78174823e-04 9.99527418e-01 -4.30313116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57264 meters 0.024218410463492778 Centerline is valid? [True, True] Translation: X:101.95, Y:-13.12, Z:-4.30 [[ 9.80236735e-01 1.95605832e-01 2.95685797e-02 1.01954086e+02] [-1.95505136e-01 9.80682524e-01 -6.28724223e-03 -1.31162929e+01] [-3.02272107e-02 3.82176601e-04 9.99542980e-01 -4.30375264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60264000000001 meters 0.033117036362309483 Centerline is valid? [True, True] Translation: X:101.98, Y:-13.12, Z:-4.31 [[ 9.79784045e-01 1.97885345e-01 2.94043353e-02 1.01984348e+02] [-1.97786598e-01 9.80225122e-01 -6.25872351e-03 -1.31221080e+01] [-3.00613778e-02 3.16413987e-04 9.99548005e-01 -4.30623012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.63264000000001 meters 0.01669295693178976 Centerline is valid? [True, True] Translation: X:102.02, Y:-13.13, Z:-4.31 [[ 9.79290841e-01 2.00367490e-01 2.90227232e-02 1.02015240e+02] [-2.00272290e-01 9.79720782e-01 -6.18048127e-03 -1.31278176e+01] [-2.96725326e-02 2.40041448e-04 9.99559645e-01 -4.30640987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66264000000001 meters 0.026425534272143978 Centerline is valid? [True, True] Translation: X:102.05, Y:-13.13, Z:-4.31 [[ 9.77980966e-01 2.06774228e-01 2.82426937e-02 1.02047732e+02] [-2.06686696e-01 9.78388684e-01 -6.01605270e-03 -1.31292393e+01] [-2.88762966e-02 4.61959623e-05 9.99582992e-01 -4.31155447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.69264000000001 meters 0.01431629151260783 Centerline is valid? [True, True] Translation: X:102.08, Y:-13.13, Z:-4.31 [[ 9.77310172e-01 2.09892904e-01 2.84569315e-02 1.02079506e+02] [-2.09805216e-01 9.77724382e-01 -6.06664762e-03 -1.31332087e+01] [-2.90963820e-02 -4.14162249e-05 9.99576610e-01 -4.31189120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72264000000001 meters 0.01431629151260783 Centerline is valid? [True, True] Translation: X:102.11, Y:-13.14, Z:-4.31 [[ 9.77271249e-01 2.10074205e-01 2.84558279e-02 1.02111224e+02] [-2.09986443e-01 9.77685444e-01 -6.07181846e-03 -1.31401820e+01] [-2.90963812e-02 -4.15244713e-05 9.99576610e-01 -4.31333027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.75264000000001 meters 0.01442116276731294 Centerline is valid? [True, True] Translation: X:102.14, Y:-13.14, Z:-4.31 [[ 9.76564325e-01 2.13266450e-01 2.89748080e-02 1.02144213e+02] [-2.13176694e-01 9.76994065e-01 -6.18819323e-03 -1.31440617e+01] [-2.96279494e-02 -1.33585034e-04 9.99560987e-01 -4.31206742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78264000000001 meters 0.017529888443161334 Centerline is valid? [True, True] Translation: X:102.18, Y:-13.14, Z:-4.31 [[ 9.75364138e-01 2.18589250e-01 2.97243631e-02 1.02175738e+02] [-2.18496993e-01 9.75816916e-01 -6.35696014e-03 -1.31433762e+01] [-3.03950995e-02 -2.94333004e-04 9.99537919e-01 -4.31327266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.81264 meters 0.018656052836899355 Centerline is valid? [True, True] Translation: X:102.21, Y:-13.15, Z:-4.31 [[ 9.74848976e-01 2.20891127e-01 2.96071700e-02 1.02207610e+02] [-2.20800697e-01 9.75298404e-01 -6.33057875e-03 -1.31478396e+01] [-3.02741943e-02 -3.65925553e-04 9.99541565e-01 -4.31397754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84264 meters 0.021097639215484736 Centerline is valid? [True, True] Translation: X:102.24, Y:-13.15, Z:-4.32 [[ 9.74363878e-01 2.23065721e-01 2.92697476e-02 1.02239035e+02] [-2.22978163e-01 9.74803316e-01 -6.26369786e-03 -1.31512407e+01] [-2.99294633e-02 -4.23393615e-04 9.99551924e-01 -4.31674582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87264 meters 0.02392779033886779 Centerline is valid? [True, True] Translation: X:102.27, Y:-13.15, Z:-4.32 [[ 9.73676229e-01 2.26148696e-01 2.84845438e-02 1.02269834e+02] [-2.26066897e-01 9.74092665e-01 -6.10233542e-03 -1.31540151e+01] [-2.91266204e-02 -4.97713491e-04 9.99575606e-01 -4.31914411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90264 meters 0.02517294215066938 Centerline is valid? [True, True] Translation: X:102.30, Y:-13.16, Z:-4.32 [[ 9.73434294e-01 2.27211142e-01 2.82979133e-02 1.02299168e+02] [-2.27130839e-01 9.73845378e-01 -6.06306576e-03 -1.31581341e+01] [-2.89353882e-02 -5.25332647e-04 9.99581146e-01 -4.32125534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.93264 meters 0.024287670690616728 Centerline is valid? [True, True] Translation: X:102.33, Y:-13.17, Z:-4.32 [[ 9.73298422e-01 2.27865550e-01 2.77032836e-02 1.02329745e+02] [-2.27788879e-01 9.73692459e-01 -5.93474675e-03 -1.31654799e+01] [-2.83268026e-02 -5.34220244e-04 9.99598573e-01 -4.32157564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96264000000001 meters 0.026724771585920758 Centerline is valid? [True, True] Translation: X:102.36, Y:-13.17, Z:-4.32 [[ 9.73113367e-01 2.28567337e-01 2.84138634e-02 1.02359233e+02] [-2.28486953e-01 9.73527940e-01 -6.08789327e-03 -1.31661250e+01] [-2.90531834e-02 -5.67986731e-04 9.99577706e-01 -4.32316026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.99264000000001 meters 0.02673436308955075 Centerline is valid? [True, True] Translation: X:102.39, Y:-13.17, Z:-4.32 [[ 9.73067392e-01 2.28669303e-01 2.91581966e-02 1.02388370e+02] [-2.28584669e-01 9.73503984e-01 -6.24832607e-03 -1.31704043e+01] [-2.98144209e-02 -5.85074358e-04 9.99555280e-01 -4.32279432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02264000000001 meters 0.0341733712159998 Centerline is valid? [True, True] Translation: X:102.42, Y:-13.18, Z:-4.32 [[ 9.73000712e-01 2.28985547e-01 2.89004102e-02 1.02417829e+02] [-2.28902573e-01 9.73429643e-01 -6.19204317e-03 -1.31765653e+01] [-2.95504044e-02 -5.90515838e-04 9.99563117e-01 -4.32372321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.05264000000001 meters 0.024476605406505644 Centerline is valid? [True, True] Translation: X:102.45, Y:-13.18, Z:-4.32 [[ 9.73096774e-01 2.28490069e-01 2.95796557e-02 1.02448023e+02] [-2.28402919e-01 9.73546065e-01 -6.33757459e-03 -1.31825104e+01] [-3.02452303e-02 -5.89006329e-04 9.99542335e-01 -4.32231529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08264000000001 meters 0.02431259355714864 Centerline is valid? [True, True] Translation: X:102.48, Y:-13.19, Z:-4.32 [[ 9.73219730e-01 2.28056089e-01 2.88752199e-02 1.02478071e+02] [-2.27972851e-01 9.73647834e-01 -6.18664605e-03 -1.31870225e+01] [-2.95251977e-02 -5.61800206e-04 9.99563878e-01 -4.32373506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.11264000000001 meters 0.02888943053224881 Centerline is valid? [True, True] Translation: X:102.51, Y:-13.19, Z:-4.33 [[ 9.73201488e-01 2.28196760e-01 2.83743182e-02 1.02506472e+02] [-2.28116429e-01 9.73614878e-01 -6.07989494e-03 -1.31905339e+01] [-2.90130707e-02 -5.55685343e-04 9.99578878e-01 -4.32697906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14264000000001 meters 0.02410039791604324 Centerline is valid? [True, True] Translation: X:102.54, Y:-13.19, Z:-4.33 [[ 9.73334118e-01 2.27594967e-01 2.86570376e-02 1.02536143e+02] [-2.27512804e-01 9.73755737e-01 -6.13917586e-03 -1.31924295e+01] [-2.93022002e-02 -5.44373653e-04 9.99570450e-01 -4.32591535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.17264 meters 0.024175042325263935 Centerline is valid? [True, True] Translation: X:102.56, Y:-13.20, Z:-4.33 [[ 9.73462086e-01 2.27095297e-01 2.82717785e-02 1.02564385e+02] [-2.27015133e-01 9.73872401e-01 -6.05612442e-03 -1.31956273e+01] [-2.89084222e-02 -5.22714050e-04 9.99581928e-01 -4.32796229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.20264 meters 0.02467207754494514 Centerline is valid? [True, True] Translation: X:102.59, Y:-13.20, Z:-4.33 [[ 9.73690644e-01 2.26236777e-01 2.72662989e-02 1.02593858e+02] [-2.26161910e-01 9.74072220e-01 -5.83956290e-03 -1.32004689e+01] [-2.78804682e-02 -4.80670472e-04 9.99611149e-01 -4.33056263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23264 meters 0.03379429050941672 Centerline is valid? [True, True] Translation: X:102.62, Y:-13.20, Z:-4.33 [[ 9.73861741e-01 2.25522449e-01 2.70727784e-02 1.02621977e+02] [-2.25448367e-01 9.74237864e-01 -5.79804749e-03 -1.32019370e+01] [-2.76829157e-02 -4.57017068e-04 9.99616650e-01 -4.33498567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26264 meters 0.0224210157125533 Centerline is valid? [True, True] Translation: X:102.65, Y:-13.21, Z:-4.33 [[ 9.74411433e-01 2.23151221e-01 2.69423737e-02 1.02650141e+02] [-2.23076993e-01 9.74783761e-01 -5.76837657e-03 -1.32050048e+01] [-2.75502087e-02 -3.89451632e-04 9.99620345e-01 -4.33485364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.29264 meters 0.01980787261030253 Centerline is valid? [True, True] Translation: X:102.68, Y:-13.21, Z:-4.33 [[ 9.74804585e-01 2.21461915e-01 2.66578538e-02 1.02677902e+02] [-2.21388663e-01 9.75168962e-01 -5.70569101e-03 -1.32124263e+01] [-2.72595049e-02 -3.39812869e-04 9.99628333e-01 -4.33441279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32264 meters 0.027699945745921262 Centerline is valid? [True, True] Translation: X:102.71, Y:-13.22, Z:-4.34 [[ 9.75255088e-01 2.19586506e-01 2.56764403e-02 1.02706446e+02] [-2.19517931e-01 9.75592994e-01 -5.49440482e-03 -1.32178951e+01] [-2.62562525e-02 -2.77992810e-04 9.99655207e-01 -4.33781533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.35264000000001 meters 0.022468484860844743 Centerline is valid? [True, True] Translation: X:102.73, Y:-13.22, Z:-4.34 [[ 9.76118713e-01 2.15793140e-01 2.50115860e-02 1.02734313e+02] [-2.15726857e-01 9.76439087e-01 -5.35090498e-03 -1.32225119e+01] [-2.55769788e-02 -1.72552372e-04 9.99672841e-01 -4.34043505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38264000000001 meters 0.01574331591387158 Centerline is valid? [True, True] Translation: X:102.76, Y:-13.23, Z:-4.34 [[ 9.76617324e-01 2.13468702e-01 2.54895193e-02 1.02763009e+02] [-2.13399116e-01 9.76949896e-01 -5.45136190e-03 -1.32295863e+01] [-2.60656784e-02 -1.15546428e-04 9.99660226e-01 -4.33973153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.41264000000001 meters 0.015079146861317538 Centerline is valid? [True, True] Translation: X:102.79, Y:-13.24, Z:-4.34 [[ 9.77157913e-01 2.10868811e-01 2.63961698e-02 1.02790678e+02] [-2.10793251e-01 9.77514369e-01 -5.64476018e-03 -1.32368365e+01] [-2.69929392e-02 -4.83123695e-05 9.99635623e-01 -4.34060586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44264000000001 meters 0.015584922118684995 Centerline is valid? [True, True] Translation: X:102.82, Y:-13.25, Z:-4.34 [[ 9.78256587e-01 2.05671807e-01 2.67050296e-02 1.02818236e+02] [-2.05592569e-01 9.78621019e-01 -5.70934014e-03 -1.32478673e+01] [-2.73083536e-02 9.48439378e-05 9.99627053e-01 -4.34162020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.47264000000001 meters 0.01607187115560563 Centerline is valid? [True, True] Translation: X:102.85, Y:-13.26, Z:-4.34 [[ 9.78817222e-01 2.03013826e-01 2.64996789e-02 1.02847958e+02] [-2.02934854e-01 9.79175857e-01 -5.66447069e-03 -1.32568339e+01] [-2.70978117e-02 1.66772980e-04 9.99632773e-01 -4.34159665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.50264000000001 meters 0.01734143451035325 Centerline is valid? [True, True] Translation: X:102.88, Y:-13.27, Z:-4.34 [[ 9.79326397e-01 2.00498252e-01 2.68376587e-02 1.02878045e+02] [-2.00416288e-01 9.79694030e-01 -5.73741932e-03 -1.32659543e+01] [-2.74430366e-02 2.40102242e-04 9.99623340e-01 -4.34252345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.53264000000001 meters 0.02020823710879759 Centerline is valid? [True, True] Translation: X:102.91, Y:-13.28, Z:-4.35 [[ 9.79797090e-01 1.98207227e-01 2.66750168e-02 1.02907076e+02] [-1.98125416e-01 9.80160091e-01 -5.70227333e-03 -1.32763922e+01] [-2.72760186e-02 3.02072040e-04 9.99627895e-01 -4.34612239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56264 meters 0.026641018319657365 Centerline is valid? [True, True] Translation: X:102.94, Y:-13.29, Z:-4.35 [[ 9.80692946e-01 1.93780661e-01 2.62754782e-02 1.02937190e+02] [-1.93699667e-01 9.81044790e-01 -5.61780419e-03 -1.32865513e+01] [-2.68660428e-02 4.19789547e-04 9.99638955e-01 -4.34607050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59264 meters 0.023729392648617786 Centerline is valid? [True, True] Translation: X:102.97, Y:-13.30, Z:-4.35 [[ 9.81025698e-01 1.91966156e-01 2.71583158e-02 1.02967923e+02] [-1.91878803e-01 9.81401424e-01 -5.81117674e-03 -1.32964149e+01] [-2.77687590e-02 4.89808585e-04 9.99614254e-01 -4.34518982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62264 meters 0.03888468234167026 Centerline is valid? [True, True] Translation: X:103.00, Y:-13.31, Z:-4.35 [[ 9.81289678e-01 1.90629919e-01 2.70333325e-02 1.02997060e+02] [-1.90542690e-01 9.81661832e-01 -5.79064264e-03 -1.33070313e+01] [-2.76414604e-02 5.31293949e-04 9.99617761e-01 -4.34917775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.65264 meters 0.025069024574092397 Centerline is valid? [True, True] Translation: X:103.03, Y:-13.31, Z:-4.35 [[ 9.81517987e-01 1.89381372e-01 2.75161291e-02 1.03028712e+02] [-1.89290472e-01 9.81903438e-01 -5.89535728e-03 -1.33132955e+01] [-2.81346526e-02 5.77858144e-04 9.99603975e-01 -4.34604685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68264 meters 0.02731169259285146 Centerline is valid? [True, True] Translation: X:103.06, Y:-13.33, Z:-4.35 [[ 9.81697317e-01 1.88521261e-01 2.70205968e-02 1.03058207e+02] [-1.88433147e-01 9.82068927e-01 -5.79403423e-03 -1.33250799e+01] [-2.76283871e-02 5.96411773e-04 9.99618085e-01 -4.34963691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71264000000001 meters 0.026906434409571512 Centerline is valid? [True, True] Translation: X:103.09, Y:-13.33, Z:-4.35 [[ 9.81635294e-01 1.88963843e-01 2.61689904e-02 1.03089267e+02] [-1.88881232e-01 9.81983880e-01 -5.61595906e-03 -1.33333520e+01] [-2.67587400e-02 5.69992470e-04 9.99641758e-01 -4.35217490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74264000000001 meters 0.03846963353211507 Centerline is valid? [True, True] Translation: X:103.12, Y:-13.34, Z:-4.36 [[ 9.81476481e-01 1.89928130e-01 2.51241438e-02 1.03119487e+02] [-1.89852168e-01 9.81797855e-01 -5.39691250e-03 -1.33439197e+01] [-2.56918560e-02 5.27069523e-04 9.99669771e-01 -4.35842665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.77264000000001 meters 0.031727282592958844 Centerline is valid? [True, True] Translation: X:103.15, Y:-13.35, Z:-4.36 [[ 9.81204458e-01 1.91365725e-01 2.48388917e-02 1.03151718e+02] [-1.91291883e-01 9.81518682e-01 -5.33781850e-03 -1.33490924e+01] [-2.54013118e-02 4.86012941e-04 9.99677216e-01 -4.35813629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80264000000001 meters 0.030262452176500455 Centerline is valid? [True, True] Translation: X:103.18, Y:-13.35, Z:-4.36 [[ 9.80308792e-01 1.95843949e-01 2.52946754e-02 1.03181989e+02] [-1.95768662e-01 9.80634998e-01 -5.44343653e-03 -1.33515715e+01] [-2.58709081e-02 3.84343930e-04 9.99665218e-01 -4.35875879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.83264000000001 meters 0.021730417436578407 Centerline is valid? [True, True] Translation: X:103.21, Y:-13.36, Z:-4.36 [[ 9.79715998e-01 1.98735351e-01 2.57064927e-02 1.03214553e+02] [-1.98658601e-01 9.80053143e-01 -5.53151300e-03 -1.33556425e+01] [-2.62930361e-02 3.12495898e-04 9.99654230e-01 -4.35931104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86264000000001 meters 0.017561877279485168 Centerline is valid? [True, True] Translation: X:103.25, Y:-13.36, Z:-4.36 [[ 9.78998722e-01 2.02162303e-01 2.63041159e-02 1.03247106e+02] [-2.02083131e-01 9.79352006e-01 -5.66184220e-03 -1.33589897e+01] [-2.69055997e-02 2.27318170e-04 9.99637953e-01 -4.35995095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.89264000000001 meters 0.014666789341897767 Centerline is valid? [True, True] Translation: X:103.28, Y:-13.36, Z:-4.36 [[ 9.77504483e-01 2.09264139e-01 2.63344858e-02 1.03279216e+02] [-2.09187288e-01 9.77859151e-01 -5.67091656e-03 -1.33573060e+01] [-2.69381374e-02 3.45066972e-05 9.99637102e-01 -4.36092144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.92264 meters 0.015479782626853776 Centerline is valid? [True, True] Translation: X:103.31, Y:-13.36, Z:-4.36 [[ 9.76767926e-01 2.12694515e-01 2.61813412e-02 1.03309096e+02] [-2.12619779e-01 9.77118744e-01 -5.63828011e-03 -1.33590464e+01] [-2.67815105e-02 -5.93798072e-05 9.99641309e-01 -4.36461726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.95264 meters 0.015644338060114373 Centerline is valid? [True, True] Translation: X:103.34, Y:-13.36, Z:-4.36 [[ 9.76066286e-01 2.15826783e-01 2.67096547e-02 1.03338637e+02] [-2.15750144e-01 9.76431656e-01 -5.75303307e-03 -1.33614402e+01] [-2.73218110e-02 -1.47270219e-04 9.99626679e-01 -4.36314084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98264 meters 0.019117488979226004 Centerline is valid? [True, True] Translation: X:103.37, Y:-13.36, Z:-4.36 [[ 9.74886124e-01 2.20937594e-01 2.79933161e-02 1.03367997e+02] [-2.20855519e-01 9.75287899e-01 -6.02933026e-03 -1.33592225e+01] [-2.86336482e-02 -3.04567957e-04 9.99589927e-01 -4.36396778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.01264 meters 0.01999319443959983 Centerline is valid? [True, True] Translation: X:103.40, Y:-13.36, Z:-4.36 [[ 9.74519542e-01 2.22578971e-01 2.77536341e-02 1.03396498e+02] [-2.22499017e-01 9.74914600e-01 -5.97574604e-03 -1.33628202e+01] [-2.83874985e-02 -3.51675031e-04 9.99596932e-01 -4.36472745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04264 meters 0.02685693243382482 Centerline is valid? [True, True] Translation: X:103.42, Y:-13.37, Z:-4.37 [[ 9.74361450e-01 2.23407055e-01 2.66280302e-02 1.03424417e+02] [-2.23333793e-01 9.74725170e-01 -5.73234899e-03 -1.33668345e+01] [-2.72356584e-02 -3.61559109e-04 9.99628975e-01 -4.36906262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.07264 meters 0.021973669106584742 Centerline is valid? [True, True] Translation: X:103.45, Y:-13.37, Z:-4.37 [[ 9.74272656e-01 2.23780642e-01 2.67397937e-02 1.03451671e+02] [-2.23706950e-01 9.74639463e-01 -5.75472610e-03 -1.33716274e+01] [-2.73494545e-02 -3.75205429e-04 9.99625863e-01 -4.37066236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10264000000001 meters 0.020582274661145233 Centerline is valid? [True, True] Translation: X:103.48, Y:-13.38, Z:-4.37 [[ 9.74404877e-01 2.23264450e-01 2.62320439e-02 1.03478931e+02] [-2.23193392e-01 9.74757846e-01 -5.64368918e-03 -1.33812250e+01] [-2.68299258e-02 -3.55580581e-04 9.99639950e-01 -4.37139508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.13264000000001 meters 0.021597663127833316 Centerline is valid? [True, True] Translation: X:103.51, Y:-13.39, Z:-4.38 [[ 9.74494036e-01 2.22895578e-01 2.60563816e-02 1.03506490e+02] [-2.22825363e-01 9.74842266e-01 -5.60487888e-03 -1.33864962e+01] [-2.66501648e-02 -3.44101659e-04 9.99644762e-01 -4.37500993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16264000000001 meters 0.0227770123474849 Centerline is valid? [True, True] Translation: X:103.53, Y:-13.39, Z:-4.37 [[ 9.74558751e-01 2.22598864e-01 2.61722493e-02 1.03534201e+02] [-2.22527971e-01 9.74910063e-01 -5.62775074e-03 -1.33947659e+01] [-2.67683201e-02 -3.39483800e-04 9.99641607e-01 -4.37307213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.19264000000001 meters 0.020975828368726995 Centerline is valid? [True, True] Translation: X:103.56, Y:-13.40, Z:-4.37 [[ 9.74485865e-01 2.22803052e-01 2.71311565e-02 1.03562156e+02] [-2.22726984e-01 9.74863411e-01 -5.83264623e-03 -1.33971731e+01] [-2.77487031e-02 -3.59009333e-04 9.99614866e-01 -4.37482651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22264000000001 meters 0.021462026870122157 Centerline is valid? [True, True] Translation: X:103.59, Y:-13.40, Z:-4.38 [[ 9.74456243e-01 2.22918295e-01 2.72482035e-02 1.03589154e+02] [-2.22841663e-01 9.74837063e-01 -5.85603161e-03 -1.34016264e+01] [-2.78679752e-02 -3.65588418e-04 9.99611546e-01 -4.37630221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.25264000000001 meters 0.0202763595407277 Centerline is valid? [True, True] Translation: X:103.62, Y:-13.41, Z:-4.38 [[ 9.74463716e-01 2.22915885e-01 2.69995182e-02 1.03616872e+02] [-2.22840700e-01 9.74837615e-01 -5.80061192e-03 -1.34093170e+01] [-2.76131944e-02 -3.64105667e-04 9.99618617e-01 -4.37580896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28264000000001 meters 0.019831167021897297 Centerline is valid? [True, True] Translation: X:103.64, Y:-13.41, Z:-4.38 [[ 9.74655775e-01 2.22149196e-01 2.63790821e-02 1.03644923e+02] [-2.22077181e-01 9.75012627e-01 -5.66602274e-03 -1.34149949e+01] [-2.69786405e-02 -3.35770398e-04 9.99635954e-01 -4.37817661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.31264 meters 0.019471095600689655 Centerline is valid? [True, True] Translation: X:103.67, Y:-13.42, Z:-4.38 [[ 9.74797664e-01 2.21570229e-01 2.60028457e-02 1.03673314e+02] [-2.21500083e-01 9.75144365e-01 -5.58391149e-03 -1.34201879e+01] [-2.65937570e-02 -3.16448599e-04 9.99646273e-01 -4.38074610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34264 meters 0.02057652689681618 Centerline is valid? [True, True] Translation: X:103.70, Y:-13.42, Z:-4.39 [[ 9.74949948e-01 2.20913134e-01 2.58840829e-02 1.03700533e+02] [-2.20843425e-01 9.75293442e-01 -5.55730471e-03 -1.34233372e+01] [-2.64722579e-02 -2.98235588e-04 9.99649504e-01 -4.38546204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.37264 meters 0.021753030436992997 Centerline is valid? [True, True] Translation: X:103.73, Y:-13.43, Z:-4.38 [[ 9.75228954e-01 2.19681475e-01 2.58560749e-02 1.03728884e+02] [-2.19611517e-01 9.75571617e-01 -5.54999826e-03 -1.34313680e+01] [-2.64436846e-02 -2.65772835e-04 9.99650269e-01 -4.38397934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40264 meters 0.016452205504320687 Centerline is valid? [True, True] Translation: X:103.76, Y:-13.44, Z:-4.38 [[ 9.75740187e-01 2.17152833e-01 2.78520235e-02 1.03756510e+02] [-2.17070720e-01 9.76137593e-01 -5.97510800e-03 -1.34385589e+01] [-2.84849189e-02 -2.15705819e-04 9.99594199e-01 -4.38209611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.43264 meters 0.0171589859257054 Centerline is valid? [True, True] Translation: X:103.78, Y:-13.44, Z:-4.39 [[ 9.76033763e-01 2.15806114e-01 2.80323760e-02 1.03784393e+02] [-2.15722410e-01 9.76436219e-01 -6.01270341e-03 -1.34444108e+01] [-2.86694054e-02 -1.78610179e-04 9.99588932e-01 -4.38698679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46264000000001 meters 0.015143334409785086 Centerline is valid? [True, True] Translation: X:103.81, Y:-13.45, Z:-4.38 [[ 9.76218305e-01 2.14945321e-01 2.82193033e-02 1.03812965e+02] [-2.14860174e-01 9.76626072e-01 -6.05152803e-03 -1.34534464e+01] [-2.88604550e-02 -1.55591975e-04 9.99583438e-01 -4.38336950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.49264000000001 meters 0.01518649696492655 Centerline is valid? [True, True] Translation: X:103.84, Y:-13.46, Z:-4.38 [[ 9.76232068e-01 2.14826339e-01 2.86460073e-02 1.03841893e+02] [-2.14738562e-01 9.76652251e-01 -6.14246014e-03 -1.34568738e+01] [-2.92967498e-02 -1.54935865e-04 9.99570746e-01 -4.38392001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52264000000001 meters 0.024211205020615186 Centerline is valid? [True, True] Translation: X:103.87, Y:-13.46, Z:-4.39 [[ 9.76116519e-01 2.15410155e-01 2.81958503e-02 1.03869718e+02] [-2.15325376e-01 9.76523649e-01 -6.04534206e-03 -1.34592218e+01] [-2.88361427e-02 -1.70323815e-04 9.99584137e-01 -4.38763778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.55264000000001 meters 0.016724122294458188 Centerline is valid? [True, True] Translation: X:103.90, Y:-13.46, Z:-4.39 [[ 9.75908435e-01 2.16359636e-01 2.81289091e-02 1.03898228e+02] [-2.16275713e-01 9.76313714e-01 -6.02891844e-03 -1.34610811e+01] [-2.87670543e-02 -1.99927518e-04 9.99586123e-01 -4.38920199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58264000000001 meters 0.02428424061421626 Centerline is valid? [True, True] Translation: X:103.93, Y:-13.46, Z:-4.39 [[ 9.75516102e-01 2.18166823e-01 2.77771895e-02 1.03927950e+02] [-2.18085773e-01 9.75911458e-01 -5.95164438e-03 -1.34617628e+01] [-2.84065288e-02 -2.51884898e-04 9.99596421e-01 -4.39005650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.61264000000001 meters 0.02428424061421626 Centerline is valid? [True, True] Translation: X:103.96, Y:-13.47, Z:-4.39 [[ 9.75526964e-01 2.18118212e-01 2.77774858e-02 1.03955648e+02] [-2.18037181e-01 9.75922324e-01 -5.95026076e-03 -1.34676058e+01] [-2.84065288e-02 -2.51884898e-04 9.99596421e-01 -4.39131027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64264000000001 meters 0.017653275533044587 Centerline is valid? [True, True] Translation: X:103.98, Y:-13.47, Z:-4.39 [[ 9.75309208e-01 2.19046134e-01 2.81201045e-02 1.03983631e+02] [-2.18963512e-01 9.75714462e-01 -6.02243666e-03 -1.34701347e+01] [-2.87563841e-02 -2.83538901e-04 9.99586409e-01 -4.39109882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.67264 meters 0.018827689000548008 Centerline is valid? [True, True] Translation: X:104.01, Y:-13.47, Z:-4.39 [[ 9.75081163e-01 2.20037189e-01 2.82906393e-02 1.04011514e+02] [-2.19954039e-01 9.75491433e-01 -6.05685984e-03 -1.34716771e+01] [-2.89300107e-02 -3.16710431e-04 9.99581389e-01 -4.39314790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.70264 meters 0.019607763304801604 Centerline is valid? [True, True] Translation: X:104.04, Y:-13.47, Z:-4.39 [[ 9.74845521e-01 2.21135873e-01 2.78412790e-02 1.04040594e+02] [-2.21055847e-01 9.75242947e-01 -5.95871024e-03 -1.34737626e+01] [-2.84696956e-02 -3.45655520e-04 9.99594596e-01 -4.39492275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73264 meters 0.02126521674186777 Centerline is valid? [True, True] Translation: X:104.07, Y:-13.47, Z:-4.40 [[ 9.74549137e-01 2.22367298e-01 2.84035960e-02 1.04069169e+02] [-2.22284567e-01 9.74962888e-01 -6.07775395e-03 -1.34710231e+01] [-2.90439457e-02 -3.90611163e-04 9.99578059e-01 -4.39788227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76264 meters 0.02011273344334081 Centerline is valid? [True, True] Translation: X:104.10, Y:-13.48, Z:-4.40 [[ 9.74508926e-01 2.22448211e-01 2.91401258e-02 1.04097428e+02] [-2.22361231e-01 9.74944424e-01 -6.23327000e-03 -1.34753679e+01] [-2.97965829e-02 -4.05256993e-04 9.99555901e-01 -4.39636471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.79264 meters 0.02043751743842748 Centerline is valid? [True, True] Translation: X:104.13, Y:-13.48, Z:-4.40 [[ 9.74619546e-01 2.21942390e-01 2.92970231e-02 1.04125587e+02] [-2.21854282e-01 9.75059701e-01 -6.26548492e-03 -1.34780649e+01] [-2.99569233e-02 -3.93205964e-04 9.99551113e-01 -4.39853477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82264 meters 0.019233832315100317 Centerline is valid? [True, True] Translation: X:104.15, Y:-13.48, Z:-4.40 [[ 9.74819732e-01 2.21075729e-01 2.91892619e-02 1.04154226e+02] [-2.20987941e-01 9.75256575e-01 -6.24041174e-03 -1.34830724e+01] [-2.98466232e-02 -3.67198383e-04 9.99554423e-01 -4.39970549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.85264000000001 meters 0.01840452735221006 Centerline is valid? [True, True] Translation: X:104.18, Y:-13.49, Z:-4.40 [[ 9.75353261e-01 2.18741250e-01 2.89530812e-02 1.04182147e+02] [-2.18653887e-01 9.75782854e-01 -6.18862941e-03 -1.34865090e+01] [-2.96056287e-02 -2.94603853e-04 9.99561614e-01 -4.40389322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88264000000001 meters 0.016886939516468937 Centerline is valid? [True, True] Translation: X:104.21, Y:-13.49, Z:-4.40 [[ 9.75603992e-01 2.17625185e-01 2.89158972e-02 1.04210132e+02] [-2.17537615e-01 9.76032382e-01 -6.17866632e-03 -1.34934921e+01] [-2.95674854e-02 -2.62363782e-04 9.99562752e-01 -4.40396214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.91264000000001 meters 0.016093702414512207 Centerline is valid? [True, True] Translation: X:104.24, Y:-13.50, Z:-4.40 [[ 9.75919528e-01 2.16148336e-01 2.93423180e-02 1.04238546e+02] [-2.16057543e-01 9.76360511e-01 -6.26823092e-03 -1.34961340e+01] [-3.00035483e-02 -2.22340156e-04 9.99549767e-01 -4.40428855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94264000000001 meters 0.02935083634902835 Centerline is valid? [True, True] Translation: X:104.27, Y:-13.50, Z:-4.41 [[ 9.75904666e-01 2.16066009e-01 3.04230684e-02 1.04267319e+02] [-2.15968414e-01 9.76378731e-01 -6.49746070e-03 -1.34996072e+01] [-3.11083173e-02 -2.29519620e-04 9.99515993e-01 -4.40561028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.97264000000001 meters 0.015846689706287286 Centerline is valid? [True, True] Translation: X:104.30, Y:-13.50, Z:-4.40 [[ 9.75853954e-01 2.16276457e-01 3.05541394e-02 1.04295044e+02] [-2.16178161e-01 9.76332135e-01 -6.52420467e-03 -1.35022101e+01] [-3.12420200e-02 -2.38466738e-04 9.99511820e-01 -4.40439640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.00264000000001 meters 0.018284775378591685 Centerline is valid? [True, True] Translation: X:104.32, Y:-13.51, Z:-4.41 [[ 9.75763815e-01 2.16707506e-01 3.03782037e-02 1.04323746e+02] [-2.16610630e-01 9.76236546e-01 -6.48398640e-03 -1.35050694e+01] [-3.10614412e-02 -2.53402546e-04 9.99517445e-01 -4.40727748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.03264000000001 meters 0.017633827343798803 Centerline is valid? [True, True] Translation: X:104.35, Y:-13.50, Z:-4.41 [[ 9.75503213e-01 2.18014297e-01 2.93810876e-02 1.04352776e+02] [-2.17924296e-01 9.75945534e-01 -6.27029595e-03 -1.35015674e+01] [-3.00413553e-02 -2.86158979e-04 9.99548616e-01 -4.40965943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06264 meters 0.026994979022961076 Centerline is valid? [True, True] Translation: X:104.38, Y:-13.50, Z:-4.41 [[ 9.75292278e-01 2.18836788e-01 3.02561258e-02 1.04380526e+02] [-2.18741833e-01 9.75761423e-01 -6.45408304e-03 -1.35000782e+01] [-3.09351512e-02 -3.23663070e-04 9.99521341e-01 -4.41434575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09264 meters 0.019810804647835505 Centerline is valid? [True, True] Translation: X:104.41, Y:-13.50, Z:-4.41 [[ 9.75258027e-01 2.18972720e-01 3.03764482e-02 1.04409096e+02] [-2.18877164e-01 9.75730925e-01 -6.47684522e-03 -1.35014832e+01] [-3.10574923e-02 -3.32115548e-04 9.99517545e-01 -4.41331017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12264 meters 0.01993388330016311 Centerline is valid? [True, True] Translation: X:104.44, Y:-13.50, Z:-4.41 [[ 9.75207665e-01 2.19144879e-01 3.07495039e-02 1.04436980e+02] [-2.19047115e-01 9.75692269e-01 -6.55418829e-03 -1.35042718e+01] [-3.14383700e-02 -3.43895463e-04 9.99505633e-01 -4.41453690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.15264 meters 0.018281353350116745 Centerline is valid? [True, True] Translation: X:104.47, Y:-13.51, Z:-4.41 [[ 9.75276535e-01 2.18831659e-01 3.07958513e-02 1.04466068e+02] [-2.18733521e-01 9.75762569e-01 -6.56164169e-03 -1.35081636e+01] [-3.14853339e-02 -3.36669812e-04 9.99504157e-01 -4.41364371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18264 meters 0.027136323103734983 Centerline is valid? [True, True] Translation: X:104.49, Y:-13.51, Z:-4.42 [[ 9.75330682e-01 2.18439890e-01 3.18445399e-02 1.04494080e+02] [-2.18334782e-01 9.75850348e-01 -6.78390103e-03 -1.35111835e+01] [-3.25573800e-02 -3.36223873e-04 9.99469811e-01 -4.41550504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21264000000001 meters 0.016919355927039293 Centerline is valid? [True, True] Translation: X:104.52, Y:-13.51, Z:-4.41 [[ 9.75442982e-01 2.17900867e-01 3.20967492e-02 1.04522873e+02] [-2.17793909e-01 9.75970854e-01 -6.83420288e-03 -1.35144260e+01] [-3.28146704e-02 -3.24101220e-04 9.99461401e-01 -4.41335478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24264000000001 meters 0.015930401128330916 Centerline is valid? [True, True] Translation: X:104.55, Y:-13.52, Z:-4.41 [[ 9.75831854e-01 2.16048334e-01 3.27919266e-02 1.04551559e+02] [-2.15935703e-01 9.76382632e-01 -6.98050665e-03 -1.35155582e+01] [-3.35255944e-02 -2.69146968e-04 9.99437823e-01 -4.41444706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.27264000000001 meters 0.014579709706238 Centerline is valid? [True, True] Translation: X:104.58, Y:-13.52, Z:-4.42 [[ 9.76285769e-01 2.13897779e-01 3.33742050e-02 1.04578535e+02] [-2.13779910e-01 9.76856028e-01 -7.10284136e-03 -1.35225739e+01] [-3.41210754e-02 -2.00331602e-04 9.99417686e-01 -4.41583148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30264000000001 meters 0.013072464242965624 Centerline is valid? [True, True] Translation: X:104.61, Y:-13.53, Z:-4.42 [[ 9.76867713e-01 2.11184104e-01 3.36265534e-02 1.04606225e+02] [-2.11062912e-01 9.77446296e-01 -7.15435507e-03 -1.35315221e+01] [-3.43790361e-02 -1.08459791e-04 9.99408860e-01 -4.41657440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.33264000000001 meters 0.012869900950561505 Centerline is valid? [True, True] Translation: X:104.63, Y:-13.54, Z:-4.42 [[ 9.78132611e-01 2.05291848e-01 3.33444625e-02 1.04632430e+02] [-2.05169301e-01 9.78700796e-01 -7.09296689e-03 -1.35436469e+01] [-3.40903802e-02 9.66021508e-05 9.99418749e-01 -4.41820086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36264000000001 meters 0.014131833491414787 Centerline is valid? [True, True] Translation: X:104.66, Y:-13.55, Z:-4.42 [[ 9.78758942e-01 2.02375447e-01 3.27888923e-02 1.04659883e+02] [-2.02255403e-01 9.79307991e-01 -6.97212680e-03 -1.35524728e+01] [-3.35214115e-02 1.92300817e-04 9.99437981e-01 -4.42068637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.39264000000001 meters 0.015917391369228626 Centerline is valid? [True, True] Translation: X:104.69, Y:-13.56, Z:-4.42 [[ 9.79351625e-01 1.99643672e-01 3.18245141e-02 1.04686026e+02] [-1.99529185e-01 9.79868526e-01 -6.76582681e-03 -1.35604530e+01] [-3.25345942e-02 2.76204123e-04 9.99470572e-01 -4.42373517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42264 meters 0.018175409351457686 Centerline is valid? [True, True] Translation: X:104.71, Y:-13.57, Z:-4.43 [[ 9.79880857e-01 1.97158108e-01 3.10191287e-02 1.04712773e+02] [-1.97048173e-01 9.80371644e-01 -6.59223599e-03 -1.35678597e+01] [-3.17099870e-02 3.47343212e-04 9.99497052e-01 -4.42663991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.45264 meters 0.02139461734111143 Centerline is valid? [True, True] Translation: X:104.74, Y:-13.58, Z:-4.43 [[ 9.80614045e-01 1.93515760e-01 3.07854698e-02 1.04738918e+02] [-1.93405739e-01 9.81097059e-01 -6.54071667e-03 -1.35770030e+01] [-3.14692657e-02 4.59832088e-04 9.99504614e-01 -4.42886749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48264 meters 0.02128667457964092 Centerline is valid? [True, True] Translation: X:104.77, Y:-13.58, Z:-4.43 [[ 9.80842523e-01 1.92329735e-01 3.09389367e-02 1.04767193e+02] [-1.92218088e-01 9.81330232e-01 -6.57130418e-03 -1.35841163e+01] [-3.16251711e-02 4.98391316e-04 9.99499675e-01 -4.42903259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.51264 meters 0.022341696716222912 Centerline is valid? [True, True] Translation: X:104.79, Y:-13.59, Z:-4.43 [[ 9.80970268e-01 1.91685263e-01 3.08883855e-02 1.04793683e+02] [-1.91573705e-01 9.81456312e-01 -6.55917728e-03 -1.35922306e+01] [-3.15728986e-02 5.16955438e-04 9.99501318e-01 -4.43096109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54264 meters 0.022077994855891216 Centerline is valid? [True, True] Translation: X:104.82, Y:-13.60, Z:-4.43 [[ 9.80899803e-01 1.92146909e-01 3.02513202e-02 1.04821829e+02] [-1.92040187e-01 9.81366051e-01 -6.42189912e-03 -1.35966801e+01] [-3.09215667e-02 4.89770371e-04 9.99521694e-01 -4.43344127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57264 meters 0.029396177781074787 Centerline is valid? [True, True] Translation: X:104.85, Y:-13.60, Z:-4.44 [[ 9.80826587e-01 1.92523397e-01 3.02315841e-02 1.04850574e+02] [-1.92417039e-01 9.81292268e-01 -6.41624603e-03 -1.36008251e+01] [-3.09012972e-02 4.76152790e-04 9.99522327e-01 -4.43659769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60264000000001 meters 0.02206698374333552 Centerline is valid? [True, True] Translation: X:104.88, Y:-13.61, Z:-4.44 [[ 9.80829707e-01 1.92514879e-01 3.01845534e-02 1.04877609e+02] [-1.92408889e-01 9.81293940e-01 -6.40490703e-03 -1.36082212e+01] [-3.08529592e-02 4.74346701e-04 9.99523822e-01 -4.43730994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.63264000000001 meters 0.03553850793147744 Centerline is valid? [True, True] Translation: X:104.91, Y:-13.61, Z:-4.44 [[ 9.80916945e-01 1.91945413e-01 3.09661864e-02 1.04905675e+02] [-1.91833647e-01 9.81405475e-01 -6.56858503e-03 -1.36148925e+01] [-3.16511946e-02 5.02879901e-04 9.99498849e-01 -4.44003894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66264000000001 meters 0.02379871134943162 Centerline is valid? [True, True] Translation: X:104.93, Y:-13.63, Z:-4.44 [[ 9.81298074e-01 1.90058537e-01 3.05260844e-02 1.04932366e+02] [-1.89949054e-01 9.81772604e-01 -6.47393686e-03 -1.36259181e+01] [-3.12001004e-02 5.54460928e-04 9.99513005e-01 -4.43936502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.69264000000001 meters 0.025739621980750298 Centerline is valid? [True, True] Translation: X:104.96, Y:-13.63, Z:-4.44 [[ 9.81535683e-01 1.88762750e-01 3.09245273e-02 1.04960219e+02] [-1.88649812e-01 9.82022537e-01 -6.55637930e-03 -1.36342017e+01] [-3.16061829e-02 6.01413980e-04 9.99500219e-01 -4.44024267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72264000000001 meters 0.02399140662935846 Centerline is valid? [True, True] Translation: X:104.99, Y:-13.64, Z:-4.44 [[ 9.81800377e-01 1.87350139e-01 3.11118147e-02 1.04989014e+02] [-1.87235179e-01 9.82292983e-01 -6.59419368e-03 -1.36425704e+01] [-3.17963403e-02 6.48955650e-04 9.99494158e-01 -4.43889001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.75264000000001 meters 0.03166878380541936 Centerline is valid? [True, True] Translation: X:105.02, Y:-13.65, Z:-4.44 [[ 9.82233842e-01 1.84978982e-01 3.16141899e-02 1.05016073e+02] [-1.84859077e-01 9.82742201e-01 -6.69983426e-03 -1.36548994e+01] [-3.23079271e-02 7.36633957e-04 9.99477691e-01 -4.44179170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78264000000001 meters 0.029600570983429473 Centerline is valid? [True, True] Translation: X:105.04, Y:-13.67, Z:-4.44 [[ 9.82333322e-01 1.84374386e-01 3.20519987e-02 1.05043983e+02] [-1.84250856e-01 9.82855788e-01 -6.79137190e-03 -1.36668851e+01] [-3.27546475e-02 7.65782705e-04 9.99463129e-01 -4.44196440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.81264 meters 0.030854719598493424 Centerline is valid? [True, True] Translation: X:105.07, Y:-13.68, Z:-4.44 [[ 9.82500063e-01 1.83538133e-01 3.17392634e-02 1.05070930e+02] [-1.83416547e-01 9.83012276e-01 -6.72569382e-03 -1.36796836e+01] [-3.24345068e-02 7.86488493e-04 9.99473554e-01 -4.44440910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84264 meters 0.030690779942717548 Centerline is valid? [True, True] Translation: X:105.10, Y:-13.69, Z:-4.45 [[ 9.82486266e-01 1.83711517e-01 3.11579278e-02 1.05099155e+02] [-1.83594440e-01 9.82979904e-01 -6.60228556e-03 -1.36869404e+01] [-3.18405327e-02 7.66232574e-04 9.99492668e-01 -4.44659947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87264 meters 0.028287537531052395 Centerline is valid? [True, True] Translation: X:105.13, Y:-13.69, Z:-4.45 [[ 9.82412718e-01 1.84147161e-01 3.09042875e-02 1.05129869e+02] [-1.84032232e-01 9.82898402e-01 -6.54748568e-03 -1.36916012e+01] [-3.15814757e-02 7.44948192e-04 9.99500903e-01 -4.44716475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90264 meters 0.02698349066122394 Centerline is valid? [True, True] Translation: X:105.16, Y:-13.70, Z:-4.45 [[ 9.82257452e-01 1.84947477e-01 3.10600666e-02 1.05159242e+02] [-1.84831779e-01 9.82748141e-01 -6.58071703e-03 -1.36982503e+01] [-3.17413097e-02 7.23070986e-04 9.99495856e-01 -4.44847731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.93264 meters 0.025222906293488615 Centerline is valid? [True, True] Translation: X:105.19, Y:-13.71, Z:-4.45 [[ 9.81759370e-01 1.87460334e-01 3.17358339e-02 1.05187565e+02] [-1.87340887e-01 9.82271955e-01 -6.72294725e-03 -1.37073890e+01] [-3.24335056e-02 6.54897184e-04 9.99473681e-01 -4.44879556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96264000000001 meters 0.0333077889148922 Centerline is valid? [True, True] Translation: X:105.22, Y:-13.71, Z:-4.45 [[ 9.81433089e-01 1.89157510e-01 3.17573423e-02 1.05216214e+02] [-1.89038731e-01 9.81946575e-01 -6.72924020e-03 -1.37129777e+01] [-3.24568998e-02 6.00931305e-04 9.99472955e-01 -4.45168868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.99264000000001 meters 0.021236907736841528 Centerline is valid? [True, True] Translation: X:105.25, Y:-13.72, Z:-4.45 [[ 9.81025437e-01 1.91313021e-01 3.14391611e-02 1.05245225e+02] [-1.91197742e-01 9.81528937e-01 -6.66103769e-03 -1.37176571e+01] [-3.21327896e-02 5.23550784e-04 9.99483471e-01 -4.45092414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02264000000001 meters 0.020804353771366257 Centerline is valid? [True, True] Translation: X:105.27, Y:-13.72, Z:-4.46 [[ 9.80232489e-01 1.95489672e-01 3.04640060e-02 1.05274708e+02] [-1.95383478e-01 9.80705689e-01 -6.45352975e-03 -1.37210817e+01] [-3.11378224e-02 3.73796067e-04 9.99515031e-01 -4.45510586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.05264000000001 meters 0.02431815429362906 Centerline is valid? [True, True] Translation: X:105.30, Y:-13.73, Z:-4.46 [[ 9.79870229e-01 1.97390299e-01 2.98563800e-02 1.05304297e+02] [-1.97289188e-01 9.80324934e-01 -6.32461460e-03 -1.37257618e+01] [-3.05173713e-02 3.06960593e-04 9.99534189e-01 -4.45775737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08264000000001 meters 0.015523931382640582 Centerline is valid? [True, True] Translation: X:105.33, Y:-13.73, Z:-4.46 [[ 9.79538786e-01 1.99045107e-01 2.97457984e-02 1.05332471e+02] [-1.98945518e-01 9.79990296e-01 -6.30077823e-03 -1.37303086e+01] [-3.04047328e-02 2.54063386e-04 9.99537637e-01 -4.45865528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.11264000000001 meters 0.014693918934338954 Centerline is valid? [True, True] Translation: X:105.36, Y:-13.73, Z:-4.46 [[ 9.79235807e-01 2.00466911e-01 3.01703694e-02 1.05359935e+02] [-2.00365176e-01 9.79700451e-01 -6.38932754e-03 -1.37349030e+01] [-3.08387732e-02 2.11566952e-04 9.99524350e-01 -4.45957375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14264000000001 meters 0.013574928050798343 Centerline is valid? [True, True] Translation: X:105.39, Y:-13.74, Z:-4.46 [[ 9.78680796e-01 2.02948088e-01 3.15590321e-02 1.05387501e+02] [-2.02838131e-01 9.79189489e-01 -6.68115324e-03 -1.37401605e+01] [-3.22581997e-02 1.37341285e-04 9.99479559e-01 -4.45976265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.17264 meters 0.01282303751321962 Centerline is valid? [True, True] Translation: X:105.42, Y:-13.75, Z:-4.46 [[ 9.78447590e-01 2.04047992e-01 3.16974734e-02 1.05416268e+02] [-2.03937715e-01 9.78960881e-01 -6.70829954e-03 -1.37457070e+01] [-3.23994016e-02 9.94092049e-05 9.99474997e-01 -4.45933597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.20264 meters 0.012704350110853394 Centerline is valid? [True, True] Translation: X:105.44, Y:-13.75, Z:-4.46 [[ 9.78279399e-01 2.04854438e-01 3.16871652e-02 1.05443986e+02] [-2.04744704e-01 9.78792447e-01 -6.70465047e-03 -1.37507390e+01] [-3.23886354e-02 7.12421802e-05 9.99475348e-01 -4.46098323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.23264 meters 0.012643232883264546 Centerline is valid? [True, True] Translation: X:105.47, Y:-13.76, Z:-4.46 [[ 9.77898252e-01 2.06648660e-01 3.18015583e-02 1.05471270e+02] [-2.06539146e-01 9.78415214e-01 -6.72682205e-03 -1.37554768e+01] [-3.25052172e-02 9.88082988e-06 9.99471566e-01 -4.46298229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26264 meters 0.012250400068497305 Centerline is valid? [True, True] Translation: X:105.50, Y:-13.76, Z:-4.46 [[ 9.77766619e-01 2.07252081e-01 3.19219939e-02 1.05499317e+02] [-2.07142126e-01 9.78287573e-01 -6.75017188e-03 -1.37620654e+01] [-3.26278771e-02 -1.22969350e-05 9.99467569e-01 -4.46333417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.29264 meters 0.012545048084314494 Centerline is valid? [True, True] Translation: X:105.53, Y:-13.77, Z:-4.47 [[ 9.77621168e-01 2.07926550e-01 3.19906489e-02 1.05526391e+02] [-2.07816532e-01 9.78144441e-01 -6.76319122e-03 -1.37671017e+01] [-3.26977224e-02 -3.63467898e-05 9.99465286e-01 -4.46516803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32264 meters 0.01275780894848978 Centerline is valid? [True, True] Translation: X:105.55, Y:-13.77, Z:-4.47 [[ 9.77485953e-01 2.08527829e-01 3.22080310e-02 1.05553862e+02] [-2.08416705e-01 9.78016432e-01 -6.80706584e-03 -1.37710465e+01] [-3.29194462e-02 -5.88804370e-05 9.99458006e-01 -4.46626959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.35264000000001 meters 0.01273571306653558 Centerline is valid? [True, True] Translation: X:105.58, Y:-13.78, Z:-4.47 [[ 9.77450632e-01 2.08665810e-01 3.23858239e-02 1.05582128e+02] [-2.08553603e-01 9.77987002e-01 -6.84248601e-03 -1.37770119e+01] [-3.31007077e-02 -6.59879715e-05 9.99452019e-01 -4.46780388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38264000000001 meters 0.012726405545562473 Centerline is valid? [True, True] Translation: X:105.61, Y:-13.78, Z:-4.47 [[ 9.77595776e-01 2.08058401e-01 3.19092620e-02 1.05610133e+02] [-2.07949198e-01 9.78116404e-01 -6.74028903e-03 -1.37848783e+01] [-3.26133464e-02 -4.62273618e-05 9.99468042e-01 -4.46947601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.41264000000001 meters 0.026904088512137082 Centerline is valid? [True, True] Translation: X:105.64, Y:-13.79, Z:-4.47 [[ 9.77793738e-01 2.07189120e-01 3.14972177e-02 1.05637565e+02] [-2.07082317e-01 9.78300909e-01 -6.65174219e-03 -1.37926405e+01] [-3.21919253e-02 -1.84849620e-05 9.99481705e-01 -4.47307452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44264000000001 meters 0.012538229181944504 Centerline is valid? [True, True] Translation: X:105.67, Y:-13.80, Z:-4.47 [[ 9.78096019e-01 2.05833773e-01 3.09941245e-02 1.05665705e+02] [-2.05729723e-01 9.78586970e-01 -6.54399951e-03 -1.38004250e+01] [-3.16774225e-02 2.42472228e-05 9.99498144e-01 -4.47222197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.47264000000001 meters 0.013541297977128074 Centerline is valid? [True, True] Translation: X:105.69, Y:-13.81, Z:-4.48 [[ 9.78734055e-01 2.02838624e-01 3.05964461e-02 1.05691437e+02] [-2.02735806e-01 9.79212173e-01 -6.45865615e-03 -1.38123169e+01] [-3.12704774e-02 1.18311560e-04 9.99510952e-01 -4.47555375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.50264000000001 meters 0.022088480222457813 Centerline is valid? [True, True] Translation: X:105.72, Y:-13.82, Z:-4.48 [[ 9.79000801e-01 2.01549928e-01 3.05787342e-02 1.05718003e+02] [-2.01446662e-01 9.79478229e-01 -6.45295126e-03 -1.38217930e+01] [-3.12517963e-02 1.57460503e-04 9.99511531e-01 -4.47828880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.53264000000001 meters 0.022088480222457813 Centerline is valid? [True, True] Translation: X:105.75, Y:-13.83, Z:-4.48 [[ 9.79010174e-01 2.01504331e-01 3.05791466e-02 1.05745717e+02] [-2.01401104e-01 9.79487611e-01 -6.45099623e-03 -1.38275472e+01] [-3.12517990e-02 1.56917043e-04 9.99511531e-01 -4.47954247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56264 meters 0.014309449729229417 Centerline is valid? [True, True] Translation: X:105.77, Y:-13.84, Z:-4.48 [[ 9.79265884e-01 2.00209118e-01 3.08972018e-02 1.05774410e+02] [-2.00103145e-01 9.79753168e-01 -6.51627990e-03 -1.38359501e+01] [-3.15762500e-02 1.98543362e-04 9.99501326e-01 -4.47673419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59264 meters 0.01526996748132202 Centerline is valid? [True, True] Translation: X:105.80, Y:-13.84, Z:-4.48 [[ 9.79460075e-01 1.99242090e-01 3.09927493e-02 1.05801873e+02] [-1.99134996e-01 9.79950273e-01 -6.53579857e-03 -1.38433498e+01] [-3.16735593e-02 2.29812735e-04 9.99498241e-01 -4.47852927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62264 meters 0.015221905994904188 Centerline is valid? [True, True] Translation: X:105.83, Y:-13.85, Z:-4.48 [[ 9.79518450e-01 1.98991481e-01 3.07570418e-02 1.05830821e+02] [-1.98885928e-01 9.80001191e-01 -6.48479331e-03 -1.38501385e+01] [-3.14323562e-02 2.34831911e-04 9.99505854e-01 -4.47961081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.65264 meters 0.024484266945886672 Centerline is valid? [True, True] Translation: X:105.86, Y:-13.86, Z:-4.48 [[ 9.79477576e-01 1.99227636e-01 3.05291084e-02 1.05857557e+02] [-1.99123775e-01 9.79953212e-01 -6.43613629e-03 -1.38595768e+01] [-3.11993541e-02 2.24979854e-04 9.99513156e-01 -4.48373279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68264 meters 0.014716123876679692 Centerline is valid? [True, True] Translation: X:105.89, Y:-13.87, Z:-4.48 [[ 9.79471839e-01 1.99169171e-01 3.10895055e-02 1.05887301e+02] [-1.99061473e-01 9.79965096e-01 -6.55293993e-03 -1.38654533e+01] [-3.17717738e-02 2.29697355e-04 9.99495123e-01 -4.48038153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71264000000001 meters 0.02401730467301927 Centerline is valid? [True, True] Translation: X:105.92, Y:-13.87, Z:-4.48 [[ 9.79434755e-01 1.99444270e-01 3.04884182e-02 1.05916336e+02] [-1.99340860e-01 9.79909147e-01 -6.42532809e-03 -1.38719959e+01] [-3.11573748e-02 2.15602131e-04 9.99514468e-01 -4.48428242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74264000000001 meters 0.01690722293534157 Centerline is valid? [True, True] Translation: X:105.95, Y:-13.88, Z:-4.48 [[ 9.79395071e-01 1.99688923e-01 3.01600478e-02 1.05945931e+02] [-1.99587862e-01 9.79859322e-01 -6.35558204e-03 -1.38811972e+01] [-3.08217434e-02 2.05046250e-04 9.99524876e-01 -4.48463257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.77264000000001 meters 0.014727133500518845 Centerline is valid? [True, True] Translation: X:105.98, Y:-13.89, Z:-4.49 [[ 9.79409669e-01 1.99647538e-01 2.99593296e-02 1.05975586e+02] [-1.99547798e-01 9.79867756e-01 -6.31328498e-03 -1.38896406e+01] [-3.06166129e-02 2.04974103e-04 9.99531181e-01 -4.48570722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80264000000001 meters 0.015441911401000725 Centerline is valid? [True, True] Translation: X:106.00, Y:-13.90, Z:-4.49 [[ 9.79359641e-01 1.99943074e-01 2.96219490e-02 1.06003424e+02] [-1.99845693e-01 9.79807496e-01 -6.24253666e-03 -1.38975431e+01] [-3.02719596e-02 1.93869538e-04 9.99541680e-01 -4.48931256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.83264000000001 meters 0.028092224618880092 Centerline is valid? [True, True] Translation: X:106.03, Y:-13.90, Z:-4.49 [[ 9.79306591e-01 2.00327743e-01 2.87644916e-02 1.06032136e+02] [-2.00236106e-01 9.79728924e-01 -6.06112590e-03 -1.39030234e+01] [-2.93956161e-02 1.76010747e-04 9.99567840e-01 -4.49310733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86264000000001 meters 0.014081643714764341 Centerline is valid? [True, True] Translation: X:106.06, Y:-13.91, Z:-4.49 [[ 9.78907821e-01 2.02249403e-01 2.88904147e-02 1.06061038e+02] [-2.02157820e-01 9.79334042e-01 -6.08695370e-03 -1.39096371e+01] [-2.95244494e-02 1.18143333e-04 9.99564051e-01 -4.49170446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.89264000000001 meters 0.03056299800957807 Centerline is valid? [True, True] Translation: X:106.09, Y:-13.91, Z:-4.49 [[ 9.78588476e-01 2.03787746e-01 2.88989477e-02 1.06089786e+02] [-2.03696801e-01 9.79015091e-01 -6.08802155e-03 -1.39149070e+01] [-2.95331701e-02 7.10445417e-05 9.99563798e-01 -4.49363657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.92264 meters 0.013416351227992052 Centerline is valid? [True, True] Translation: X:106.12, Y:-13.92, Z:-4.49 [[ 9.78175535e-01 2.05669263e-01 2.95428026e-02 1.06118329e+02] [-2.05575094e-01 9.78621558e-01 -6.22304833e-03 -1.39197154e+01] [-3.01911132e-02 1.39692093e-05 9.99544144e-01 -4.49339173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.95264 meters 0.013509821658712671 Centerline is valid? [True, True] Translation: X:106.15, Y:-13.92, Z:-4.49 [[ 9.77367602e-01 2.09454682e-01 2.96868177e-02 1.06147107e+02] [-2.09361367e-01 9.77818350e-01 -6.25242018e-03 -1.39223666e+01] [-3.03379138e-02 -1.04359833e-04 9.99539694e-01 -4.49188958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98264 meters 0.027769629605461935 Centerline is valid? [True, True] Translation: X:106.17, Y:-13.93, Z:-4.50 [[ 9.76973807e-01 2.11241605e-01 2.99860916e-02 1.06174539e+02] [-2.11147282e-01 9.77433864e-01 -6.31405368e-03 -1.39263360e+01] [-3.06432122e-02 -1.62816683e-04 9.99530373e-01 -4.49651734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.01264 meters 0.01503920280251611 Centerline is valid? [True, True] Translation: X:106.20, Y:-13.93, Z:-4.49 [[ 9.76661881e-01 2.12671035e-01 3.00433323e-02 1.06202628e+02] [-2.12577092e-01 9.77123834e-01 -6.32400608e-03 -1.39319351e+01] [-3.07009889e-02 -2.10108541e-04 9.99528591e-01 -4.49410818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04264 meters 0.017092255518374677 Centerline is valid? [True, True] Translation: X:106.23, Y:-13.93, Z:-4.50 [[ 9.76159528e-01 2.14915612e-01 3.03949883e-02 1.06230992e+02] [-2.14820589e-01 9.76632581e-01 -6.39661273e-03 -1.39328295e+01] [-3.10594679e-02 -2.85354819e-04 9.99517498e-01 -4.49583185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07264 meters 0.017287913750507092 Centerline is valid? [True, True] Translation: X:106.26, Y:-13.94, Z:-4.50 [[ 9.75944797e-01 2.15787807e-01 3.11026525e-02 1.06259440e+02] [-2.15688819e-01 9.76440228e-01 -6.54333518e-03 -1.39376305e+01] [-3.17818530e-02 -3.22560448e-04 9.99494777e-01 -4.49564027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10264000000001 meters 0.026446042049386047 Centerline is valid? [True, True] Translation: X:106.29, Y:-13.94, Z:-4.50 [[ 9.75755632e-01 2.16699541e-01 3.06961685e-02 1.06286998e+02] [-2.16603617e-01 9.76238284e-01 -6.45646272e-03 -1.39415472e+01] [-3.13658874e-02 -3.48971261e-04 9.99507909e-01 -4.49992185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.13264000000001 meters 0.01872911901612573 Centerline is valid? [True, True] Translation: X:106.32, Y:-13.95, Z:-4.50 [[ 9.75483992e-01 2.17950993e-01 3.04687623e-02 1.06315009e+02] [-2.17857158e-01 9.75959637e-01 -6.40662516e-03 -1.39469754e+01] [-3.11326125e-02 -3.88277669e-04 9.99515187e-01 -4.49859401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16264000000001 meters 0.018447619109162885 Centerline is valid? [True, True] Translation: X:106.35, Y:-13.96, Z:-4.50 [[ 9.75632954e-01 2.16352335e-01 3.64966520e-02 1.06351063e+02] [-2.16499879e-01 9.76282640e-01 9.28035254e-05 -1.39557343e+01] [-3.56109695e-02 -7.99206291e-03 9.99333771e-01 -4.50123033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.19264000000001 meters 0.022837927670301333 Centerline is valid? [True, True] Translation: X:106.38, Y:-13.95, Z:-4.50 [[ 9.74808618e-01 2.21326392e-01 2.76185821e-02 1.06375523e+02] [-2.21008218e-01 9.75169675e-01 -1.41234796e-02 -1.39476997e+01] [-3.00587025e-02 7.66375602e-03 9.99518755e-01 -4.50489505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22264000000001 meters 0.024408011596419532 Centerline is valid? [True, True] Translation: X:106.40, Y:-13.96, Z:-4.51 [[ 9.74726156e-01 2.21500602e-01 2.90930384e-02 1.06402581e+02] [-2.21416657e-01 9.75160117e-01 -6.11644663e-03 -1.39569022e+01] [-2.97251674e-02 -4.79822798e-04 9.99557994e-01 -4.50647268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.25264000000001 meters 0.023352822785432575 Centerline is valid? [True, True] Translation: X:106.43, Y:-13.96, Z:-4.51 [[ 9.74687523e-01 2.21550320e-01 2.99948053e-02 1.06430026e+02] [-2.21461156e-01 9.75148813e-01 -6.30463687e-03 -1.39612242e+01] [-3.06461931e-02 -4.97633358e-04 9.99530171e-01 -4.50579036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28264000000001 meters 0.021535886675212352 Centerline is valid? [True, True] Translation: X:106.46, Y:-13.97, Z:-4.51 [[ 9.74775123e-01 2.21180494e-01 2.98772406e-02 1.06457775e+02] [-2.21091914e-01 9.75232769e-01 -6.27795228e-03 -1.39689641e+01] [-3.05258246e-02 -4.86024605e-04 9.99533860e-01 -4.50507967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.31264 meters 0.020434678926975397 Centerline is valid? [True, True] Translation: X:106.49, Y:-13.98, Z:-4.51 [[ 9.75177635e-01 2.19537814e-01 2.88396966e-02 1.06485709e+02] [-2.19454603e-01 9.75603901e-01 -6.05855047e-03 -1.39754647e+01] [-2.94662014e-02 -4.20841250e-04 9.99565689e-01 -4.50815535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34264 meters 0.032540320025180536 Centerline is valid? [True, True] Translation: X:106.51, Y:-13.98, Z:-4.51 [[ 9.75447951e-01 2.18347768e-01 2.87323219e-02 1.06513299e+02] [-2.18264702e-01 9.75870947e-01 -6.03454546e-03 -1.39818193e+01] [-2.93566677e-02 -3.84866658e-04 9.99568926e-01 -4.51179069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.37264 meters 0.019474196921251487 Centerline is valid? [True, True] Translation: X:106.54, Y:-13.99, Z:-4.51 [[ 9.75630080e-01 2.17466260e-01 2.92296647e-02 1.06540393e+02] [-2.17379937e-01 9.76067770e-01 -6.13770073e-03 -1.39875718e+01] [-2.98648764e-02 -3.65817208e-04 9.99553878e-01 -4.51173479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40264 meters 0.01865657490366917 Centerline is valid? [True, True] Translation: X:106.57, Y:-13.99, Z:-4.51 [[ 9.75828913e-01 2.16547444e-01 2.94132019e-02 1.06567976e+02] [-2.16459682e-01 9.76272036e-01 -6.17400521e-03 -1.39942658e+01] [-3.00522515e-02 -3.41999537e-04 9.99548271e-01 -4.51262638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.43264 meters 0.017188244820459355 Centerline is valid? [True, True] Translation: X:106.60, Y:-14.00, Z:-4.51 [[ 9.76141136e-01 2.15102749e-01 2.96528240e-02 1.06596094e+02] [-2.15012930e-01 9.76591376e-01 -6.22282164e-03 -1.40013764e+01] [-3.02972382e-02 -3.01388381e-04 9.99540888e-01 -4.51343448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46264000000001 meters 0.016832055249433438 Centerline is valid? [True, True] Translation: X:106.62, Y:-14.01, Z:-4.51 [[ 9.76193968e-01 2.14898239e-01 2.93952991e-02 1.06623711e+02] [-2.14809924e-01 9.76636401e-01 -6.16733092e-03 -1.40079164e+01] [-3.00338677e-02 -2.93890721e-04 9.99548838e-01 -4.51481885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.49264000000001 meters 0.017131176032902273 Centerline is valid? [True, True] Translation: X:106.65, Y:-14.01, Z:-4.52 [[ 9.76297478e-01 2.14457184e-01 2.91779083e-02 1.06650786e+02] [-2.14370013e-01 9.76733350e-01 -6.12042408e-03 -1.40124002e+01] [-2.98116051e-02 -2.79513993e-04 9.99555496e-01 -4.51726447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52264000000001 meters 0.022247910614890665 Centerline is valid? [True, True] Translation: X:106.68, Y:-14.01, Z:-4.52 [[ 9.76390714e-01 2.14237716e-01 2.76292476e-02 1.06679558e+02] [-2.14159517e-01 9.76781518e-01 -5.79377735e-03 -1.40147539e+01] [-2.82289841e-02 -2.60075940e-04 9.99601449e-01 -4.52117841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.55264000000001 meters 0.018189641076940665 Centerline is valid? [True, True] Translation: X:106.71, Y:-14.02, Z:-4.52 [[ 9.76389681e-01 2.14294376e-01 2.72233727e-02 1.06707528e+02] [-2.14218512e-01 9.76769089e-01 -5.70750915e-03 -1.40175040e+01] [-2.78140361e-02 -2.58997357e-04 9.99613081e-01 -4.52450884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58264000000001 meters 0.017729780387869716 Centerline is valid? [True, True] Translation: X:106.74, Y:-14.02, Z:-4.53 [[ 9.76383474e-01 2.14399023e-01 2.66152335e-02 1.06735423e+02] [-2.14326600e-01 9.76746125e-01 -5.57815883e-03 -1.40229166e+01] [-2.71922780e-02 -2.57930411e-04 9.99630188e-01 -4.52557105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.61264000000001 meters 0.017670830728613394 Centerline is valid? [True, True] Translation: X:106.76, Y:-14.03, Z:-4.53 [[ 9.76417332e-01 2.14309534e-01 2.60886349e-02 1.06763548e+02] [-2.14239951e-01 9.76765765e-01 -5.46653482e-03 -1.40280430e+01] [-2.66540160e-02 -2.51608528e-04 9.99644687e-01 -4.52745550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64264000000001 meters 0.017418610548870513 Centerline is valid? [True, True] Translation: X:106.79, Y:-14.03, Z:-4.53 [[ 9.76586623e-01 2.13427781e-01 2.69657222e-02 1.06790604e+02] [-2.13353138e-01 9.76958815e-01 -5.64908023e-03 -1.40325035e+01] [-2.75500707e-02 -2.36405268e-04 9.99620397e-01 -4.52866397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.67264 meters 0.01669296891165997 Centerline is valid? [True, True] Translation: X:106.82, Y:-14.04, Z:-4.53 [[ 9.76709062e-01 2.12707126e-01 2.81972851e-02 1.06817694e+02] [-2.12625260e-01 9.77115974e-01 -5.90525723e-03 -1.40384160e+01] [-2.88081080e-02 -2.27736835e-04 9.99584934e-01 -4.52825994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.70264 meters 0.01575965508057513 Centerline is valid? [True, True] Translation: X:106.85, Y:-14.04, Z:-4.53 [[ 9.76880489e-01 2.11828565e-01 2.88646655e-02 1.06846252e+02] [-2.11742462e-01 9.77306817e-01 -6.04271837e-03 -1.40447222e+01] [-2.94896548e-02 -2.08861663e-04 9.99565064e-01 -4.52662553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73264 meters 0.013906360133483241 Centerline is valid? [True, True] Translation: X:106.87, Y:-14.05, Z:-4.53 [[ 9.77543406e-01 2.08791039e-01 2.85515619e-02 1.06874158e+02] [-2.08705537e-01 9.77960269e-01 -5.97580457e-03 -1.40531344e+01] [-2.91699876e-02 -1.17260726e-04 9.99574458e-01 -4.52694069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76264 meters 0.01999889356230967 Centerline is valid? [True, True] Translation: X:106.90, Y:-14.06, Z:-4.53 [[ 9.78009694e-01 2.06704947e-01 2.77507273e-02 1.06901563e+02] [-2.06623374e-01 9.78403323e-01 -5.80684485e-03 -1.40612682e+01] [-2.83517073e-02 -5.47983594e-05 9.99598008e-01 -4.53064183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.79264 meters 0.0132696055461307 Centerline is valid? [True, True] Translation: X:106.93, Y:-14.07, Z:-4.53 [[ 9.78379874e-01 2.04918311e-01 2.79518764e-02 1.06928760e+02] [-2.04834863e-01 9.78779079e-01 -5.84749238e-03 -1.40700374e+01] [-2.85569701e-02 -4.44991762e-06 9.99592167e-01 -4.53045450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82264 meters 0.027474230442969025 Centerline is valid? [True, True] Translation: X:106.96, Y:-14.08, Z:-4.53 [[ 9.79230726e-01 2.00813178e-01 2.79508894e-02 1.06956136e+02] [-2.00728103e-01 9.79629550e-01 -5.84585799e-03 -1.40817451e+01] [-2.85554425e-02 1.13914748e-04 9.99592204e-01 -4.53371574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.85264000000001 meters 0.026359349097248668 Centerline is valid? [True, True] Translation: X:106.98, Y:-14.09, Z:-4.53 [[ 9.79545682e-01 1.99256698e-01 2.80539591e-02 1.06984225e+02] [-1.99170397e-01 9.79947316e-01 -5.86597984e-03 -1.40894148e+01] [-2.86602377e-02 1.58477050e-04 9.99589198e-01 -4.53436432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88264000000001 meters 0.015589217334051154 Centerline is valid? [True, True] Translation: X:107.01, Y:-14.10, Z:-4.54 [[ 9.79941483e-01 1.97325760e-01 2.78789127e-02 1.07012461e+02] [-1.97239802e-01 9.80337952e-01 -5.82758894e-03 -1.40988759e+01] [-2.84806896e-02 2.11864924e-04 9.99594320e-01 -4.53523991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.91264000000001 meters 0.016317063084166146 Centerline is valid? [True, True] Translation: X:107.04, Y:-14.11, Z:-4.54 [[ 9.80104309e-01 1.96556500e-01 2.75877885e-02 1.07041226e+02] [-1.96472043e-01 9.80492473e-01 -5.76605036e-03 -1.41068549e+01] [-2.81829737e-02 2.31101632e-04 9.99602754e-01 -4.53757520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94264000000001 meters 0.01677301912605548 Centerline is valid? [True, True] Translation: X:107.07, Y:-14.11, Z:-4.54 [[ 9.80214942e-01 1.96023461e-01 2.74494230e-02 1.07069168e+02] [-1.95939654e-01 9.80599176e-01 -5.73664756e-03 -1.41138457e+01] [-2.80413991e-02 2.44717219e-04 9.99606733e-01 -4.53910748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.97264000000001 meters 0.016553550629298256 Centerline is valid? [True, True] Translation: X:107.10, Y:-14.12, Z:-4.54 [[ 9.80107601e-01 1.96590872e-01 2.72235019e-02 1.07098356e+02] [-1.96508692e-01 9.80485583e-01 -5.68822255e-03 -1.41192832e+01] [-2.78105038e-02 2.25415398e-04 9.99613188e-01 -4.54132022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.00264000000001 meters 0.016393360232634345 Centerline is valid? [True, True] Translation: X:107.13, Y:-14.13, Z:-4.54 [[ 9.79980440e-01 1.97286391e-01 2.67659852e-02 1.07126044e+02] [-1.97207221e-01 9.80345877e-01 -5.59218526e-03 -1.41251606e+01] [-2.73431853e-02 2.01786610e-04 9.99626085e-01 -4.54356955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.03264000000001 meters 0.015626586742667044 Centerline is valid? [True, True] Translation: X:107.15, Y:-14.13, Z:-4.54 [[ 9.79763317e-01 1.98288657e-01 2.73029531e-02 1.07154390e+02] [-1.98206691e-01 9.80143651e-01 -5.70352567e-03 -1.41309658e+01] [-2.78917606e-02 1.76477248e-04 9.99610934e-01 -4.54371199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06264 meters 0.014593750015715636 Centerline is valid? [True, True] Translation: X:107.18, Y:-14.13, Z:-4.54 [[ 9.79442273e-01 1.99811464e-01 2.77166365e-02 1.07183566e+02] [-1.99727649e-01 9.79834354e-01 -5.78836103e-03 -1.41348007e+01] [-2.83142935e-02 1.33586835e-04 9.99599061e-01 -4.54365587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09264 meters 0.013576901948688613 Centerline is valid? [True, True] Translation: X:107.21, Y:-14.13, Z:-4.54 [[ 9.78548178e-01 2.04095126e-01 2.80827729e-02 1.07212838e+02] [-2.04010869e-01 9.78951061e-01 -5.86395365e-03 -1.41324278e+01] [-2.86884647e-02 8.97025202e-06 9.99588401e-01 -4.54455731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12264 meters 0.013669525526366454 Centerline is valid? [True, True] Translation: X:107.24, Y:-14.14, Z:-4.55 [[ 9.78067505e-01 2.06348285e-01 2.83609141e-02 1.07241512e+02] [-2.06263338e-01 9.78478606e-01 -5.92062866e-03 -1.41357947e+01] [-2.89722592e-02 -5.90422987e-05 9.99580214e-01 -4.54521866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.15264 meters 0.014420641936860988 Centerline is valid? [True, True] Translation: X:107.27, Y:-14.14, Z:-4.55 [[ 9.77595307e-01 2.08521556e-01 2.87433031e-02 1.07268732e+02] [-2.08435277e-01 9.78017763e-01 -5.99918847e-03 -1.41395112e+01] [-2.93624211e-02 -1.26339855e-04 9.99568823e-01 -4.54616118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18264 meters 0.015728327707316955 Centerline is valid? [True, True] Translation: X:107.30, Y:-14.14, Z:-4.55 [[ 9.77080610e-01 2.10893003e-01 2.89417262e-02 1.07297683e+02] [-2.10806627e-01 9.77509131e-01 -6.03864366e-03 -1.41419216e+01] [-2.95643093e-02 -2.00866050e-04 9.99562860e-01 -4.54658454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21264000000001 meters 0.018261166597869968 Centerline is valid? [True, True] Translation: X:107.33, Y:-14.14, Z:-4.55 [[ 9.76059156e-01 2.15614432e-01 2.86171368e-02 1.07327109e+02] [-2.15532042e-01 9.76478520e-01 -5.96977599e-03 -1.41400147e+01] [-2.92311892e-02 -3.41055417e-04 9.99572619e-01 -4.54660991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24264000000001 meters 0.02111997168151369 Centerline is valid? [True, True] Translation: X:107.35, Y:-14.14, Z:-4.55 [[ 9.75624489e-01 2.17572455e-01 2.86196444e-02 1.07354941e+02] [-2.17490946e-01 9.76044090e-01 -5.96846440e-03 -1.41417228e+01] [-2.92326082e-02 -4.01533512e-04 9.99572555e-01 -4.54968305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.27264000000001 meters 0.02551910255171514 Centerline is valid? [True, True] Translation: X:107.38, Y:-14.14, Z:-4.55 [[ 9.74638230e-01 2.21865586e-01 2.92571619e-02 1.07384355e+02] [-2.21782406e-01 9.75077107e-01 -6.09911149e-03 -1.41415512e+01] [-2.98811717e-02 -5.44296511e-04 9.99553310e-01 -4.54989074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30264000000001 meters 0.027442434487975873 Centerline is valid? [True, True] Translation: X:107.41, Y:-14.14, Z:-4.55 [[ 9.74179384e-01 2.23863476e-01 2.93201660e-02 1.07413054e+02] [-2.23780868e-01 9.74620323e-01 -6.11133420e-03 -1.41437059e+01] [-2.99441342e-02 -6.07756421e-04 9.99551389e-01 -4.55068134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.33264000000001 meters 0.029203910247789976 Centerline is valid? [True, True] Translation: X:107.44, Y:-14.15, Z:-4.55 [[ 9.73772159e-01 2.25691148e-01 2.88320801e-02 1.07442320e+02] [-2.25612109e-01 9.74198685e-01 -6.00822709e-03 -1.41457509e+01] [-2.94441781e-02 -6.54222124e-04 9.99566212e-01 -4.55219353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36264000000001 meters 0.03156826859363392 Centerline is valid? [True, True] Translation: X:107.47, Y:-14.15, Z:-4.55 [[ 9.73245859e-01 2.28015092e-01 2.83128037e-02 1.07472269e+02] [-2.27939906e-01 9.73657337e-01 -5.89830525e-03 -1.41465100e+01] [-2.89118716e-02 -7.13116643e-04 9.99581710e-01 -4.55480751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.39264000000001 meters 0.0324512179206343 Centerline is valid? [True, True] Translation: X:107.50, Y:-14.15, Z:-4.56 [[ 9.73043839e-01 2.28901291e-01 2.81049349e-02 1.07501293e+02] [-2.28827583e-01 9.73449362e-01 -5.85469349e-03 -1.41503458e+01] [-2.86988778e-02 -7.34310889e-04 9.99587833e-01 -4.55630443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.42264 meters 0.0324512179206343 Centerline is valid? [True, True] Translation: X:107.53, Y:-14.16, Z:-4.56 [[ 9.73059983e-01 2.28832624e-01 2.81051361e-02 1.07528220e+02] [-2.28758916e-01 9.73465506e-01 -5.85372735e-03 -1.41558157e+01] [-2.86989044e-02 -7.33272631e-04 9.99587833e-01 -4.55752108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.45264 meters 0.038477463776244114 Centerline is valid? [True, True] Translation: X:107.56, Y:-14.16, Z:-4.56 [[ 9.72945758e-01 2.29360225e-01 2.77567738e-02 1.07556620e+02] [-2.29288614e-01 9.73341326e-01 -5.77880673e-03 -1.41615779e+01] [-2.83422435e-02 -7.41846713e-04 9.99598003e-01 -4.56001848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48264 meters 0.038709556992943296 Centerline is valid? [True, True] Translation: X:107.58, Y:-14.16, Z:-4.56 [[ 9.72823778e-01 2.29855512e-01 2.79345858e-02 1.07584239e+02] [-2.29783215e-01 9.73224467e-01 -5.81478362e-03 -1.41624244e+01] [-2.85231825e-02 -7.62139158e-04 9.99592841e-01 -4.56248677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.51264 meters 0.036746584932202786 Centerline is valid? [True, True] Translation: X:107.61, Y:-14.17, Z:-4.56 [[ 9.72805533e-01 2.29717366e-01 2.96534563e-02 1.07613264e+02] [-2.29635917e-01 9.73257047e-01 -6.16978760e-03 -1.41653698e+01] [-3.02777427e-02 -8.07495113e-04 9.99541198e-01 -4.56063844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54264 meters 0.04108079022838994 Centerline is valid? [True, True] Translation: X:107.64, Y:-14.17, Z:-4.56 [[ 9.73017516e-01 2.28703274e-01 3.05241961e-02 1.07641286e+02] [-2.28616516e-01 9.73495851e-01 -6.34953597e-03 -1.41663614e+01] [-3.11673379e-02 -8.00125643e-04 9.99513860e-01 -4.56316376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57264 meters 0.041089740295769124 Centerline is valid? [True, True] Translation: X:107.67, Y:-14.17, Z:-4.56 [[ 9.73341299e-01 2.27340386e-01 3.03819877e-02 1.07668200e+02] [-2.27253830e-01 9.73815064e-01 -6.31804894e-03 -1.41716284e+01] [-3.10227849e-02 -7.54805089e-04 9.99518393e-01 -4.56433058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60264000000001 meters 0.027095020436757596 Centerline is valid? [True, True] Translation: X:107.70, Y:-14.18, Z:-4.57 [[ 9.74388887e-01 2.23021853e-01 2.87671854e-02 1.07695681e+02] [-2.22942427e-01 9.74813269e-01 -5.98036673e-03 -1.41824755e+01] [-2.93763865e-02 -5.86223244e-04 9.99568249e-01 -4.56558264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.63264000000001 meters 0.02274619502721992 Centerline is valid? [True, True] Translation: X:107.72, Y:-14.19, Z:-4.57 [[ 9.75063587e-01 2.20151128e-01 2.80086147e-02 1.07723406e+02] [-2.20074673e-01 9.75465655e-01 -5.82192054e-03 -1.41923108e+01] [-2.86031441e-02 -4.87244007e-04 9.99590728e-01 -4.56635178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66264000000001 meters 0.02076364550796599 Centerline is valid? [True, True] Translation: X:107.75, Y:-14.20, Z:-4.57 [[ 9.75699906e-01 2.17338707e-01 2.78133132e-02 1.07749829e+02] [-2.17262207e-01 9.76096165e-01 -5.78011342e-03 -1.42001468e+01] [-2.84047107e-02 -4.03125691e-04 9.99596424e-01 -4.56873733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.69264000000001 meters 0.02600830602077911 Centerline is valid? [True, True] Translation: X:107.78, Y:-14.21, Z:-4.57 [[ 9.77017849e-01 2.11401226e-01 2.73065080e-02 1.07777026e+02] [-2.11325225e-01 9.77399340e-01 -5.67269944e-03 -1.42129455e+01] [-2.78885785e-02 -2.28225339e-04 9.99611012e-01 -4.57276751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72264000000001 meters 0.01439753465075395 Centerline is valid? [True, True] Translation: X:107.80, Y:-14.22, Z:-4.57 [[ 9.77711118e-01 2.08183782e-01 2.72118075e-02 1.07804945e+02] [-2.08107084e-01 9.78089717e-01 -5.65220547e-03 -1.42208910e+01] [-2.77922866e-02 -1.36745774e-04 9.99613710e-01 -4.57188471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.75264000000001 meters 0.013709557862771447 Centerline is valid? [True, True] Translation: X:107.83, Y:-14.23, Z:-4.57 [[ 9.78337930e-01 2.05178607e-01 2.75069752e-02 1.07831526e+02] [-2.05099082e-01 9.78724546e-01 -5.71226353e-03 -1.42281630e+01] [-2.80937861e-02 -5.31312967e-05 9.99605290e-01 -4.57344124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78264000000001 meters 0.014191170228239519 Centerline is valid? [True, True] Translation: X:107.86, Y:-14.24, Z:-4.57 [[ 9.79488036e-01 1.99659152e-01 2.71920875e-02 1.07857934e+02] [-1.99579363e-01 9.79865405e-01 -5.64493577e-03 -1.42415494e+01] [-2.77716489e-02 1.02167556e-04 9.99614288e-01 -4.57491720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.81264 meters 0.015673739436734606 Centerline is valid? [True, True] Translation: X:107.88, Y:-14.25, Z:-4.58 [[ 9.80019614e-01 1.97097328e-01 2.67245146e-02 1.07884731e+02] [-1.97019337e-01 9.80383912e-01 -5.54676898e-03 -1.42507982e+01] [-2.72935375e-02 1.70696244e-04 9.99627447e-01 -4.57680693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84264 meters 0.016101767619681982 Centerline is valid? [True, True] Translation: X:107.91, Y:-14.26, Z:-4.58 [[ 9.80444809e-01 1.94963323e-01 2.67820649e-02 1.07912453e+02] [-1.94884241e-01 9.80810507e-01 -5.55719593e-03 -1.42569103e+01] [-2.73515801e-02 2.29121516e-04 9.99625849e-01 -4.57600881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87264 meters 0.017154499806847943 Centerline is valid? [True, True] Translation: X:107.94, Y:-14.26, Z:-4.58 [[ 9.80716763e-01 1.93554138e-01 2.70449124e-02 1.07939530e+02] [-1.93473014e-01 9.81089559e-01 -5.60976949e-03 -1.42628191e+01] [-2.76192752e-02 2.69134256e-04 9.99618479e-01 -4.57705160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90264 meters 0.01918145030835135 Centerline is valid? [True, True] Translation: X:107.97, Y:-14.27, Z:-4.58 [[ 9.81105819e-01 1.91425838e-01 2.80627956e-02 1.07966517e+02] [-1.91337683e-01 9.81507022e-01 -5.81871648e-03 -1.42712015e+01] [-2.86576836e-02 3.39306310e-04 9.99589227e-01 -4.57817812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.93264 meters 0.019522039099845675 Centerline is valid? [True, True] Translation: X:107.99, Y:-14.28, Z:-4.58 [[ 9.81201887e-01 1.90838775e-01 2.86952753e-02 1.07994106e+02] [-1.90746411e-01 9.81621328e-01 -5.94778972e-03 -1.42781607e+01] [-2.93029632e-02 3.62461729e-04 9.99570510e-01 -4.57819117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96264000000001 meters 0.019303983141291094 Centerline is valid? [True, True] Translation: X:108.02, Y:-14.28, Z:-4.58 [[ 9.81301913e-01 1.90224423e-01 2.93466295e-02 1.08022629e+02] [-1.90127587e-01 9.81740555e-01 -6.08133788e-03 -1.42836438e+01] [-2.99675953e-02 3.88024660e-04 9.99550795e-01 -4.57739025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.99264000000001 meters 0.030847834998803843 Centerline is valid? [True, True] Translation: X:108.05, Y:-14.29, Z:-4.58 [[ 9.81272634e-01 1.90169957e-01 3.06497228e-02 1.08049483e+02] [-1.90064347e-01 9.81751100e-01 -6.34989840e-03 -1.42898285e+01] [-3.12979590e-02 4.05561973e-04 9.99510017e-01 -4.58024225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02264000000001 meters 0.019197676269628768 Centerline is valid? [True, True] Translation: X:108.08, Y:-14.30, Z:-4.58 [[ 9.81256714e-01 1.90303260e-01 3.03303524e-02 1.08077447e+02] [-1.90199965e-01 9.81725274e-01 -6.28171683e-03 -1.42951804e+01] [-3.09715047e-02 3.95144851e-04 9.99520190e-01 -4.57803346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.05264000000001 meters 0.019873681778887813 Centerline is valid? [True, True] Translation: X:108.10, Y:-14.30, Z:-4.58 [[ 9.81209042e-01 1.90585500e-01 3.00995505e-02 1.08103896e+02] [-1.90483943e-01 9.81670526e-01 -6.23266618e-03 -1.43020451e+01] [-3.07356973e-02 3.82067346e-04 9.99527474e-01 -4.58057274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08264000000001 meters 0.024967557212063462 Centerline is valid? [True, True] Translation: X:108.13, Y:-14.31, Z:-4.59 [[ 9.80984545e-01 1.91952175e-01 2.86999045e-02 1.08132181e+02] [-1.91860489e-01 9.81404228e-01 -5.94082686e-03 -1.43061152e+01] [-2.93065623e-02 3.21481619e-04 9.99570419e-01 -4.58615256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.11264000000001 meters 0.017994810939996664 Centerline is valid? [True, True] Translation: X:108.16, Y:-14.31, Z:-4.59 [[ 9.80842767e-01 1.92806714e-01 2.78035648e-02 1.08160513e+02] [-1.92721047e-01 9.81236714e-01 -5.75400722e-03 -1.43111863e+01] [-2.83912898e-02 2.85444249e-04 9.99596845e-01 -4.58662529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14264000000001 meters 0.017473246630270486 Centerline is valid? [True, True] Translation: X:108.19, Y:-14.32, Z:-4.59 [[ 9.80648351e-01 1.93814993e-01 2.76506911e-02 1.08188732e+02] [-1.93730704e-01 9.81038065e-01 -5.72102823e-03 -1.43166408e+01] [-2.82352015e-02 2.53529046e-04 9.99601275e-01 -4.58868593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.17264000000002 meters 0.03151316263620752 Centerline is valid? [True, True] Translation: X:108.22, Y:-14.32, Z:-4.59 [[ 9.80094412e-01 1.96466429e-01 2.85637114e-02 1.08217314e+02] [-1.96377648e-01 9.80510535e-01 -5.90847987e-03 -1.43191773e+01] [-2.91678379e-02 1.81593645e-04 9.99574512e-01 -4.59068366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20264 meters 0.014706436027552176 Centerline is valid? [True, True] Translation: X:108.25, Y:-14.32, Z:-4.59 [[ 9.79742476e-01 1.98187695e-01 2.87457509e-02 1.08245363e+02] [-1.98098553e-01 9.80164078e-01 -5.94496584e-03 -1.43223667e+01] [-2.93537715e-02 1.30043884e-04 9.99569077e-01 -4.58874153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23264 meters 0.013268027734675426 Centerline is valid? [True, True] Translation: X:108.27, Y:-14.33, Z:-4.59 [[ 9.79384764e-01 1.99863418e-01 2.93274337e-02 1.08274681e+02] [-1.99771446e-01 9.79823764e-01 -6.06313655e-03 -1.43256182e+01] [-2.99475157e-02 7.93597053e-05 9.99551469e-01 -4.58684833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26264 meters 0.013696773785733134 Centerline is valid? [True, True] Translation: X:108.30, Y:-14.33, Z:-4.59 [[ 9.78662195e-01 2.03495914e-01 2.84556080e-02 1.08302325e+02] [-2.03410899e-01 9.79075795e-01 -5.88169216e-03 -1.43271625e+01] [-2.90570973e-02 -3.19910337e-05 9.99577753e-01 -4.59129893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29264 meters 0.0202936485270023 Centerline is valid? [True, True] Translation: X:108.33, Y:-14.33, Z:-4.59 [[ 9.78372412e-01 2.04850407e-01 2.87007547e-02 1.08328842e+02] [-2.04764547e-01 9.78793290e-01 -5.93085969e-03 -1.43298664e+01] [-2.93070451e-02 -7.43075277e-05 9.99570454e-01 -4.59497204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32264 meters 0.013910942089915002 Centerline is valid? [True, True] Translation: X:108.36, Y:-14.33, Z:-4.59 [[ 9.78082149e-01 2.06235414e-01 2.86751571e-02 1.08357586e+02] [-2.06150389e-01 9.78502396e-01 -5.92260051e-03 -1.43344015e+01] [-2.92801599e-02 -1.18604977e-04 9.99571237e-01 -4.59241970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35264000000001 meters 0.014778845341470772 Centerline is valid? [True, True] Translation: X:108.38, Y:-14.34, Z:-4.60 [[ 9.77942218e-01 2.06884330e-01 2.87731297e-02 1.08384035e+02] [-2.06799031e-01 9.78365399e-01 -5.94191234e-03 -1.43387226e+01] [-2.93799230e-02 -1.39408398e-04 9.99568307e-01 -4.59515327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38264000000001 meters 0.014521601864935856 Centerline is valid? [True, True] Translation: X:108.41, Y:-14.34, Z:-4.60 [[ 9.77951824e-01 2.06876918e-01 2.84985986e-02 1.08411928e+02] [-2.06793325e-01 9.78366966e-01 -5.88216260e-03 -1.43444952e+01] [-2.90989712e-02 -1.40848325e-04 9.99576525e-01 -4.59560784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.41264000000001 meters 0.014210915297705315 Centerline is valid? [True, True] Translation: X:108.44, Y:-14.35, Z:-4.60 [[ 9.78086594e-01 2.06222657e-01 2.86152202e-02 1.08439920e+02] [-2.06138140e-01 9.78505085e-01 -5.90478650e-03 -1.43517469e+01] [-2.92178393e-02 -1.23295772e-04 9.99573060e-01 -4.59729000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44264000000001 meters 0.01405879804893505 Centerline is valid? [True, True] Translation: X:108.47, Y:-14.36, Z:-4.60 [[ 9.78626984e-01 2.03764423e-01 2.77359925e-02 1.08465607e+02] [-2.03684066e-01 9.79019947e-01 -5.72222280e-03 -1.43626896e+01] [-2.83200754e-02 -4.94580810e-05 9.99598905e-01 -4.60045562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.47264000000001 meters 0.014037858012824365 Centerline is valid? [True, True] Translation: X:108.49, Y:-14.37, Z:-4.60 [[ 9.78887608e-01 2.02523763e-01 2.76256340e-02 1.08492496e+02] [-2.02443593e-01 9.79277348e-01 -5.69792530e-03 -1.43705960e+01] [-2.82071229e-02 -1.50041453e-05 9.99602100e-01 -4.60213500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.50264000000001 meters 0.014389953196591348 Centerline is valid? [True, True] Translation: X:108.52, Y:-14.38, Z:-4.60 [[ 9.79262320e-01 2.00778263e-01 2.70813331e-02 1.08519092e+02] [-2.00700613e-01 9.79636712e-01 -5.58351467e-03 -1.43786957e+01] [-2.76509165e-02 3.24853741e-05 9.99617640e-01 -4.60427710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.53264000000001 meters 0.014943932191029817 Centerline is valid? [True, True] Translation: X:108.55, Y:-14.39, Z:-4.61 [[ 9.79802691e-01 1.98123877e-01 2.70853383e-02 1.08545539e+02] [-1.98045241e-01 9.80176983e-01 -5.58248204e-03 -1.43907114e+01] [-2.76544482e-02 1.05608562e-04 9.99617537e-01 -4.60559129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56264 meters 0.0156743004485845 Centerline is valid? [True, True] Translation: X:108.57, Y:-14.40, Z:-4.61 [[ 9.80042753e-01 1.96965860e-01 2.68449673e-02 1.08572037e+02] [-1.96888210e-01 9.80410338e-01 -5.53184361e-03 -1.43993707e+01] [-2.74086678e-02 1.35985679e-04 9.99624303e-01 -4.60754480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59264 meters 0.015982118023504365 Centerline is valid? [True, True] Translation: X:108.60, Y:-14.41, Z:-4.61 [[ 9.80211986e-01 1.96153934e-01 2.66100690e-02 1.08600032e+02] [-1.96077386e-01 9.80573103e-01 -5.48165443e-03 -1.44068256e+01] [-2.71683660e-02 1.55550590e-04 9.99630860e-01 -4.60840957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62264 meters 0.027052434041684656 Centerline is valid? [True, True] Translation: X:108.63, Y:-14.42, Z:-4.61 [[ 9.80429037e-01 1.94981938e-01 2.72203519e-02 1.08627555e+02] [-1.94901424e-01 9.80806814e-01 -5.60603768e-03 -1.44151880e+01] [-2.77909827e-02 1.91036776e-04 9.99613738e-01 -4.60942508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.65264 meters 0.01594800678614513 Centerline is valid? [True, True] Translation: X:108.66, Y:-14.42, Z:-4.61 [[ 9.80095324e-01 1.96810035e-01 2.60569544e-02 1.08656514e+02] [-1.96481570e-01 9.80398183e-01 -1.46422688e-02 -1.44193931e+01] [-2.84279362e-02 9.23110786e-03 9.99553220e-01 -4.61029946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68264 meters 0.015479073354629126 Centerline is valid? [True, True] Translation: X:108.68, Y:-14.44, Z:-4.61 [[ 9.80399216e-01 1.94971978e-01 2.83426255e-02 1.08682772e+02] [-1.95121544e-01 9.80775665e-01 2.58400533e-03 -1.44353427e+01] [-2.72939488e-02 -8.06361367e-03 9.99594927e-01 -4.60837550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71264000000001 meters 0.02921350595584212 Centerline is valid? [True, True] Translation: X:108.71, Y:-14.43, Z:-4.61 [[ 9.80065925e-01 1.96740341e-01 2.76409135e-02 1.08711190e+02] [-1.96658021e-01 9.80455618e-01 -5.69251803e-03 -1.44346171e+01] [-2.82206369e-02 1.43235594e-04 9.99601708e-01 -4.61211395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74264000000001 meters 0.026414828071448297 Centerline is valid? [True, True] Translation: X:108.74, Y:-14.44, Z:-4.61 [[ 9.79870504e-01 1.97747445e-01 2.73814214e-02 1.08739496e+02] [-1.97667111e-01 9.80252996e-01 -5.63716876e-03 -1.44380118e+01] [-2.79554560e-02 1.11288932e-04 9.99609164e-01 -4.61152207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.77264000000001 meters 0.02163075848682642 Centerline is valid? [True, True] Translation: X:108.77, Y:-14.44, Z:-4.61 [[ 9.79606945e-01 1.99054840e-01 2.73386770e-02 1.08767862e+02] [-1.98975305e-01 9.79988350e-01 -5.62696903e-03 -1.44425630e+01] [-2.79116604e-02 7.24963520e-05 9.99610391e-01 -4.61269276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80264000000001 meters 0.014231684162864355 Centerline is valid? [True, True] Translation: X:108.80, Y:-14.45, Z:-4.61 [[ 9.79378844e-01 2.00188547e-01 2.72327895e-02 1.08795083e+02] [-2.00110097e-01 9.79757391e-01 -5.60399141e-03 -1.44475313e+01] [-2.78033817e-02 3.88744819e-05 9.99613411e-01 -4.61361146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.83264000000001 meters 0.01480369549098624 Centerline is valid? [True, True] Translation: X:108.82, Y:-14.45, Z:-4.62 [[ 9.79109976e-01 2.01490082e-01 2.73020597e-02 1.08822480e+02] [-2.01411789e-01 9.79490555e-01 -5.61645578e-03 -1.44525679e+01] [-2.78737697e-02 1.71212047e-07 9.99611451e-01 -4.61708079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86264000000001 meters 0.013704084757131155 Centerline is valid? [True, True] Translation: X:108.85, Y:-14.46, Z:-4.61 [[ 9.78987924e-01 2.02076943e-01 2.73414338e-02 1.08850910e+02] [-2.01998704e-01 9.79369649e-01 -5.62270740e-03 -1.44583003e+01] [-2.79135900e-02 -1.83715698e-05 9.99610340e-01 -4.61394105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.89264000000001 meters 0.014316932286451874 Centerline is valid? [True, True] Translation: X:108.88, Y:-14.46, Z:-4.62 [[ 9.78656813e-01 2.03650117e-01 2.75222266e-02 1.08878353e+02] [-2.03571496e-01 9.79043730e-01 -5.65866499e-03 -1.44629368e+01] [-2.80978512e-02 -6.48497770e-05 9.99605175e-01 -4.61624094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92264000000002 meters 0.014235452662607959 Centerline is valid? [True, True] Translation: X:108.91, Y:-14.47, Z:-4.62 [[ 9.78388741e-01 2.04909800e-01 2.77028139e-02 1.08907473e+02] [-2.04830704e-01 9.78780855e-01 -5.69383521e-03 -1.44666943e+01] [-2.82817065e-02 -1.03602606e-04 9.99599987e-01 -4.61593407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.95264 meters 0.014972284590626283 Centerline is valid? [True, True] Translation: X:108.94, Y:-14.47, Z:-4.62 [[ 9.78081441e-01 2.06437012e-01 2.72112900e-02 1.08935837e+02] [-2.06361320e-01 9.78459881e-01 -5.59167320e-03 -1.44689894e+01] [-2.77794839e-02 -1.46245953e-04 9.99614065e-01 -4.61799508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98264 meters 0.0176053985584735 Centerline is valid? [True, True] Translation: X:108.96, Y:-14.47, Z:-4.62 [[ 9.77338508e-01 2.09958874e-01 2.69576131e-02 1.08964275e+02] [-2.09885972e-01 9.77710188e-01 -5.53784976e-03 -1.44667442e+01] [-2.75194536e-02 -2.45670999e-04 9.99621238e-01 -4.62057251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.01264 meters 0.026135309362120402 Centerline is valid? [True, True] Translation: X:108.99, Y:-14.47, Z:-4.62 [[ 9.76972632e-01 2.11548319e-01 2.77810256e-02 1.08993207e+02] [-2.11471595e-01 9.77367494e-01 -5.70497246e-03 -1.44697445e+01] [-2.83591487e-02 -3.01295825e-04 9.99597753e-01 -4.62215151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04264 meters 0.019990756689803584 Centerline is valid? [True, True] Translation: X:109.02, Y:-14.47, Z:-4.62 [[ 9.76262014e-01 2.14738837e-01 2.82791816e-02 1.09019515e+02] [-2.14468201e-01 9.76653339e-01 -1.23145009e-02 -1.44683725e+01] [-3.02633587e-02 5.95719423e-03 9.99524207e-01 -4.62216579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.07264 meters 0.02227633789415136 Centerline is valid? [True, True] Translation: X:109.05, Y:-14.48, Z:-4.63 [[ 9.76305483e-01 2.14598490e-01 2.78404892e-02 1.09048944e+02] [-2.14707470e-01 9.76677940e-01 9.50758470e-04 -1.44764517e+01] [-2.69871603e-02 -6.90579172e-03 9.99611926e-01 -4.62534973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10264000000001 meters 0.025670535592080098 Centerline is valid? [True, True] Translation: X:109.08, Y:-14.48, Z:-4.62 [[ 9.76151536e-01 2.15397777e-01 2.70550433e-02 1.09077421e+02] [-2.15326603e-01 9.76526309e-01 -5.55173874e-03 -1.44777081e+01] [-2.76157937e-02 -4.06332254e-04 9.99618529e-01 -4.62497509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.13264000000001 meters 0.023285310677023205 Centerline is valid? [True, True] Translation: X:109.11, Y:-14.48, Z:-4.63 [[ 9.76037061e-01 2.15997408e-01 2.63965018e-02 1.09105487e+02] [-2.15929935e-01 9.76393848e-01 -5.41441052e-03 -1.44789043e+01] [-2.69428806e-02 -4.15129576e-04 9.99636889e-01 -4.62712924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16264000000001 meters 0.02979375245421423 Centerline is valid? [True, True] Translation: X:109.13, Y:-14.48, Z:-4.63 [[ 9.76058829e-01 2.15818143e-01 2.70498152e-02 1.09133451e+02] [-2.15747271e-01 9.76433485e-01 -5.54655101e-03 -1.44820252e+01] [-2.76093917e-02 -4.22163728e-04 9.99618699e-01 -4.63071660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.19264000000001 meters 0.0232319119273246 Centerline is valid? [True, True] Translation: X:109.16, Y:-14.48, Z:-4.63 [[ 9.76195021e-01 2.15301866e-01 2.62371290e-02 1.09161871e+02] [-2.15235049e-01 9.76547464e-01 -5.37817511e-03 -1.44848797e+01] [-2.67797329e-02 -3.97001982e-04 9.99641280e-01 -4.63128842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22264000000001 meters 0.02299570059947252 Centerline is valid? [True, True] Translation: X:109.19, Y:-14.49, Z:-4.63 [[ 9.76303753e-01 2.14812572e-01 2.62019225e-02 1.09189633e+02] [-2.14745786e-01 9.76655216e-01 -5.36989411e-03 -1.44895434e+01] [-2.67437650e-02 -3.84104674e-04 9.99642248e-01 -4.63270312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.25264000000001 meters 0.022050711767738942 Centerline is valid? [True, True] Translation: X:109.22, Y:-14.50, Z:-4.63 [[ 9.76401035e-01 2.14362686e-01 2.62613302e-02 1.09217687e+02] [-2.14295483e-01 9.76754063e-01 -5.38028385e-03 -1.44952860e+01] [-2.68041931e-02 -3.74369717e-04 9.99640633e-01 -4.63332421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28264000000001 meters 0.019955289104627332 Centerline is valid? [True, True] Translation: X:109.24, Y:-14.50, Z:-4.63 [[ 9.76343549e-01 2.13932024e-01 3.14064250e-02 1.09243584e+02] [-2.14013143e-01 9.76830457e-01 -7.94887609e-04 -1.45028885e+01] [-3.08488044e-02 -5.94530434e-03 9.99506380e-01 -4.63444540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.31264 meters 0.019955289104627332 Centerline is valid? [True, True] Translation: X:109.27, Y:-14.51, Z:-4.64 [[ 9.76332946e-01 2.14127737e-01 3.03857143e-02 1.09271123e+02] [-2.14041139e-01 9.76805521e-01 -6.11272561e-03 -1.45051536e+01] [-3.09898376e-02 -5.35737519e-04 9.99519556e-01 -4.63555793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34264 meters 0.02017487240953798 Centerline is valid? [True, True] Translation: X:109.30, Y:-14.51, Z:-4.64 [[ 9.76762870e-01 2.13000013e-01 2.37758204e-02 1.09302347e+02] [-2.12807853e-01 9.77039053e-01 -1.03685710e-02 -1.45065027e+01] [-2.54384108e-02 5.06795384e-03 9.99663545e-01 -4.63664807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.37264 meters 0.019516551829121504 Centerline is valid? [True, True] Translation: X:109.33, Y:-14.51, Z:-4.64 [[ 9.77067840e-01 2.11571935e-01 2.39948580e-02 1.09330536e+02] [-2.11515120e-01 9.77362389e-01 -4.91065855e-03 -1.45127776e+01] [-2.44906293e-02 -2.77228738e-04 9.99700021e-01 -4.63903875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40264 meters 0.02132089105112425 Centerline is valid? [True, True] Translation: X:109.36, Y:-14.51, Z:-4.65 [[ 9.77298409e-01 2.10523569e-01 2.38253423e-02 1.09358468e+02] [-2.10467266e-01 9.77588750e-01 -4.87499499e-03 -1.45142633e+01] [-2.43176879e-02 -2.50129809e-04 9.99704250e-01 -4.64556074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.43264 meters 0.019237136002171324 Centerline is valid? [True, True] Translation: X:109.39, Y:-14.52, Z:-4.64 [[ 9.77551751e-01 2.09329229e-01 2.39551220e-02 1.09386397e+02] [-2.09271997e-01 9.77845194e-01 -4.89970911e-03 -1.45206673e+01] [-2.44500533e-02 -2.23417003e-04 9.99701028e-01 -4.64454217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46264000000001 meters 0.016290318691593426 Centerline is valid? [True, True] Translation: X:109.41, Y:-14.53, Z:-4.64 [[ 9.78284656e-01 2.05929398e-01 2.34992667e-02 1.09414171e+02] [-2.05873368e-01 9.78566842e-01 -4.80541798e-03 -1.45304567e+01] [-2.39851801e-02 -1.36806522e-04 9.99712305e-01 -4.64280941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.49264000000001 meters 0.015417247218162318 Centerline is valid? [True, True] Translation: X:109.44, Y:-14.54, Z:-4.64 [[ 9.78737329e-01 2.03704751e-01 2.40336087e-02 1.09440837e+02] [-2.03645499e-01 9.79032363e-01 -4.91362626e-03 -1.45385209e+01] [-2.45306097e-02 -8.51867841e-05 9.99699076e-01 -4.64347323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52264000000001 meters 0.01524512179235455 Centerline is valid? [True, True] Translation: X:109.47, Y:-14.55, Z:-4.65 [[ 9.79238994e-01 2.01164985e-01 2.49728264e-02 1.09467626e+02] [-2.01100229e-01 9.79557374e-01 -5.10391203e-03 -1.45467812e+01] [-2.54890447e-02 -2.40914281e-05 9.99675101e-01 -4.64525581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.55264000000001 meters 0.017389643553822335 Centerline is valid? [True, True] Translation: X:109.50, Y:-14.56, Z:-4.64 [[ 9.80310961e-01 1.95724908e-01 2.61185902e-02 1.09495026e+02] [-1.95652193e-01 9.80658833e-01 -5.33605265e-03 -1.45592875e+01] [-2.66578246e-02 1.20831442e-04 9.99644610e-01 -4.64370338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58264000000001 meters 0.016167236771946588 Centerline is valid? [True, True] Translation: X:109.52, Y:-14.57, Z:-4.64 [[ 9.80840722e-01 1.93119668e-01 2.56178224e-02 1.09522641e+02] [-1.93048860e-01 9.81175193e-01 -5.23248350e-03 -1.45680968e+01] [-2.61460673e-02 1.86741499e-04 9.99658116e-01 -4.64283269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.61264000000001 meters 0.02030105473121516 Centerline is valid? [True, True] Translation: X:109.55, Y:-14.58, Z:-4.65 [[ 9.81243308e-01 1.91050779e-01 2.57132398e-02 1.09549069e+02] [-1.90978758e-01 9.81580125e-01 -5.25098070e-03 -1.45762104e+01] [-2.62428091e-02 2.41807083e-04 9.99655569e-01 -4.64606103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.64264000000001 meters 0.018212576242651338 Centerline is valid? [True, True] Translation: X:109.58, Y:-14.58, Z:-4.65 [[ 9.81528561e-01 1.89646831e-01 2.52143656e-02 1.09577316e+02] [-1.89577168e-01 9.81852334e-01 -5.14703005e-03 -1.45836243e+01] [-2.57329017e-02 2.71888967e-04 9.99668817e-01 -4.64539825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.67264000000002 meters 0.020174232508002855 Centerline is valid? [True, True] Translation: X:109.60, Y:-14.59, Z:-4.65 [[ 9.81838794e-01 1.88020881e-01 2.53126505e-02 1.09603190e+02] [-1.87950162e-01 9.82164981e-01 -5.16599843e-03 -1.45935546e+01] [-2.58325145e-02 3.14660921e-04 9.99666235e-01 -4.64790605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.70264 meters 0.019764772682715103 Centerline is valid? [True, True] Translation: X:109.63, Y:-14.60, Z:-4.65 [[ 9.81903224e-01 1.87717656e-01 2.50627200e-02 1.09630927e+02] [-1.87648274e-01 9.82222979e-01 -5.11318692e-03 -1.46001336e+01] [-2.55770150e-02 3.17678585e-04 9.99672804e-01 -4.64810165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.73264 meters 0.01968120863944038 Centerline is valid? [True, True] Translation: X:109.66, Y:-14.61, Z:-4.65 [[ 9.81901234e-01 1.87682293e-01 2.54032201e-02 1.09658583e+02] [-1.87611034e-01 9.82229736e-01 -5.18133041e-03 -1.46069458e+01] [-2.59242422e-02 3.21630322e-04 9.99663859e-01 -4.64873625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76264 meters 0.018859373389076787 Centerline is valid? [True, True] Translation: X:109.69, Y:-14.61, Z:-4.65 [[ 9.81738856e-01 1.88378666e-01 2.65008748e-02 1.09686922e+02] [-1.88301408e-01 9.82096420e-01 -5.40376424e-03 -1.46132388e+01] [-2.70443682e-02 3.14933267e-04 9.99634185e-01 -4.64763993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.79264 meters 0.025370477456459182 Centerline is valid? [True, True] Translation: X:109.71, Y:-14.62, Z:-4.65 [[ 9.81636328e-01 1.88802516e-01 2.72714100e-02 1.09714337e+02] [-1.88720897e-01 9.82015027e-01 -5.55962817e-03 -1.46187418e+01] [-2.78306062e-02 3.10848029e-04 9.99612605e-01 -4.65086416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82264 meters 0.017725689677156584 Centerline is valid? [True, True] Translation: X:109.74, Y:-14.62, Z:-4.65 [[ 9.81489892e-01 1.89753976e-01 2.59040664e-02 1.09742354e+02] [-1.89680714e-01 9.81831634e-01 -5.27918048e-03 -1.46240081e+01] [-2.64351773e-02 2.67960467e-04 9.99650494e-01 -4.65035327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.85264000000001 meters 0.0170140601764903 Centerline is valid? [True, True] Translation: X:109.77, Y:-14.63, Z:-4.65 [[ 9.81107881e-01 1.91816882e-01 2.51716090e-02 1.09769661e+02] [-1.91748410e-01 9.81430712e-01 -5.12890154e-03 -1.46289468e+01] [-2.56880001e-02 2.05389708e-04 9.99669988e-01 -4.65359329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88264000000001 meters 0.016457154929299386 Centerline is valid? [True, True] Translation: X:109.80, Y:-14.63, Z:-4.65 [[ 9.80843417e-01 1.93124353e-01 2.54789106e-02 1.09797198e+02] [-1.93054684e-01 9.81174273e-01 -5.18984054e-03 -1.46340570e+01] [-2.60015362e-02 1.71597916e-04 9.99661888e-01 -4.65482774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.91264000000001 meters 0.016259421131857354 Centerline is valid? [True, True] Translation: X:109.82, Y:-14.64, Z:-4.66 [[ 9.80531152e-01 1.94695000e-01 2.55444251e-02 1.09824055e+02] [-1.94625547e-01 9.80863824e-01 -5.20153333e-03 -1.46390418e+01] [-2.60683150e-02 1.28667767e-04 9.99660155e-01 -4.65763204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94264000000001 meters 0.014838624069248465 Centerline is valid? [True, True] Translation: X:109.85, Y:-14.64, Z:-4.66 [[ 9.79823614e-01 1.98242648e-01 2.54074546e-02 1.09853510e+02] [-1.98175176e-01 9.80152974e-01 -5.17184635e-03 -1.46413860e+01] [-2.59284726e-02 3.23703999e-05 9.99663800e-01 -4.65636782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.97264000000001 meters 0.014938192893805541 Centerline is valid? [True, True] Translation: X:109.88, Y:-14.64, Z:-4.66 [[ 9.79472574e-01 2.00016604e-01 2.50366761e-02 1.09882035e+02] [-1.99951699e-01 9.79792508e-01 -5.09512722e-03 -1.46447319e+01] [-2.55498577e-02 -1.55885348e-05 9.99673549e-01 -4.65859189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.00264000000001 meters 0.015134268687748547 Centerline is valid? [True, True] Translation: X:109.91, Y:-14.65, Z:-4.66 [[ 9.79144631e-01 2.01631227e-01 2.49126254e-02 1.09910361e+02] [-2.01567518e-01 9.79461508e-01 -5.06862886e-03 -1.46489035e+01] [-2.54229515e-02 -5.86553346e-05 9.99676783e-01 -4.65982679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.03264000000001 meters 0.015334994049632204 Centerline is valid? [True, True] Translation: X:109.94, Y:-14.65, Z:-4.66 [[ 9.78876209e-01 2.02890836e-01 2.52324535e-02 1.09936477e+02] [-2.02825915e-01 9.79201358e-01 -5.13305485e-03 -1.46534614e+01] [-2.57491025e-02 -9.31701975e-05 9.99668433e-01 -4.66064118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06264 meters 0.01558421131933629 Centerline is valid? [True, True] Translation: X:109.97, Y:-14.66, Z:-4.66 [[ 9.78499148e-01 2.04589580e-01 2.61251027e-02 1.09965583e+02] [-2.04520678e-01 9.78847834e-01 -5.31129440e-03 -1.46575783e+01] [-2.66591357e-02 -1.46026668e-04 9.99644571e-01 -4.66022511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09264 meters 0.01568571338693097 Centerline is valid? [True, True] Translation: X:109.99, Y:-14.66, Z:-4.66 [[ 9.78375157e-01 2.05131141e-01 2.65191705e-02 1.09993518e+02] [-2.05060366e-01 9.78734483e-01 -5.39057741e-03 -1.46627637e+01] [-2.70610019e-02 -1.64023789e-04 9.99633771e-01 -4.66085973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12264 meters 0.0162391529377117 Centerline is valid? [True, True] Translation: X:110.02, Y:-14.67, Z:-4.66 [[ 9.78156425e-01 2.06010247e-01 2.77450060e-02 1.10020879e+02] [-2.05933164e-01 9.78549814e-01 -5.63856010e-03 -1.46682163e+01] [-2.83114716e-02 -1.98223070e-04 9.99599130e-01 -4.66070824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.15264 meters 0.016293933338960745 Centerline is valid? [True, True] Translation: X:110.05, Y:-14.67, Z:-4.66 [[ 9.78022111e-01 2.06627924e-01 2.78863990e-02 1.10049514e+02] [-2.06550374e-01 9.78419569e-01 -5.66481792e-03 -1.46728247e+01] [-2.84551080e-02 -2.19628960e-04 9.99595047e-01 -4.66069993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18264 meters 0.017838224566790007 Centerline is valid? [True, True] Translation: X:110.08, Y:-14.68, Z:-4.66 [[ 9.77868153e-01 2.07443159e-01 2.72251881e-02 1.10077321e+02] [-2.07369592e-01 9.78247044e-01 -5.52935121e-03 -1.46751044e+01] [-2.77799858e-02 -2.38699676e-04 9.99614033e-01 -4.66477306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.21264000000001 meters 0.018292539970744905 Centerline is valid? [True, True] Translation: X:110.11, Y:-14.68, Z:-4.67 [[ 9.77715109e-01 2.08292994e-01 2.62143889e-02 1.10105335e+02] [-2.08225142e-01 9.78066441e-01 -5.32224988e-03 -1.46797211e+01] [-2.67480015e-02 -2.54850742e-04 9.99642176e-01 -4.66655583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24264000000001 meters 0.024137509303948618 Centerline is valid? [True, True] Translation: X:110.13, Y:-14.68, Z:-4.67 [[ 9.77195268e-01 2.10673135e-01 2.65751336e-02 1.10133998e+02] [-2.10604319e-01 9.77556507e-01 -5.39414204e-03 -1.46830558e+01] [-2.71150955e-02 -3.25707822e-04 9.99632265e-01 -4.66875988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.27264000000001 meters 0.02957356887921654 Centerline is valid? [True, True] Translation: X:110.16, Y:-14.69, Z:-4.67 [[ 9.76853621e-01 2.12188537e-01 2.70744826e-02 1.10162888e+02] [-2.12117731e-01 9.77228675e-01 -5.49406206e-03 -1.46860577e+01] [-2.76237378e-02 -3.76083412e-04 9.99618321e-01 -4.66956236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30264000000001 meters 0.022304790363897393 Centerline is valid? [True, True] Translation: X:110.19, Y:-14.69, Z:-4.67 [[ 9.76484056e-01 2.13973257e-01 2.63502058e-02 1.10191181e+02] [-2.13906855e-01 9.76839430e-01 -5.34648092e-03 -1.46870086e+01] [-2.68839240e-02 -4.15736294e-04 9.99638476e-01 -4.67036244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.33264000000001 meters 0.024723834170332675 Centerline is valid? [True, True] Translation: X:110.22, Y:-14.69, Z:-4.67 [[ 9.76015863e-01 2.16251174e-01 2.50692152e-02 1.10221144e+02] [-2.16191912e-01 9.76337656e-01 -5.08307846e-03 -1.46863459e+01] [-2.55752405e-02 -4.58596356e-04 9.99672795e-01 -4.67438337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36264000000001 meters 0.025799990006316043 Centerline is valid? [True, True] Translation: X:110.25, Y:-14.69, Z:-4.68 [[ 9.76031539e-01 2.16173621e-01 2.51276627e-02 1.10247725e+02] [-2.16114044e-01 9.76354831e-01 -5.09544012e-03 -1.46897021e+01] [-2.56350147e-02 -4.57130545e-04 9.99671264e-01 -4.67702125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.39264000000001 meters 0.022818671541865856 Centerline is valid? [True, True] Translation: X:110.28, Y:-14.70, Z:-4.68 [[ 9.76473794e-01 2.14038859e-01 2.61972489e-02 1.10275344e+02] [-2.13973418e-01 9.76825056e-01 -5.30915949e-03 -1.46990112e+01] [-2.67264955e-02 -4.21259768e-04 9.99642695e-01 -4.67564522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42264000000002 meters 0.021257153084401587 Centerline is valid? [True, True] Translation: X:110.30, Y:-14.71, Z:-4.68 [[ 9.76858778e-01 2.12255492e-01 2.63540006e-02 1.10303239e+02] [-2.12188652e-01 9.77214135e-01 -5.33957768e-03 -1.47070342e+01] [-2.68868566e-02 -3.76006545e-04 9.99638412e-01 -4.67593456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.45264 meters 0.020326245422989102 Centerline is valid? [True, True] Translation: X:110.33, Y:-14.71, Z:-4.68 [[ 9.77293496e-01 2.10265365e-01 2.61896599e-02 1.10330359e+02] [-2.10198672e-01 9.77644298e-01 -5.30516644e-03 -1.47141186e+01] [-2.67196644e-02 -3.20327056e-04 9.99642915e-01 -4.67791471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48264 meters 0.030079616217984273 Centerline is valid? [True, True] Translation: X:110.36, Y:-14.72, Z:-4.68 [[ 9.77746689e-01 2.08022388e-01 2.71679498e-02 1.10357772e+02] [-2.07949808e-01 9.78124027e-01 -5.50131253e-03 -1.47219702e+01] [-2.77180206e-02 -2.70679842e-04 9.99615745e-01 -4.67977693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.51264 meters 0.023929322660485104 Centerline is valid? [True, True] Translation: X:110.39, Y:-14.73, Z:-4.68 [[ 9.78233432e-01 2.05740424e-01 2.70227637e-02 1.10385623e+02] [-2.05667785e-01 9.78606579e-01 -5.47053774e-03 -1.47308012e+01] [-2.75701651e-02 -2.06249036e-04 9.99619849e-01 -4.68085467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54264 meters 0.02175992806408415 Centerline is valid? [True, True] Translation: X:110.41, Y:-14.74, Z:-4.68 [[ 9.78340645e-01 2.05277641e-01 2.66584315e-02 1.10412821e+02] [-2.05206807e-01 9.78703762e-01 -5.39564161e-03 -1.47376339e+01] [-2.71983118e-02 -1.91716114e-04 9.99630039e-01 -4.68246581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.57264 meters 0.016494846536304328 Centerline is valid? [True, True] Translation: X:110.44, Y:-14.74, Z:-4.68 [[ 9.78290565e-01 2.05609869e-01 2.59258932e-02 1.10441188e+02] [-2.05543039e-01 9.78634019e-01 -5.24558174e-03 -1.47438552e+01] [-2.64505044e-02 -1.97183744e-04 9.99650105e-01 -4.68131779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60264000000001 meters 0.01890272513742838 Centerline is valid? [True, True] Translation: X:110.47, Y:-14.74, Z:-4.68 [[ 9.77834579e-01 2.07706828e-01 2.64085052e-02 1.10468999e+02] [-2.07638277e-01 9.78191089e-01 -5.34224536e-03 -1.47436327e+01] [-2.69421853e-02 -2.59584270e-04 9.99636960e-01 -4.68472205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.63264000000001 meters 0.025685902700771993 Centerline is valid? [True, True] Translation: X:110.50, Y:-14.75, Z:-4.69 [[ 9.77518806e-01 2.09088165e-01 2.71868295e-02 1.10497933e+02] [-2.09016121e-01 9.77896745e-01 -5.49704286e-03 -1.47467492e+01] [-2.77352787e-02 -3.09022890e-04 9.99615255e-01 -4.68520618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66264000000001 meters 0.02140814709765531 Centerline is valid? [True, True] Translation: X:110.53, Y:-14.75, Z:-4.69 [[ 9.77054858e-01 2.11336469e-01 2.64707726e-02 1.10526598e+02] [-2.11269024e-01 9.77413303e-01 -5.35117439e-03 -1.47474158e+01] [-2.70037836e-02 -3.64063363e-04 9.99635265e-01 -4.68588488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.69264000000001 meters 0.022367007996591498 Centerline is valid? [True, True] Translation: X:110.56, Y:-14.75, Z:-4.69 [[ 9.76658749e-01 2.13159040e-01 2.64747514e-02 1.10555768e+02] [-2.13092295e-01 9.77017426e-01 -5.35008183e-03 -1.47485821e+01] [-2.70067117e-02 -4.16361308e-04 9.99635166e-01 -4.68586213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72264000000001 meters 0.025581985721890868 Centerline is valid? [True, True] Translation: X:110.59, Y:-14.75, Z:-4.69 [[ 9.75836704e-01 2.16885802e-01 2.65193481e-02 1.10585869e+02] [-2.16820250e-01 9.76196843e-01 -5.35751839e-03 -1.47462557e+01] [-2.70500736e-02 -5.21868593e-04 9.99633944e-01 -4.68744343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.75264000000001 meters 0.027573705826708705 Centerline is valid? [True, True] Translation: X:110.61, Y:-14.75, Z:-4.69 [[ 9.75631167e-01 2.17869005e-01 2.60177318e-02 1.10614570e+02] [-2.17806277e-01 9.75977872e-01 -5.25544531e-03 -1.47510769e+01] [-2.65377291e-02 -5.39449070e-04 9.99647667e-01 -4.69034586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78264000000001 meters 0.027358287351734283 Centerline is valid? [True, True] Translation: X:110.64, Y:-14.75, Z:-4.69 [[ 9.75426706e-01 2.18915546e-01 2.48741780e-02 1.10642155e+02] [-2.18858576e-01 9.75743659e-01 -5.02349348e-03 -1.47545770e+01] [-2.53705423e-02 -5.43877494e-04 9.99677968e-01 -4.69170240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.81264 meters 0.032528342943515566 Centerline is valid? [True, True] Translation: X:110.67, Y:-14.75, Z:-4.70 [[ 9.75256019e-01 2.19640350e-01 2.51756710e-02 1.10670580e+02] [-2.19582275e-01 9.75580745e-01 -5.08270584e-03 -1.47526287e+01] [-2.56772671e-02 -5.71191637e-04 9.99670121e-01 -4.69552714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84264 meters 0.03136044241539582 Centerline is valid? [True, True] Translation: X:110.70, Y:-14.75, Z:-4.70 [[ 9.75259411e-01 2.19647182e-01 2.49839296e-02 1.10699176e+02] [-2.19590031e-01 9.75579209e-01 -5.04240646e-03 -1.47535216e+01] [-2.54813526e-02 -5.68567529e-04 9.99675136e-01 -4.69744113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.87264 meters 0.028601800873716533 Centerline is valid? [True, True] Translation: X:110.73, Y:-14.76, Z:-4.70 [[ 9.75389997e-01 2.19071999e-01 2.49361769e-02 1.10727476e+02] [-2.19014871e-01 9.75708540e-01 -5.03306294e-03 -1.47616882e+01] [-2.54330439e-02 -5.52194317e-04 9.99676375e-01 -4.69646707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90264 meters 0.03235907753540896 Centerline is valid? [True, True] Translation: X:110.76, Y:-14.77, Z:-4.70 [[ 9.75697750e-01 2.17642357e-01 2.54107052e-02 1.10755530e+02] [-2.17582657e-01 9.76028445e-01 -5.12473159e-03 -1.47666560e+01] [-2.59169298e-02 -5.28739664e-04 9.99663960e-01 -4.69976757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.93264 meters 0.02545101823788504 Centerline is valid? [True, True] Translation: X:110.78, Y:-14.77, Z:-4.70 [[ 9.76368384e-01 2.14663045e-01 2.49911064e-02 1.10782723e+02] [-2.14604473e-01 9.76688065e-01 -5.03426190e-03 -1.47729287e+01] [-2.54891853e-02 -4.47909053e-04 9.99674998e-01 -4.70099189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96264000000001 meters 0.02436964082197915 Centerline is valid? [True, True] Translation: X:110.81, Y:-14.78, Z:-4.70 [[ 9.76821296e-01 2.12539481e-01 2.54386280e-02 1.10810089e+02] [-2.12478135e-01 9.77152397e-01 -5.12198524e-03 -1.47792677e+01] [-2.59460404e-02 -4.01887962e-04 9.99663264e-01 -4.70310719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.99264000000001 meters 0.019978622348228624 Centerline is valid? [True, True] Translation: X:110.84, Y:-14.79, Z:-4.70 [[ 9.77684319e-01 2.08377505e-01 2.66868560e-02 1.10838276e+02] [-2.08308540e-01 9.78048424e-01 -5.36956151e-03 -1.47907328e+01] [-2.72199333e-02 -3.09363942e-04 9.99629421e-01 -4.70136274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02264000000001 meters 0.030140329093368882 Centerline is valid? [True, True] Translation: X:110.87, Y:-14.80, Z:-4.71 [[ 9.78135002e-01 2.06165375e-01 2.73451313e-02 1.10865289e+02] [-2.06092104e-01 9.78517130e-01 -5.50188923e-03 -1.47970432e+01] [-2.78919784e-02 -2.54025222e-04 9.99610911e-01 -4.70578200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.05264000000001 meters 0.01784320066320778 Centerline is valid? [True, True] Translation: X:110.89, Y:-14.80, Z:-4.71 [[ 9.78437141e-01 2.04861794e-01 2.63136323e-02 1.10893213e+02] [-2.04793523e-01 9.78790887e-01 -5.29261364e-03 -1.48046365e+01] [-2.68397978e-02 -2.10371706e-04 9.99639726e-01 -4.70547910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08264000000001 meters 0.016665448007558138 Centerline is valid? [True, True] Translation: X:110.92, Y:-14.81, Z:-4.71 [[ 9.79035358e-01 2.02133480e-01 2.51361078e-02 1.10920876e+02] [-2.02070312e-01 9.79357973e-01 -5.05465115e-03 -1.48123200e+01] [-2.56389618e-02 -1.30578954e-04 9.99671259e-01 -4.70919791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.11264000000001 meters 0.01985595745090259 Centerline is valid? [True, True] Translation: X:110.95, Y:-14.82, Z:-4.71 [[ 9.79247433e-01 2.01106509e-01 2.51124861e-02 1.10949247e+02] [-2.01043153e-01 9.79569375e-01 -5.04870880e-03 -1.48184219e+01] [-2.56147505e-02 -1.04758250e-04 9.99671883e-01 -4.71094957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.14264000000001 meters 0.015859484672731815 Centerline is valid? [True, True] Translation: X:110.98, Y:-14.82, Z:-4.71 [[ 9.79348431e-01 2.00661316e-01 2.47323026e-02 1.10976870e+02] [-2.00599747e-01 9.79660670e-01 -4.97127767e-03 -1.48243647e+01] [-2.52268073e-02 -9.26806673e-05 9.99681749e-01 -4.71103559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.17264000000002 meters 0.02795534839009668 Centerline is valid? [True, True] Translation: X:111.00, Y:-14.83, Z:-4.71 [[ 9.79525826e-01 1.99685337e-01 2.55914337e-02 1.11004746e+02] [-1.99619134e-01 9.79860072e-01 -5.14202764e-03 -1.48299871e+01] [-2.61028116e-02 -7.17909563e-05 9.99659261e-01 -4.71392700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20264 meters 0.02795534839009668 Centerline is valid? [True, True] Translation: X:111.03, Y:-14.84, Z:-4.72 [[ 9.79540535e-01 1.99613153e-01 2.55915984e-02 1.11031702e+02] [-1.99546946e-01 9.79874780e-01 -5.14120761e-03 -1.48352657e+01] [-2.61028146e-02 -7.07040669e-05 9.99659261e-01 -4.71513987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.23264 meters 0.015833293214076574 Centerline is valid? [True, True] Translation: X:111.06, Y:-14.84, Z:-4.72 [[ 9.79680796e-01 1.98953843e-01 2.53555933e-02 1.11058614e+02] [-1.98888687e-01 9.80008860e-01 -5.09164702e-03 -1.48414570e+01] [-2.58617088e-02 -5.47518639e-05 9.99665529e-01 -4.71658234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26264 meters 0.016106951093562135 Centerline is valid? [True, True] Translation: X:111.08, Y:-14.85, Z:-4.72 [[ 9.79825887e-01 1.98250358e-01 2.52592001e-02 1.11084689e+02] [-1.98185495e-01 9.80151414e-01 -5.07105081e-03 -1.48474962e+01] [-2.57631783e-02 -3.72602154e-05 9.99668074e-01 -4.71939566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.29264 meters 0.014949868752982248 Centerline is valid? [True, True] Translation: X:111.11, Y:-14.85, Z:-4.72 [[ 9.79927017e-01 1.97796588e-01 2.48907755e-02 1.11112845e+02] [-1.97733524e-01 9.80243087e-01 -4.99447562e-03 -1.48541309e+01] [-2.53869009e-02 -2.75191622e-05 9.99677700e-01 -4.71653104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32264 meters 0.015107743255256986 Centerline is valid? [True, True] Translation: X:111.14, Y:-14.86, Z:-4.72 [[ 9.79958013e-01 1.97622368e-01 2.50537892e-02 1.11139735e+02] [-1.97558415e-01 9.80278225e-01 -5.02728756e-03 -1.48591835e+01] [-2.55531884e-02 -2.30561370e-05 9.99673464e-01 -4.71840695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.35264000000001 meters 0.027885680109829183 Centerline is valid? [True, True] Translation: X:111.17, Y:-14.86, Z:-4.72 [[ 9.79993252e-01 1.97234906e-01 2.66761723e-02 1.11166845e+02] [-1.97162389e-01 9.80356258e-01 -5.34796834e-03 -1.48631175e+01] [-2.72069585e-02 -1.85649696e-05 9.99629822e-01 -4.72077428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38264000000001 meters 0.014523090470585429 Centerline is valid? [True, True] Translation: X:111.19, Y:-14.87, Z:-4.72 [[ 9.79915568e-01 1.97597600e-01 2.68452566e-02 1.11194466e+02] [-1.97524338e-01 9.80283218e-01 -5.38036081e-03 -1.48695511e+01] [-2.73791009e-02 -3.02922325e-05 9.99625122e-01 -4.71837460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.41264000000001 meters 0.02388096657217773 Centerline is valid? [True, True] Translation: X:111.22, Y:-14.88, Z:-4.72 [[ 9.80001856e-01 1.97082494e-01 2.74745931e-02 1.11222024e+02] [-1.97005626e-01 9.80386908e-01 -5.50393860e-03 -1.48753642e+01] [-2.80204613e-02 -1.87793498e-05 9.99607350e-01 -4.72226623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44264000000001 meters 0.014384176954700416 Centerline is valid? [True, True] Translation: X:111.25, Y:-14.88, Z:-4.72 [[ 9.80127389e-01 1.96364297e-01 2.81311908e-02 1.11248836e+02] [-1.96283451e-01 9.80531011e-01 -5.63418354e-03 -1.48840969e+01] [-2.86898574e-02 5.30395176e-07 9.99588361e-01 -4.72072128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.47264000000001 meters 0.014408965285854758 Centerline is valid? [True, True] Translation: X:111.28, Y:-14.89, Z:-4.72 [[ 9.80223005e-01 1.95879590e-01 2.81788173e-02 1.11275752e+02] [-1.95798315e-01 9.80627955e-01 -5.64216706e-03 -1.48907059e+01] [-2.87381213e-02 1.32170169e-05 9.99586975e-01 -4.72167521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.50264000000001 meters 0.02866483314750033 Centerline is valid? [True, True] Translation: X:111.30, Y:-14.90, Z:-4.73 [[ 9.80326079e-01 1.95362618e-01 2.81820183e-02 1.11302667e+02] [-1.95281170e-01 9.80731078e-01 -5.64072562e-03 -1.48966822e+01] [-2.87409681e-02 2.63329302e-05 9.99586893e-01 -4.72615694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.53264000000001 meters 0.014879982165440942 Centerline is valid? [True, True] Translation: X:111.33, Y:-14.90, Z:-4.73 [[ 9.80063345e-01 1.96864248e-01 2.68385568e-02 1.11331030e+02] [-1.96791005e-01 9.80430756e-01 -5.36960979e-03 -1.49022218e+01] [-2.73704307e-02 -1.90288391e-05 9.99625359e-01 -4.72649829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.56264 meters 0.015025924622392581 Centerline is valid? [True, True] Translation: X:111.36, Y:-14.91, Z:-4.73 [[ 9.79847189e-01 1.97939354e-01 2.68234572e-02 1.11359898e+02] [-1.97866632e-01 9.80214267e-01 -5.36528557e-03 -1.49067506e+01] [-2.73547366e-02 -5.03071639e-05 9.99625788e-01 -4.72803345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.59264 meters 0.015437354194516008 Centerline is valid? [True, True] Translation: X:111.39, Y:-14.91, Z:-4.73 [[ 9.79641121e-01 1.98953146e-01 2.68499333e-02 1.11387265e+02] [-1.98880692e-01 9.80009000e-01 -5.36945197e-03 -1.49106363e+01] [-2.73814456e-02 -7.97973526e-05 9.99625055e-01 -4.73031998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62264 meters 0.01557216191023729 Centerline is valid? [True, True] Translation: X:111.42, Y:-14.92, Z:-4.73 [[ 9.79451448e-01 1.99911238e-01 2.66525542e-02 1.11415501e+02] [-1.99840249e-01 9.79814006e-01 -5.32819181e-03 -1.49151766e+01] [-2.71797114e-02 -1.07547882e-04 9.99630558e-01 -4.73057282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.65264 meters 0.015998706536277555 Centerline is valid? [True, True] Translation: X:111.44, Y:-14.92, Z:-4.73 [[ 9.79184354e-01 2.01048347e-01 2.78848378e-02 1.11443633e+02] [-2.00971126e-01 9.79581309e-01 -5.57363930e-03 -1.49181809e+01] [-2.84360368e-02 -1.46426856e-04 9.99595603e-01 -4.73098042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68264 meters 0.014870260284066598 Centerline is valid? [True, True] Translation: X:111.47, Y:-14.92, Z:-4.73 [[ 9.79115024e-01 2.01223000e-01 2.90357489e-02 1.11471878e+02] [-2.01139445e-01 9.79545445e-01 -5.80045410e-03 -1.49245348e+01] [-2.96090203e-02 -1.60922650e-04 9.99561544e-01 -4.72810123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.71264000000001 meters 0.0155545045780084 Centerline is valid? [True, True] Translation: X:111.50, Y:-14.93, Z:-4.73 [[ 9.79153354e-01 2.01019526e-01 2.91523392e-02 1.11498445e+02] [-2.00935237e-01 9.79587222e-01 -5.82276395e-03 -1.49296985e+01] [-2.97277482e-02 -1.56353326e-04 9.99558021e-01 -4.73155167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74264000000001 meters 0.015332876530128067 Centerline is valid? [True, True] Translation: X:111.53, Y:-14.94, Z:-4.73 [[ 9.79274540e-01 2.00476613e-01 2.88184550e-02 1.11526067e+02] [-2.00394104e-01 9.79698478e-01 -5.75289450e-03 -1.49367266e+01] [-2.93867173e-02 -1.41385344e-04 9.99568107e-01 -4.73346481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.77264000000001 meters 0.014846431980563837 Centerline is valid? [True, True] Translation: X:111.55, Y:-14.95, Z:-4.74 [[ 9.79655048e-01 1.98683715e-01 2.82978373e-02 1.11552470e+02] [-1.98603440e-01 9.80063658e-01 -5.64798871e-03 -1.49463146e+01] [-2.88558453e-02 -8.69671813e-05 9.99583580e-01 -4.73652480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80264000000001 meters 0.014756909510346163 Centerline is valid? [True, True] Translation: X:111.58, Y:-14.95, Z:-4.74 [[ 9.79917226e-01 1.97458886e-01 2.77888155e-02 1.11580217e+02] [-1.97381049e-01 9.80311168e-01 -5.54402460e-03 -1.49537918e+01] [-2.83364031e-02 -5.23003334e-05 9.99598442e-01 -4.73861544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.83264000000001 meters 0.02899691407384827 Centerline is valid? [True, True] Translation: X:111.61, Y:-14.96, Z:-4.74 [[ 9.80216956e-01 1.96018382e-01 2.74137276e-02 1.11606572e+02] [-1.95942091e-01 9.80600221e-01 -5.46839488e-03 -1.49603828e+01] [-2.79538132e-02 -1.12897056e-05 9.99609216e-01 -4.74390147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86264000000001 meters 0.014418593751629698 Centerline is valid? [True, True] Translation: X:111.63, Y:-14.97, Z:-4.74 [[ 9.80709247e-01 1.93586291e-01 2.70872861e-02 1.11633158e+02] [-1.93510952e-01 9.81083251e-01 -5.40061972e-03 -1.49730899e+01] [-2.76203686e-02 5.47511882e-05 9.99618483e-01 -4.74104489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.89264000000001 meters 0.014976376568023397 Centerline is valid? [True, True] Translation: X:111.66, Y:-14.98, Z:-4.74 [[ 9.80949874e-01 1.92292432e-01 2.75856187e-02 1.11659537e+02] [-1.92213816e-01 9.81337665e-01 -5.49879922e-03 -1.49819204e+01] [-2.81281842e-02 9.17093643e-05 9.99604320e-01 -4.74321966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.92264000000002 meters 0.014743210908122795 Centerline is valid? [True, True] Translation: X:111.69, Y:-14.99, Z:-4.74 [[ 9.81121093e-01 1.91414373e-01 2.76032468e-02 1.11687474e+02] [-1.91335370e-01 9.81509309e-01 -5.50015072e-03 -1.49887726e+01] [-2.81456516e-02 1.14836446e-04 9.99603826e-01 -4.74176588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95264 meters 0.015204446752392159 Centerline is valid? [True, True] Translation: X:111.71, Y:-14.99, Z:-4.74 [[ 9.81207005e-01 1.90937235e-01 2.78529123e-02 1.11714879e+02] [-1.90856640e-01 9.81602239e-01 -5.54865250e-03 -1.49949826e+01] [-2.83999254e-02 1.28463465e-04 9.99596633e-01 -4.74408981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98264 meters 0.015131736632907518 Centerline is valid? [True, True] Translation: X:111.74, Y:-15.00, Z:-4.74 [[ 9.81363766e-01 1.90147552e-01 2.77320651e-02 1.11743227e+02] [-1.90067394e-01 9.81755513e-01 -5.52263407e-03 -1.50024981e+01] [-2.82762232e-02 1.48751630e-04 9.99600137e-01 -4.74495771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.01264 meters 0.015259215368600388 Centerline is valid? [True, True] Translation: X:111.77, Y:-15.01, Z:-4.75 [[ 9.81492941e-01 1.89504943e-01 2.75587353e-02 1.11770629e+02] [-1.89425569e-01 9.81879753e-01 -5.48674362e-03 -1.50100480e+01] [-2.80991293e-02 1.64871011e-04 9.99605128e-01 -4.74656732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04264 meters 0.022968167724699704 Centerline is valid? [True, True] Translation: X:111.80, Y:-15.02, Z:-4.75 [[ 9.81659097e-01 1.88695254e-01 2.71940814e-02 1.11798642e+02] [-1.88617694e-01 9.82035675e-01 -5.41278554e-03 -1.50171227e+01] [-2.77269250e-02 1.84225238e-04 9.99615518e-01 -4.75050981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.07264 meters 0.016154623346909047 Centerline is valid? [True, True] Translation: X:111.82, Y:-15.03, Z:-4.75 [[ 9.81836912e-01 1.87680774e-01 2.77885680e-02 1.11824625e+02] [-1.87599416e-01 9.82230055e-01 -5.52983038e-03 -1.50278098e+01] [-2.83326095e-02 2.16272473e-04 9.99598528e-01 -4.74963440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10264000000001 meters 0.022525135826640206 Centerline is valid? [True, True] Translation: X:111.85, Y:-15.04, Z:-4.75 [[ 9.81938761e-01 1.87189926e-01 2.74991249e-02 1.11850929e+02] [-1.87110110e-01 9.82323715e-01 -5.47049593e-03 -1.50359856e+01] [-2.80370643e-02 2.26327699e-04 9.99606859e-01 -4.75493247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.13264000000001 meters 0.017811083638564908 Centerline is valid? [True, True] Translation: X:111.88, Y:-15.04, Z:-4.76 [[ 9.82029788e-01 1.86762509e-01 2.71525428e-02 1.11877846e+02] [-1.86684575e-01 9.82405064e-01 -5.39989911e-03 -1.50443956e+01] [-2.76832943e-02 2.33900877e-04 9.99616717e-01 -4.75557820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16264000000001 meters 0.022094663520212172 Centerline is valid? [True, True] Translation: X:111.91, Y:-15.05, Z:-4.76 [[ 9.82091563e-01 1.86516650e-01 2.66026621e-02 1.11906624e+02] [-1.86441804e-01 9.82451772e-01 -5.28858801e-03 -1.50498683e+01] [-2.71222423e-02 2.34029348e-04 9.99632097e-01 -4.75642721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.19264000000001 meters 0.026024185136857333 Centerline is valid? [True, True] Translation: X:111.93, Y:-15.06, Z:-4.76 [[ 9.81835275e-01 1.87772857e-01 2.72185024e-02 1.11933406e+02] [-1.87695022e-01 9.82212458e-01 -5.40976902e-03 -1.50573324e+01] [-2.77501599e-02 2.02724636e-04 9.99614870e-01 -4.75817788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22264000000001 meters 0.016241710589473865 Centerline is valid? [True, True] Translation: X:111.96, Y:-15.07, Z:-4.76 [[ 9.81626819e-01 1.88784857e-01 2.77320296e-02 1.11960690e+02] [-1.88704518e-01 9.82018456e-01 -5.50980616e-03 -1.50653033e+01] [-2.82735328e-02 1.75414231e-04 9.99600208e-01 -4.75933526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.25264000000001 meters 0.0213454596882295 Centerline is valid? [True, True] Translation: X:111.99, Y:-15.07, Z:-4.76 [[ 9.81381446e-01 1.90093360e-01 2.74767443e-02 1.11989372e+02] [-1.90015051e-01 9.81766009e-01 -5.45750685e-03 -1.50709036e+01] [-2.80131694e-02 1.34900999e-04 9.99607545e-01 -4.76218215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28264000000001 meters 0.014339220103077506 Centerline is valid? [True, True] Translation: X:112.02, Y:-15.08, Z:-4.76 [[ 9.80919291e-01 1.92312095e-01 2.85202192e-02 1.12017934e+02] [-1.92228687e-01 9.81333813e-01 -5.66385063e-03 -1.50766923e+01] [-2.90770824e-02 7.33760663e-05 9.99577170e-01 -4.75961161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.31264 meters 0.013809299493573467 Centerline is valid? [True, True] Translation: X:112.05, Y:-15.08, Z:-4.76 [[ 9.80769133e-01 1.92984152e-01 2.91380123e-02 1.12045740e+02] [-1.92897431e-01 9.81201872e-01 -5.78508159e-03 -1.50826706e+01] [-2.97067013e-02 5.31817586e-05 9.99558657e-01 -4.75914188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34264 meters 0.013572789884555084 Centerline is valid? [True, True] Translation: X:112.07, Y:-15.09, Z:-4.76 [[ 9.80658619e-01 1.93530066e-01 2.92367220e-02 1.12073496e+02] [-1.93443041e-01 9.81094344e-01 -5.80322846e-03 -1.50897658e+01] [-2.98070818e-02 3.53456014e-05 9.99555670e-01 -4.76010796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.37264 meters 0.02002973076888179 Centerline is valid? [True, True] Translation: X:112.10, Y:-15.10, Z:-4.76 [[ 9.80537243e-01 1.94278020e-01 2.83331194e-02 1.12100650e+02] [-1.94196644e-01 9.80946508e-01 -5.62250530e-03 -1.50986405e+01] [-2.88856037e-02 1.08791416e-05 9.99582724e-01 -4.76457396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40264 meters 0.023405650135796364 Centerline is valid? [True, True] Translation: X:112.13, Y:-15.11, Z:-4.77 [[ 9.80498487e-01 1.94552010e-01 2.77890806e-02 1.12128985e+02] [-1.94473878e-01 9.80892204e-01 -5.51319475e-03 -1.51057223e+01] [-2.83306957e-02 1.42881968e-06 9.99598605e-01 -4.76651204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.43264 meters 0.01664596675502054 Centerline is valid? [True, True] Translation: X:112.16, Y:-15.11, Z:-4.77 [[ 9.80389943e-01 1.95169925e-01 2.72811214e-02 1.12155980e+02] [-1.95094896e-01 9.80769443e-01 -5.41126173e-03 -1.51114844e+01] [-2.78126057e-02 -1.72609418e-05 9.99613155e-01 -4.76855701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46264000000001 meters 0.014097208982926546 Centerline is valid? [True, True] Translation: X:112.18, Y:-15.12, Z:-4.77 [[ 9.79946544e-01 1.97257356e-01 2.81834565e-02 1.12183995e+02] [-1.97178201e-01 9.80351737e-01 -5.58819259e-03 -1.51174021e+01] [-2.87320127e-02 -8.10332399e-05 9.99587147e-01 -4.76705107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.49264000000001 meters 0.014571003975288025 Centerline is valid? [True, True] Translation: X:112.21, Y:-15.12, Z:-4.77 [[ 9.79624855e-01 1.98809240e-01 2.84610192e-02 1.12211408e+02] [-1.98729211e-01 9.80038198e-01 -5.64191970e-03 -1.51222269e+01] [-2.90145518e-02 -1.29071144e-04 9.99578981e-01 -4.76802603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52264000000001 meters 0.015304239748127217 Centerline is valid? [True, True] Translation: X:112.24, Y:-15.13, Z:-4.77 [[ 9.79287349e-01 2.00464807e-01 2.84631242e-02 1.12240254e+02] [-2.00385524e-01 9.79700887e-01 -5.64031946e-03 -1.51265840e+01] [-2.90160336e-02 -1.80104562e-04 9.99578930e-01 -4.76895350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.55264000000001 meters 0.026371516487972424 Centerline is valid? [True, True] Translation: X:112.27, Y:-15.13, Z:-4.77 [[ 9.78887621e-01 2.02468212e-01 2.80294142e-02 1.12269234e+02] [-2.02392187e-01 9.79288807e-01 -5.55298129e-03 -1.51295194e+01] [-2.85731938e-02 -2.37189804e-04 9.99591675e-01 -4.77222789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58264000000001 meters 0.020607427944659362 Centerline is valid? [True, True] Translation: X:112.30, Y:-15.13, Z:-4.77 [[ 9.77920927e-01 2.06839615e-01 2.97998917e-02 1.12297946e+02] [-2.06755754e-01 9.78374786e-01 -5.90223138e-03 -1.51275427e+01] [-3.03762779e-02 -3.89383489e-04 9.99538459e-01 -4.77145369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.61264000000001 meters 0.03279750735385118 Centerline is valid? [True, True] Translation: X:112.33, Y:-15.13, Z:-4.77 [[ 9.77475730e-01 2.08937579e-01 2.97705419e-02 1.12326341e+02] [-2.08854912e-01 9.77928873e-01 -5.89451220e-03 -1.51304932e+01] [-3.03450576e-02 -4.55981292e-04 9.99539379e-01 -4.77152100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.64264000000001 meters 0.022015223861791732 Centerline is valid? [True, True] Translation: X:112.36, Y:-15.13, Z:-4.77 [[ 9.77076722e-01 2.10612388e-01 3.10403120e-02 1.12355563e+02] [-2.10523434e-01 9.77569506e-01 -6.14368089e-03 -1.51340792e+01] [-3.16379978e-02 -5.31865484e-04 9.99499252e-01 -4.76951134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.67264000000002 meters 0.024964287142396163 Centerline is valid? [True, True] Translation: X:112.38, Y:-15.14, Z:-4.77 [[ 9.76713590e-01 2.12149027e-01 3.19899019e-02 1.12383766e+02] [-2.12055420e-01 9.77237141e-01 -6.33005338e-03 -1.51350991e+01] [-3.26046350e-02 -6.00982941e-04 9.99468147e-01 -4.77127051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70264 meters 0.03218654136968792 Centerline is valid? [True, True] Translation: X:112.41, Y:-15.14, Z:-4.77 [[ 9.76409485e-01 2.13590815e-01 3.16777775e-02 1.12412272e+02] [-2.13499853e-01 9.76923000e-01 -6.26615382e-03 -1.51406884e+01] [-3.22851424e-02 -6.44868823e-04 9.99478491e-01 -4.77315305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.73264 meters 0.025471674395447837 Centerline is valid? [True, True] Translation: X:112.44, Y:-15.14, Z:-4.77 [[ 9.76516573e-01 2.13113027e-01 3.15946395e-02 1.12439900e+02] [-2.13022340e-01 9.77027350e-01 -6.24823696e-03 -1.51448151e+01] [-3.22004076e-02 -6.28857092e-04 9.99481235e-01 -4.77421035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76264 meters 0.02383928438745378 Centerline is valid? [True, True] Translation: X:112.47, Y:-15.15, Z:-4.77 [[ 9.76689131e-01 2.12302617e-01 3.17165669e-02 1.12467963e+02] [-2.12210872e-01 9.77203782e-01 -6.27017969e-03 -1.51514140e+01] [-3.23247247e-02 -6.06583961e-04 9.99477235e-01 -4.77497276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.79264 meters 0.021734848884931504 Centerline is valid? [True, True] Translation: X:112.49, Y:-15.16, Z:-4.78 [[ 9.77302411e-01 2.09354699e-01 3.24130671e-02 1.12494835e+02] [-2.09257310e-01 9.77839628e-01 -6.40631058e-03 -1.51582955e+01] [-3.30359727e-02 -5.21768437e-04 9.99454027e-01 -4.77568410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82264 meters 0.019804091981068805 Centerline is valid? [True, True] Translation: X:112.52, Y:-15.17, Z:-4.78 [[ 9.77712689e-01 2.07441953e-01 3.23378084e-02 1.12522548e+02] [-2.07344040e-01 9.78247222e-01 -6.38925665e-03 -1.51670775e+01] [-3.29597710e-02 -4.58194535e-04 9.99456574e-01 -4.77660766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.85264000000001 meters 0.018099300389098773 Centerline is valid? [True, True] Translation: X:112.55, Y:-15.18, Z:-4.78 [[ 9.78120188e-01 2.05581414e-01 3.18932684e-02 1.12550851e+02] [-2.05485243e-01 9.78639938e-01 -6.29970433e-03 -1.51751369e+01] [-3.25071283e-02 -3.91728017e-04 9.99471427e-01 -4.77782764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88264000000001 meters 0.02044050319218578 Centerline is valid? [True, True] Translation: X:112.58, Y:-15.18, Z:-4.78 [[ 9.78747318e-01 2.02792263e-01 3.04792492e-02 1.12577929e+02] [-2.02703104e-01 9.79221740e-01 -6.01962622e-03 -1.51826945e+01] [-3.10666770e-02 -2.86545388e-04 9.99517273e-01 -4.78218151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.91264000000001 meters 0.015747837169100186 Centerline is valid? [True, True] Translation: X:112.61, Y:-15.19, Z:-4.78 [[ 9.78975297e-01 2.01647917e-01 3.07487545e-02 1.12606022e+02] [-2.01556676e-01 9.79458040e-01 -6.07070550e-03 -1.51900587e+01] [-3.13412599e-02 -2.54546024e-04 9.99508710e-01 -4.78241381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94264000000001 meters 0.015459267202582653 Centerline is valid? [True, True] Translation: X:112.63, Y:-15.20, Z:-4.78 [[ 9.79128559e-01 2.00916943e-01 3.06536537e-02 1.12634479e+02] [-2.00825957e-01 9.79608252e-01 -6.05035813e-03 -1.51967109e+01] [-3.12441916e-02 -2.31970889e-04 9.99511754e-01 -4.78406472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.97264000000001 meters 0.014853755315382154 Centerline is valid? [True, True] Translation: X:112.66, Y:-15.20, Z:-4.79 [[ 9.79374843e-01 1.99729253e-01 3.05473656e-02 1.12662790e+02] [-1.99638368e-01 9.79851105e-01 -6.02782277e-03 -1.52040052e+01] [-3.11358025e-02 -1.94928242e-04 9.99515144e-01 -4.78533086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.00264000000001 meters 0.014982918689729802 Centerline is valid? [True, True] Translation: X:112.69, Y:-15.21, Z:-4.79 [[ 9.79455255e-01 1.99410891e-01 3.00449608e-02 1.12689686e+02] [-1.99322860e-01 9.79915947e-01 -5.92742422e-03 -1.52092529e+01] [-3.06235292e-02 -1.83000718e-04 9.99530973e-01 -4.78770760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.03264000000001 meters 0.015309438177491202 Centerline is valid? [True, True] Translation: X:112.72, Y:-15.21, Z:-4.79 [[ 9.79547949e-01 1.99037943e-01 2.94908981e-02 1.12716973e+02] [-1.98953022e-01 9.79991770e-01 -5.81605147e-03 -1.52143070e+01] [-3.00584524e-02 -1.70202021e-04 9.99548128e-01 -4.79110237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.06264 meters 0.019606655105882387 Centerline is valid? [True, True] Translation: X:112.75, Y:-15.22, Z:-4.80 [[ 9.79702052e-01 1.98552964e-01 2.75791586e-02 1.12745023e+02] [-1.98478556e-01 9.80090148e-01 -5.43729052e-03 -1.52206728e+01] [-2.81096518e-02 -1.46946890e-04 9.99604835e-01 -4.79551893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09264 meters 0.014887768463234504 Centerline is valid? [True, True] Translation: X:112.77, Y:-15.23, Z:-4.80 [[ 9.79791654e-01 1.98013430e-01 2.82665082e-02 1.12773534e+02] [-1.97935084e-01 9.80199298e-01 -5.57130759e-03 -1.52275787e+01] [-2.88100053e-02 -1.36213005e-04 9.99584896e-01 -4.79524614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12264 meters 0.014740284920514185 Centerline is valid? [True, True] Translation: X:112.80, Y:-15.23, Z:-4.80 [[ 9.79946102e-01 1.97161101e-01 2.88641353e-02 1.12800450e+02] [-1.97079076e-01 9.80371097e-01 -5.68776499e-03 -1.52339277e+01] [-2.94189700e-02 -1.14813986e-04 9.99567162e-01 -4.79673691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.15264 meters 0.014740284920514185 Centerline is valid? [True, True] Translation: X:112.83, Y:-15.24, Z:-4.80 [[ 9.79955420e-01 1.97114723e-01 2.88645198e-02 1.12828239e+02] [-1.97032735e-01 9.80380423e-01 -5.68581262e-03 -1.52393089e+01] [-2.94189675e-02 -1.15412400e-04 9.99567162e-01 -4.79798663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18264 meters 0.014120196717672893 Centerline is valid? [True, True] Translation: X:112.86, Y:-15.25, Z:-4.80 [[ 9.80104187e-01 1.96281428e-01 2.94853127e-02 1.12856665e+02] [-1.96195548e-01 9.80547598e-01 -5.80644116e-03 -1.52470757e+01] [-3.00514491e-02 -9.39698095e-05 9.99548349e-01 -4.79749780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.21264000000001 meters 0.013877439241244047 Centerline is valid? [True, True] Translation: X:112.88, Y:-15.26, Z:-4.80 [[ 9.80186994e-01 1.95741589e-01 3.03098644e-02 1.12883599e+02] [-1.95650606e-01 9.80655507e-01 -5.96796232e-03 -1.52552709e+01] [-3.08917139e-02 -8.04243070e-05 9.99522734e-01 -4.79715599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24264000000001 meters 0.0136407635663536 Centerline is valid? [True, True] Translation: X:112.91, Y:-15.26, Z:-4.80 [[ 9.80117431e-01 1.96088965e-01 3.03140232e-02 1.12911902e+02] [-1.95998185e-01 9.80586105e-01 -5.96675640e-03 -1.52604905e+01] [-3.08955251e-02 -9.33715975e-05 9.99522615e-01 -4.79705877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.27264000000001 meters 0.015533693425387773 Centerline is valid? [True, True] Translation: X:112.94, Y:-15.26, Z:-4.80 [[ 9.79580990e-01 1.98847195e-01 2.96795594e-02 1.12939943e+02] [-1.98761480e-01 9.80030490e-01 -5.84058034e-03 -1.52614878e+01] [-3.02482561e-02 -1.77831686e-04 9.99542401e-01 -4.80112331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30264000000001 meters 0.01596330767285918 Centerline is valid? [True, True] Translation: X:112.97, Y:-15.27, Z:-4.80 [[ 9.79222276e-01 2.00606257e-01 2.96793366e-02 1.12968732e+02] [-2.00521413e-01 9.79671922e-01 -5.83850522e-03 -1.52661028e+01] [-3.02472534e-02 -2.34148122e-04 9.99542420e-01 -4.80113488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.33264000000001 meters 0.017746666711867747 Centerline is valid? [True, True] Translation: X:113.00, Y:-15.27, Z:-4.80 [[ 9.78796927e-01 2.02623460e-01 3.00051585e-02 1.12996394e+02] [-2.02537732e-01 9.79256679e-01 -5.90121421e-03 -1.52684080e+01] [-3.05784763e-02 -3.01086419e-04 9.99532324e-01 -4.80270071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36264000000001 meters 0.01977734049107681 Centerline is valid? [True, True] Translation: X:113.02, Y:-15.27, Z:-4.80 [[ 9.78346751e-01 2.04770986e-01 3.01077769e-02 1.13024439e+02] [-2.04685746e-01 9.78809841e-01 -5.91945393e-03 -1.52697035e+01] [-3.06819208e-02 -3.71354279e-04 9.99529130e-01 -4.80431639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.39264000000001 meters 0.03296281690795768 Centerline is valid? [True, True] Translation: X:113.05, Y:-15.27, Z:-4.81 [[ 9.77899862e-01 2.06977853e-01 2.95301111e-02 1.13053083e+02] [-2.06896917e-01 9.78345532e-01 -5.80394777e-03 -1.52710883e+01] [-3.00919409e-02 -4.34009218e-04 9.99547041e-01 -4.80750828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.42264000000002 meters 0.026217933784834214 Centerline is valid? [True, True] Translation: X:113.08, Y:-15.27, Z:-4.81 [[ 9.77061298e-01 2.10943199e-01 2.92264759e-02 1.13082854e+02] [-2.10865738e-01 9.77498165e-01 -5.74265865e-03 -1.52677833e+01] [-2.97802013e-02 -5.51932900e-04 9.99556319e-01 -4.80898224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45264 meters 0.030484440031260298 Centerline is valid? [True, True] Translation: X:113.11, Y:-15.27, Z:-4.81 [[ 9.76653531e-01 2.12917708e-01 2.85294557e-02 1.13111339e+02] [-2.12844765e-01 9.77069952e-01 -5.60485560e-03 -1.52704246e+01] [-2.90686470e-02 -5.98343299e-04 9.99577239e-01 -4.81187858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48264 meters 0.0298759075445161 Centerline is valid? [True, True] Translation: X:113.14, Y:-15.27, Z:-4.81 [[ 9.76291955e-01 2.14614666e-01 2.81879889e-02 1.13140399e+02] [-2.14544205e-01 9.76698588e-01 -5.53641521e-03 -1.52721030e+01] [-2.87193649e-02 -6.42412034e-04 9.99587308e-01 -4.81212108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.51264 meters 0.03247913632265151 Centerline is valid? [True, True] Translation: X:113.17, Y:-15.27, Z:-4.81 [[ 9.75647785e-01 2.17590140e-01 2.76754463e-02 1.13170099e+02] [-2.17523456e-01 9.76039966e-01 -5.43424678e-03 -1.52714599e+01] [-2.81947802e-02 -7.18147882e-04 9.99602190e-01 -4.81419572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54264 meters 0.03191944464909292 Centerline is valid? [True, True] Translation: X:113.20, Y:-15.28, Z:-4.81 [[ 9.75494179e-01 2.18311660e-01 2.74066854e-02 1.13197859e+02] [-2.18246566e-01 9.75878826e-01 -5.38089421e-03 -1.52770171e+01] [-2.79203159e-02 -7.32383990e-04 9.99609884e-01 -4.81491934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.57264 meters 0.04204732559129636 Centerline is valid? [True, True] Translation: X:113.23, Y:-15.28, Z:-4.82 [[ 9.75263718e-01 2.19364093e-01 2.72043290e-02 1.13226012e+02] [-2.19300412e-01 9.75642772e-01 -5.33945679e-03 -1.52762594e+01] [-2.77129921e-02 -7.58542099e-04 9.99615633e-01 -4.82006368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60264000000001 meters 0.0330915441833571 Centerline is valid? [True, True] Translation: X:113.25, Y:-15.28, Z:-4.82 [[ 9.75194178e-01 2.19563558e-01 2.80741780e-02 1.13254464e+02] [-2.19495881e-01 9.75597878e-01 -5.50811735e-03 -1.52828666e+01] [-2.85984903e-02 -7.90682456e-04 9.99590667e-01 -4.81614688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.63264000000001 meters 0.03329202882857115 Centerline is valid? [True, True] Translation: X:113.28, Y:-15.28, Z:-4.81 [[ 9.74958932e-01 2.20339688e-01 3.00915665e-02 1.13284360e+02] [-2.20262354e-01 9.75422810e-01 -5.90225510e-03 -1.52812328e+01] [-3.06525014e-02 -8.73582926e-04 9.99529720e-01 -4.81332040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66264000000001 meters 0.03426237861866765 Centerline is valid? [True, True] Translation: X:113.31, Y:-15.28, Z:-4.81 [[ 9.74960565e-01 2.20235770e-01 3.07912732e-02 1.13312341e+02] [-2.20154792e-01 9.75446262e-01 -6.03803711e-03 -1.52836101e+01] [-3.13650241e-02 -8.91998285e-04 9.99507599e-01 -4.81420337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.69264000000001 meters 0.03579840007810313 Centerline is valid? [True, True] Translation: X:113.34, Y:-15.29, Z:-4.82 [[ 9.75033643e-01 2.19863355e-01 3.11368152e-02 1.13340023e+02] [-2.19780422e-01 9.75530271e-01 -6.10378233e-03 -1.52863723e+01] [-3.17169039e-02 -8.91869277e-04 9.99496495e-01 -4.81593533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72264000000001 meters 0.03101110504029892 Centerline is valid? [True, True] Translation: X:113.37, Y:-15.29, Z:-4.82 [[ 9.75557159e-01 2.17600512e-01 3.06308232e-02 1.13368343e+02] [-2.17519206e-01 9.76037584e-01 -6.00241508e-03 -1.52940970e+01] [-3.12029633e-02 -8.07093362e-04 9.99512743e-01 -4.81556336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.75264000000001 meters 0.03005751900227729 Centerline is valid? [True, True] Translation: X:113.40, Y:-15.30, Z:-4.82 [[ 9.75869816e-01 2.16175571e-01 3.07607808e-02 1.13396431e+02] [-2.16092893e-01 9.76354206e-01 -6.02702318e-03 -1.52970831e+01] [-3.13363129e-02 -7.65596120e-04 9.99508604e-01 -4.81712389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.78264000000001 meters 0.032739061542460715 Centerline is valid? [True, True] Translation: X:113.42, Y:-15.30, Z:-4.82 [[ 9.76229690e-01 2.14570528e-01 3.05790974e-02 1.13424682e+02] [-2.14488102e-01 9.76708238e-01 -5.98935481e-03 -1.53029284e+01] [-3.11519953e-02 -7.11866553e-04 9.99514405e-01 -4.81984774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.81264 meters 0.023952301596092837 Centerline is valid? [True, True] Translation: X:113.45, Y:-15.31, Z:-4.82 [[ 9.77490399e-01 2.08665806e-01 3.11624949e-02 1.13452715e+02] [-2.08577263e-01 9.77986858e-01 -6.10168556e-03 -1.53110217e+01] [-3.17497236e-02 -5.35448853e-04 9.99495707e-01 -4.82032061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84264 meters 0.023413736676971563 Centerline is valid? [True, True] Translation: X:113.48, Y:-15.32, Z:-4.83 [[ 9.78144214e-01 2.05673514e-01 3.05336176e-02 1.13480488e+02] [-2.05587065e-01 9.78620570e-01 -5.97810130e-03 -1.53160199e+01] [-3.11103634e-02 -4.29871629e-04 9.99515863e-01 -4.82511921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.87264 meters 0.018240150681774803 Centerline is valid? [True, True] Translation: X:113.51, Y:-15.33, Z:-4.82 [[ 9.78848500e-01 2.02443276e-01 2.95353139e-02 1.13508079e+02] [-2.02360964e-01 9.79293939e-01 -5.78112100e-03 -1.53277007e+01] [-3.00941030e-02 -3.17952981e-04 9.99547019e-01 -4.82481009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90264 meters 0.01482852863797897 Centerline is valid? [True, True] Translation: X:113.53, Y:-15.34, Z:-4.83 [[ 9.79988981e-01 1.96896889e-01 2.92098028e-02 1.13534889e+02] [-1.96813943e-01 9.80424191e-01 -5.71649965e-03 -1.53387100e+01] [-2.97635583e-02 -1.46789782e-04 9.99556956e-01 -4.82583198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.93264 meters 0.014149137272052867 Centerline is valid? [True, True] Translation: X:113.56, Y:-15.35, Z:-4.83 [[ 9.80347240e-01 1.95082043e-01 2.93647097e-02 1.13562716e+02] [-1.94997445e-01 9.80786923e-01 -5.74531162e-03 -1.53456344e+01] [-2.99213304e-02 -9.36429873e-05 9.99552252e-01 -4.82637185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96264000000001 meters 0.021543752231343912 Centerline is valid? [True, True] Translation: X:113.59, Y:-15.35, Z:-4.83 [[ 9.80816894e-01 1.92805340e-01 2.87110020e-02 1.13590660e+02] [-1.92723533e-01 9.81237026e-01 -5.61601584e-03 -1.53519832e+01] [-2.92550960e-02 -2.50025168e-05 9.99571978e-01 -4.82884794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.99264000000001 meters 0.01839444807490696 Centerline is valid? [True, True] Translation: X:113.62, Y:-15.36, Z:-4.83 [[ 9.81019528e-01 1.91772499e-01 2.87052925e-02 1.13618260e+02] [-1.91690320e-01 9.81439406e-01 -5.61361369e-03 -1.53578211e+01] [-2.92490419e-02 4.53794508e-06 9.99572155e-01 -4.83089779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02264000000001 meters 0.014223573280125865 Centerline is valid? [True, True] Translation: X:113.65, Y:-15.36, Z:-4.83 [[ 9.81231107e-01 1.90666789e-01 2.88390511e-02 1.13645102e+02] [-1.90583410e-01 9.81654814e-01 -5.63824242e-03 -1.53633993e+01] [-2.93850189e-02 3.61741646e-05 9.99568166e-01 -4.83100623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.05264000000001 meters 0.014195261183721808 Centerline is valid? [True, True] Translation: X:113.67, Y:-15.37, Z:-4.83 [[ 9.81365023e-01 1.89960672e-01 2.89419192e-02 1.13673106e+02] [-1.89876468e-01 9.81791699e-01 -5.65570080e-03 -1.53681268e+01] [-2.94892968e-02 5.49175454e-05 9.99565095e-01 -4.83155174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08264000000001 meters 0.014108666145484663 Centerline is valid? [True, True] Translation: X:113.70, Y:-15.37, Z:-4.83 [[ 9.81608332e-01 1.88725614e-01 2.87702085e-02 1.13701387e+02] [-1.88641947e-01 9.82029854e-01 -5.61972971e-03 -1.53723911e+01] [-2.93137906e-02 8.91053607e-05 9.99570255e-01 -4.83172204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.11264000000001 meters 0.014776037360439025 Centerline is valid? [True, True] Translation: X:113.73, Y:-15.38, Z:-4.83 [[ 9.81728136e-01 1.88111866e-01 2.87017786e-02 1.13728765e+02] [-1.88028369e-01 9.82147603e-01 -5.60517485e-03 -1.53792249e+01] [-2.92437830e-02 1.06009235e-04 9.99572303e-01 -4.83482797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.14264000000001 meters 0.015112581792250663 Centerline is valid? [True, True] Translation: X:113.76, Y:-15.39, Z:-4.84 [[ 9.81864569e-01 1.87469348e-01 2.82349201e-02 1.13756439e+02] [-1.87388342e-01 9.82270446e-01 -5.51183259e-03 -1.53856067e+01] [-2.87676273e-02 1.20978252e-04 9.99586119e-01 -4.83683539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.17264000000002 meters 0.014864458119762244 Centerline is valid? [True, True] Translation: X:113.78, Y:-15.39, Z:-4.84 [[ 9.81932774e-01 1.87214751e-01 2.75438778e-02 1.13784622e+02] [-1.87137597e-01 9.82319002e-01 -5.37567873e-03 -1.53906307e+01] [-2.80632809e-02 1.24060011e-04 9.99606141e-01 -4.83693860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20264 meters 0.01530829366909243 Centerline is valid? [True, True] Translation: X:113.81, Y:-15.39, Z:-4.84 [[ 9.81937896e-01 1.87359118e-01 2.63539361e-02 1.13811969e+02] [-1.87288567e-01 9.82291478e-01 -5.14241576e-03 -1.53943591e+01] [-2.68507253e-02 1.13741978e-04 9.99639448e-01 -4.84027719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.23264 meters 0.022684335933070246 Centerline is valid? [True, True] Translation: X:113.84, Y:-15.40, Z:-4.84 [[ 9.81827919e-01 1.87936943e-01 2.63371093e-02 1.13838107e+02] [-1.87866723e-01 9.82181091e-01 -5.13790257e-03 -1.53983021e+01] [-2.68334125e-02 9.66697698e-05 9.99639914e-01 -4.84409963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26264 meters 0.015061409724782654 Centerline is valid? [True, True] Translation: X:113.87, Y:-15.40, Z:-4.84 [[ 9.81823989e-01 1.88008576e-01 2.59697762e-02 1.13866597e+02] [-1.87940402e-01 9.82167382e-01 -5.06338835e-03 -1.54038376e+01] [-2.64586275e-02 9.05859632e-05 9.99649905e-01 -4.84303829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.29264 meters 0.014994249286855986 Centerline is valid? [True, True] Translation: X:113.89, Y:-15.41, Z:-4.84 [[ 9.81833887e-01 1.87962819e-01 2.59267575e-02 1.13893621e+02] [-1.87894879e-01 9.82176140e-01 -5.05413633e-03 -1.54096689e+01] [-2.64146324e-02 9.08173591e-05 9.99651069e-01 -4.84383079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32264 meters 0.01893619958055453 Centerline is valid? [True, True] Translation: X:113.92, Y:-15.41, Z:-4.84 [[ 9.81688125e-01 1.88574841e-01 2.69806157e-02 1.13920813e+02] [-1.88501561e-01 9.82058819e-01 -5.25716236e-03 -1.54142034e+01] [-2.74879201e-02 7.50056798e-05 9.99622133e-01 -4.84492373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.35264000000001 meters 0.014840839934206344 Centerline is valid? [True, True] Translation: X:113.95, Y:-15.42, Z:-4.85 [[ 9.81614355e-01 1.88951573e-01 2.70288790e-02 1.13947381e+02] [-1.88878210e-01 9.81986405e-01 -5.26524836e-03 -1.54179519e+01] [-2.75368686e-02 6.32771018e-05 9.99620787e-01 -4.84571578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38264000000001 meters 0.014599997203100986 Centerline is valid? [True, True] Translation: X:113.98, Y:-15.42, Z:-4.85 [[ 9.81424232e-01 1.90083431e-01 2.59762586e-02 1.13975819e+02] [-1.90016141e-01 9.81767940e-01 -5.05742576e-03 -1.54212371e+01] [-2.64639907e-02 2.75717781e-05 9.99649767e-01 -4.84615126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.41264000000001 meters 0.014921893709275668 Centerline is valid? [True, True] Translation: X:114.00, Y:-15.43, Z:-4.85 [[ 9.81237194e-01 1.91011590e-01 2.62324609e-02 1.14002680e+02] [-1.90943329e-01 9.81587781e-01 -5.10616646e-03 -1.54262580e+01] [-2.67248001e-02 1.44705316e-06 9.99642829e-01 -4.84872854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44264000000001 meters 0.014845173285314144 Centerline is valid? [True, True] Translation: X:114.03, Y:-15.43, Z:-4.85 [[ 9.81041269e-01 1.92022008e-01 2.61835423e-02 1.14029890e+02] [-1.91954400e-01 9.81390619e-01 -5.09517494e-03 -1.54305790e+01] [-2.66746686e-02 -2.74692635e-05 9.99644167e-01 -4.84921269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.47264000000001 meters 0.014928544001219518 Centerline is valid? [True, True] Translation: X:114.06, Y:-15.43, Z:-4.85 [[ 9.80789271e-01 1.93324665e-01 2.60380420e-02 1.14058955e+02] [-1.93258327e-01 9.81134838e-01 -5.06452400e-03 -1.54338875e+01] [-2.65259275e-02 -6.48376353e-05 9.99648124e-01 -4.84968793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.50264000000001 meters 0.015971691126537062 Centerline is valid? [True, True] Translation: X:114.09, Y:-15.43, Z:-4.85 [[ 9.80220904e-01 1.96260812e-01 2.54690481e-02 1.14088094e+02] [-1.96198365e-01 9.80551719e-01 -4.95261913e-03 -1.54345014e+01] [-2.59457240e-02 -1.42324796e-04 9.99663343e-01 -4.85108395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.53264000000001 meters 0.017419593134530027 Centerline is valid? [True, True] Translation: X:114.12, Y:-15.44, Z:-4.85 [[ 9.79946622e-01 1.97623235e-01 2.54887122e-02 1.14115516e+02] [-1.97561179e-01 9.80278034e-01 -4.95535824e-03 -1.54369894e+01] [-2.59653187e-02 -1.79593480e-04 9.99662828e-01 -4.85490371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.56264 meters 0.027948739131207326 Centerline is valid? [True, True] Translation: X:114.14, Y:-15.44, Z:-4.86 [[ 9.79606231e-01 1.99228032e-01 2.60734088e-02 1.14144195e+02] [-1.99163716e-01 9.79953131e-01 -5.06709187e-03 -1.54408545e+01] [-2.65602253e-02 -2.29122226e-04 9.99647189e-01 -4.85584434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59264 meters 0.019238434146045306 Centerline is valid? [True, True] Translation: X:114.17, Y:-15.44, Z:-4.85 [[ 9.79029300e-01 2.01965784e-01 2.66730639e-02 1.14173665e+02] [-2.01899528e-01 9.79392529e-01 -5.18222145e-03 -1.54414796e+01] [-2.71700309e-02 -3.11732379e-04 9.99630778e-01 -4.85279284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62264 meters 0.019695247312954096 Centerline is valid? [True, True] Translation: X:114.20, Y:-15.44, Z:-4.85 [[ 9.78786713e-01 2.03101846e-01 2.69483095e-02 1.14202455e+02] [-2.03034684e-01 9.79157556e-01 -5.23430972e-03 -1.54447838e+01] [-2.74497388e-02 -3.48168705e-04 9.99623124e-01 -4.85267975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.65264 meters 0.021224748860754445 Centerline is valid? [True, True] Translation: X:114.23, Y:-15.45, Z:-4.85 [[ 9.78558945e-01 2.04164673e-01 2.71878177e-02 1.14230627e+02] [-2.04096756e-01 9.78936484e-01 -5.27959945e-03 -1.54465403e+01] [-2.76930544e-02 -3.82546124e-04 9.99616401e-01 -4.85467514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68264 meters 0.023603926952631155 Centerline is valid? [True, True] Translation: X:114.26, Y:-15.45, Z:-4.86 [[ 9.78370298e-01 2.05159223e-01 2.64811861e-02 1.14258943e+02] [-2.05095200e-01 9.78728528e-01 -5.14072033e-03 -1.54473283e+01] [-2.69725584e-02 -4.01636058e-04 9.99636094e-01 -4.85874197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.71264000000001 meters 0.02260564791585789 Centerline is valid? [True, True] Translation: X:114.29, Y:-15.45, Z:-4.86 [[ 9.78399727e-01 2.05064204e-01 2.61274903e-02 1.14287503e+02] [-2.05001895e-01 9.78748444e-01 -5.07022740e-03 -1.54536879e+01] [-2.66119626e-02 -3.95475904e-04 9.99645761e-01 -4.85975769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74264000000001 meters 0.021859662681849266 Centerline is valid? [True, True] Translation: X:114.32, Y:-15.46, Z:-4.86 [[ 9.78512166e-01 2.04557398e-01 2.58884427e-02 1.14315596e+02] [-2.04496080e-01 9.78854497e-01 -5.02257144e-03 -1.54602574e+01] [-2.63684227e-02 -3.79437779e-04 9.99652221e-01 -4.86119971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.77264000000001 meters 0.020790558365840622 Centerline is valid? [True, True] Translation: X:114.34, Y:-15.47, Z:-4.86 [[ 9.78672741e-01 2.03738851e-01 2.62706380e-02 1.14343669e+02] [-2.03675450e-01 9.79025203e-01 -5.09536635e-03 -1.54673093e+01] [-2.67577408e-02 -3.63987867e-04 9.99641881e-01 -4.86099079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80264000000001 meters 0.02895990141035939 Centerline is valid? [True, True] Translation: X:114.37, Y:-15.47, Z:-4.87 [[ 9.78687168e-01 2.03471569e-01 2.77623370e-02 1.14371497e+02] [-2.03400694e-01 9.79080782e-01 -5.38332642e-03 -1.54698647e+01] [-2.82769245e-02 -3.78286113e-04 9.99600056e-01 -4.86543628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.83264000000001 meters 0.02745437132557593 Centerline is valid? [True, True] Translation: X:114.40, Y:-15.48, Z:-4.86 [[ 9.78695689e-01 2.03348463e-01 2.83575472e-02 1.14399677e+02] [-2.03274524e-01 9.79106355e-01 -5.49666948e-03 -1.54769587e+01] [-2.88827940e-02 -3.84800193e-04 9.99582731e-01 -4.86300723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86264000000001 meters 0.020891754924683877 Centerline is valid? [True, True] Translation: X:114.43, Y:-15.48, Z:-4.86 [[ 9.78705414e-01 2.03360093e-01 2.79353865e-02 1.14427050e+02] [-2.03288378e-01 9.79103941e-01 -5.41364728e-03 -1.54807322e+01] [-2.84525668e-02 -3.80573488e-04 9.99595071e-01 -4.86315706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.89264000000001 meters 0.021034940791250453 Centerline is valid? [True, True] Translation: X:114.46, Y:-15.49, Z:-4.87 [[ 9.78780712e-01 2.03077854e-01 2.73441592e-02 1.14455402e+02] [-2.03009086e-01 9.79162525e-01 -5.29719821e-03 -1.54852282e+01] [-2.78501196e-02 -3.66317311e-04 9.99612043e-01 -4.86577819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92264000000002 meters 0.020750772234353117 Centerline is valid? [True, True] Translation: X:114.48, Y:-15.49, Z:-4.87 [[ 9.78832047e-01 2.02847487e-01 2.72162002e-02 1.14483182e+02] [-2.02779298e-01 9.79210278e-01 -5.27147087e-03 -1.54900619e+01] [-2.77196876e-02 -3.58997344e-04 9.99615671e-01 -4.86720191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95264 meters 0.02641552477596581 Centerline is valid? [True, True] Translation: X:114.51, Y:-15.49, Z:-4.87 [[ 9.78929976e-01 2.02268449e-01 2.79924323e-02 1.14510828e+02] [-2.02196146e-01 9.79330051e-01 -5.41941942e-03 -1.54943463e+01] [-2.85100077e-02 -3.54729795e-04 9.99593444e-01 -4.86997091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98264 meters 0.0210715243570505 Centerline is valid? [True, True] Translation: X:114.54, Y:-15.50, Z:-4.87 [[ 9.78933606e-01 2.02298079e-01 2.76492825e-02 1.14538763e+02] [-2.02227584e-01 9.79323932e-01 -5.35176901e-03 -1.54983278e+01] [-2.81602566e-02 -3.52421050e-04 9.99603359e-01 -4.87079803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.01264 meters 0.021012012501586817 Centerline is valid? [True, True] Translation: X:114.57, Y:-15.50, Z:-4.87 [[ 9.78943583e-01 2.02257284e-01 2.75944166e-02 1.14566375e+02] [-2.02187132e-01 9.79332357e-01 -5.33830609e-03 -1.55034901e+01] [-2.81038164e-02 -3.53335456e-04 9.99604947e-01 -4.87175449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04264 meters 0.021012012501586817 Centerline is valid? [True, True] Translation: X:114.59, Y:-15.51, Z:-4.87 [[ 9.78957806e-01 2.02188382e-01 2.75947937e-02 1.14593369e+02] [-2.02118257e-01 9.79346585e-01 -5.33635579e-03 -1.55085706e+01] [-2.81038162e-02 -3.53344456e-04 9.99604947e-01 -4.87296747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.07264 meters 0.02123595856034397 Centerline is valid? [True, True] Translation: X:114.62, Y:-15.51, Z:-4.87 [[ 9.78858584e-01 2.02643530e-01 2.77753830e-02 1.14621628e+02] [-2.02572736e-01 9.79252502e-01 -5.36885939e-03 -1.55141601e+01] [-2.82870779e-02 -3.71181227e-04 9.99599772e-01 -4.87341764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10264000000001 meters 0.021447598634481913 Centerline is valid? [True, True] Translation: X:114.65, Y:-15.52, Z:-4.87 [[ 9.78773883e-01 2.03102239e-01 2.74074054e-02 1.14650288e+02] [-2.03033525e-01 9.79157462e-01 -5.29642651e-03 -1.55182428e+01] [-2.79118816e-02 -3.80618186e-04 9.99610315e-01 -4.87423673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.13264000000001 meters 0.022246476550906332 Centerline is valid? [True, True] Translation: X:114.68, Y:-15.52, Z:-4.88 [[ 9.78672807e-01 2.03625199e-01 2.71351213e-02 1.14678042e+02] [-2.03558076e-01 9.79048836e-01 -5.24267233e-03 -1.55207466e+01] [-2.76341491e-02 -3.92712226e-04 9.99618027e-01 -4.87619138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16264000000001 meters 0.02213386968767786 Centerline is valid? [True, True] Translation: X:114.71, Y:-15.52, Z:-4.88 [[ 9.78512241e-01 2.04321773e-01 2.76840780e-02 1.14707268e+02] [-2.04252240e-01 9.78903690e-01 -5.34678810e-03 -1.55234403e+01] [-2.81925113e-02 -4.22637327e-04 9.99602423e-01 -4.87644082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.19264000000001 meters 0.02857543153258479 Centerline is valid? [True, True] Translation: X:114.74, Y:-15.53, Z:-4.88 [[ 9.78523389e-01 2.04164297e-01 2.84414503e-02 1.14736076e+02] [-2.04090883e-01 9.78936542e-01 -5.49157351e-03 -1.55281662e+01] [-2.89635583e-02 -4.31007581e-04 9.99580375e-01 -4.87931693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22264000000001 meters 0.021521304607000073 Centerline is valid? [True, True] Translation: X:114.76, Y:-15.53, Z:-4.88 [[ 9.78564894e-01 2.03978780e-01 2.83444241e-02 1.14764008e+02] [-2.03905818e-01 9.78975218e-01 -5.47180142e-03 -1.55335853e+01] [-2.88646201e-02 -4.25080206e-04 9.99583240e-01 -4.87819668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.25264000000001 meters 0.020940514560711825 Centerline is valid? [True, True] Translation: X:114.79, Y:-15.54, Z:-4.88 [[ 9.78867282e-01 2.02472453e-01 2.87010301e-02 1.14790874e+02] [-2.02397068e-01 9.79287882e-01 -5.53821481e-03 -1.55404566e+01] [-2.92279069e-02 -3.87827049e-04 9.99572698e-01 -4.88054014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.28264000000001 meters 0.01981362146532098 Centerline is valid? [True, True] Translation: X:114.82, Y:-15.55, Z:-4.88 [[ 9.79048009e-01 2.01588428e-01 2.87593688e-02 1.14819249e+02] [-2.01512413e-01 9.79470251e-01 -5.54745272e-03 -1.55475903e+01] [-2.92872484e-02 -3.64147252e-04 9.99570970e-01 -4.88096206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.31264000000002 meters 0.020565294525289057 Centerline is valid? [True, True] Translation: X:114.85, Y:-15.55, Z:-4.88 [[ 9.79253709e-01 2.00658156e-01 2.82573432e-02 1.14847614e+02] [-2.00584424e-01 9.79661265e-01 -5.44924963e-03 -1.55541411e+01] [-2.87760610e-02 -3.31785017e-04 9.99585828e-01 -4.88326618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34264 meters 0.019030684584941632 Centerline is valid? [True, True] Translation: X:114.87, Y:-15.56, Z:-4.89 [[ 9.79456291e-01 1.99741382e-01 2.77264223e-02 1.14874042e+02] [-1.99670051e-01 9.79848606e-01 -5.34607036e-03 -1.55582507e+01] [-2.82355277e-02 -2.99893907e-04 9.99601253e-01 -4.88603836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.37264 meters 0.016632252271897918 Centerline is valid? [True, True] Translation: X:114.90, Y:-15.57, Z:-4.89 [[ 9.79864529e-01 1.97653114e-01 2.82621863e-02 1.14902147e+02] [-1.97578221e-01 9.80271996e-01 -5.44622010e-03 -1.55670097e+01] [-2.87810921e-02 -2.47434589e-04 9.99585708e-01 -4.88506931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40264 meters 0.03293482044907171 Centerline is valid? [True, True] Translation: X:114.93, Y:-15.57, Z:-4.89 [[ 9.80048938e-01 1.96604083e-01 2.91704082e-02 1.14930179e+02] [-1.96523880e-01 9.80482934e-01 -5.61966461e-03 -1.55737010e+01] [-2.97059364e-02 -2.25135482e-04 9.99558656e-01 -4.88730321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.43264 meters 0.017922733960076206 Centerline is valid? [True, True] Translation: X:114.96, Y:-15.58, Z:-4.89 [[ 9.80250901e-01 1.95644186e-01 2.88361609e-02 1.14956553e+02] [-1.95565422e-01 9.80674928e-01 -5.55436876e-03 -1.55797844e+01] [-2.93655800e-02 -1.94681002e-04 9.99568719e-01 -4.88901094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46264000000001 meters 0.015076729679913994 Centerline is valid? [True, True] Translation: X:114.98, Y:-15.59, Z:-4.89 [[ 9.80582594e-01 1.94106026e-01 2.79397006e-02 1.14984954e+02] [-1.94031545e-01 9.80980545e-01 -5.37871066e-03 -1.55864897e+01] [-2.84523429e-02 -1.46913207e-04 9.99595139e-01 -4.88997754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.49264000000001 meters 0.014986031274139062 Centerline is valid? [True, True] Translation: X:115.01, Y:-15.59, Z:-4.89 [[ 9.80648100e-01 1.93683449e-01 2.85661471e-02 1.15012549e+02] [-1.93605437e-01 9.81064066e-01 -5.49840001e-03 -1.55920297e+01] [-2.90901695e-02 -1.38565868e-04 9.99576782e-01 -4.89103982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52264000000001 meters 0.014411476856084097 Centerline is valid? [True, True] Translation: X:115.04, Y:-15.60, Z:-4.89 [[ 9.80742630e-01 1.93045221e-01 2.96215695e-02 1.15041052e+02] [-1.92961147e-01 9.81189852e-01 -5.69816211e-03 -1.55988206e+01] [-3.01643864e-02 -1.27381539e-04 9.99544943e-01 -4.89128003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.55264000000001 meters 0.013626679633565291 Centerline is valid? [True, True] Translation: X:115.07, Y:-15.61, Z:-4.89 [[ 9.80814679e-01 1.92548513e-01 3.04570980e-02 1.15069397e+02] [-1.92459438e-01 9.81287448e-01 -5.85734851e-03 -1.56061444e+01] [-3.10149917e-02 -1.16782543e-04 9.99518913e-01 -4.88972606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58264000000001 meters 0.013695392802579424 Centerline is valid? [True, True] Translation: X:115.10, Y:-15.61, Z:-4.89 [[ 9.80887393e-01 1.92174597e-01 3.04769695e-02 1.15095871e+02] [-1.92085258e-01 9.81360746e-01 -5.86009238e-03 -1.56094298e+01] [-3.10350624e-02 -1.06085823e-04 9.99518291e-01 -4.89112892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.61264000000001 meters 0.013525861820248404 Centerline is valid? [True, True] Translation: X:115.12, Y:-15.61, Z:-4.89 [[ 9.80939867e-01 1.91886772e-01 3.06013710e-02 1.15123806e+02] [-1.91796653e-01 9.81417066e-01 -5.88109795e-03 -1.56139545e+01] [-3.11612126e-02 -1.00237085e-04 9.99514366e-01 -4.89213588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.64264000000001 meters 0.01347977781579541 Centerline is valid? [True, True] Translation: X:115.15, Y:-15.62, Z:-4.89 [[ 9.80916570e-01 1.91927295e-01 3.10901146e-02 1.15152170e+02] [-1.91834381e-01 9.81409141e-01 -5.97229139e-03 -1.56198459e+01] [-3.16583684e-02 -1.05833283e-04 9.99498743e-01 -4.89244812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.67264000000002 meters 0.012863582938267653 Centerline is valid? [True, True] Translation: X:115.18, Y:-15.63, Z:-4.89 [[ 9.80998762e-01 1.91351257e-01 3.20331931e-02 1.15179980e+02] [-1.91252366e-01 9.81521619e-01 -6.15176947e-03 -1.56289456e+01] [-3.26184204e-02 -9.15457523e-05 9.99467874e-01 -4.89214454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70264 meters 0.012943029230901614 Centerline is valid? [True, True] Translation: X:115.21, Y:-15.64, Z:-4.89 [[ 9.81067711e-01 1.91024734e-01 3.18700264e-02 1.15207504e+02] [-1.90926719e-01 9.81585220e-01 -6.11911275e-03 -1.56356456e+01] [-3.24520488e-02 -8.15756398e-05 9.99473290e-01 -4.89363855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.73264 meters 0.02077454846519086 Centerline is valid? [True, True] Translation: X:115.23, Y:-15.64, Z:-4.90 [[ 9.81187293e-01 1.90313216e-01 3.24403389e-02 1.15234880e+02] [-1.90211366e-01 9.81723421e-01 -6.22577893e-03 -1.56428666e+01] [-3.30322885e-02 -6.18660144e-05 9.99454283e-01 -4.89638524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76264 meters 0.012266128644019983 Centerline is valid? [True, True] Translation: X:115.26, Y:-15.65, Z:-4.89 [[ 9.81478121e-01 1.88576847e-01 3.37560596e-02 1.15262007e+02] [-1.88465601e-01 9.82058437e-01 -6.47646856e-03 -1.56525668e+01] [-3.43717352e-02 -5.34386331e-06 9.99409117e-01 -4.89373671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.79264 meters 0.012064279392665949 Centerline is valid? [True, True] Translation: X:115.29, Y:-15.66, Z:-4.89 [[ 9.81632402e-01 1.87647651e-01 3.44410491e-02 1.15290059e+02] [-1.87531334e-01 9.82236406e-01 -6.60611211e-03 -1.56595239e+01] [-3.50688737e-02 2.59978323e-05 9.99384898e-01 -4.89395590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82264 meters 0.011991990100176465 Centerline is valid? [True, True] Translation: X:115.32, Y:-15.67, Z:-4.89 [[ 9.81765899e-01 1.86906541e-01 3.46650375e-02 1.15318245e+02] [-1.86788303e-01 9.82377698e-01 -6.64735303e-03 -1.56663226e+01] [-3.52965935e-02 5.11209869e-05 9.99376880e-01 -4.89485594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.85264000000001 meters 0.012340644872734261 Centerline is valid? [True, True] Translation: X:115.35, Y:-15.68, Z:-4.90 [[ 9.81994620e-01 1.85828152e-01 3.39773967e-02 1.15345567e+02] [-1.85713973e-01 9.82582256e-01 -6.51381945e-03 -1.56762391e+01] [-3.45960381e-02 8.64583193e-05 9.99401374e-01 -4.89762215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88264000000001 meters 0.01253219612215509 Centerline is valid? [True, True] Translation: X:115.37, Y:-15.68, Z:-4.90 [[ 9.82085040e-01 1.85401577e-01 3.36931668e-02 1.15372109e+02] [-1.85289103e-01 9.82662834e-01 -6.45776671e-03 -1.56845267e+01] [-3.43063029e-02 9.90994143e-05 9.99411361e-01 -4.89993426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.91264000000001 meters 0.012359648807020191 Centerline is valid? [True, True] Translation: X:115.40, Y:-15.69, Z:-4.90 [[ 9.82025906e-01 1.85714092e-01 3.36956456e-02 1.15399538e+02] [-1.85601862e-01 9.82603821e-01 -6.45602012e-03 -1.56927884e+01] [-3.43084440e-02 8.60044189e-05 9.99411288e-01 -4.90129482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94264000000001 meters 0.014808584379807943 Centerline is valid? [True, True] Translation: X:115.43, Y:-15.70, Z:-4.90 [[ 9.81918948e-01 1.86315088e-01 3.34942796e-02 1.15427798e+02] [-1.86204602e-01 9.82490043e-01 -6.41576988e-03 -1.56981924e+01] [-3.41031509e-02 6.29770199e-05 9.99418316e-01 -4.90405020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.97264000000001 meters 0.012347627795776871 Centerline is valid? [True, True] Translation: X:115.46, Y:-15.70, Z:-4.91 [[ 9.81801588e-01 1.87077180e-01 3.26767446e-02 1.15455449e+02] [-1.86972495e-01 9.82345218e-01 -6.25769108e-03 -1.57033340e+01] [-3.32705150e-02 3.41585886e-05 9.99446383e-01 -4.90548559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.00264000000001 meters 0.012305778642363558 Centerline is valid? [True, True] Translation: X:115.48, Y:-15.71, Z:-4.91 [[ 9.81612285e-01 1.88153395e-01 3.21810744e-02 1.15483750e+02] [-1.88052511e-01 9.82139654e-01 -6.16063304e-03 -1.57077040e+01] [-3.27654533e-02 -4.37875389e-06 9.99463068e-01 -4.90759572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.03264000000001 meters 0.012907117680682118 Centerline is valid? [True, True] Translation: X:115.51, Y:-15.71, Z:-4.91 [[ 9.81346477e-01 1.89524122e-01 3.22443586e-02 1.15510938e+02] [-1.89423628e-01 9.81876064e-01 -6.17129580e-03 -1.57118507e+01] [-3.28295733e-02 -5.16639849e-05 9.99460963e-01 -4.91157620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06264000000002 meters 0.017619305225416732 Centerline is valid? [True, True] Translation: X:115.54, Y:-15.72, Z:-4.91 [[ 9.80979496e-01 1.91478341e-01 3.18633660e-02 1.15538777e+02] [-1.91381315e-01 9.81496832e-01 -6.09601824e-03 -1.57185057e+01] [-3.24410482e-02 -1.17983973e-04 9.99473644e-01 -4.91382593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.09264 meters 0.028373703340055137 Centerline is valid? [True, True] Translation: X:115.57, Y:-15.72, Z:-4.92 [[ 9.80868639e-01 1.92099469e-01 3.15357934e-02 1.15566398e+02] [-1.92004799e-01 9.81375451e-01 -6.03178029e-03 -1.57245326e+01] [-3.21071553e-02 -1.38639549e-04 9.99484423e-01 -4.91658295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12264 meters 0.024686074693874155 Centerline is valid? [True, True] Translation: X:115.59, Y:-15.73, Z:-4.92 [[ 9.80741829e-01 1.92903532e-01 3.05563911e-02 1.15593331e+02] [-1.92815080e-01 9.81217714e-01 -5.84324066e-03 -1.57298415e+01] [-3.11096539e-02 -1.61022457e-04 9.99515965e-01 -4.91994690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.15264 meters 0.015024610426970387 Centerline is valid? [True, True] Translation: X:115.62, Y:-15.73, Z:-4.92 [[ 9.80684193e-01 1.93323167e-01 2.97433421e-02 1.15620906e+02] [-1.93239618e-01 9.81135120e-01 -5.68561583e-03 -1.57346484e+01] [-3.02813988e-02 -1.71798500e-04 9.99541399e-01 -4.92175801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18264 meters 0.020403585999946416 Centerline is valid? [True, True] Translation: X:115.65, Y:-15.74, Z:-4.92 [[ 9.80625785e-01 1.93674799e-01 2.93792888e-02 1.15648673e+02] [-1.93593500e-01 9.81065767e-01 -5.61405202e-03 -1.57402254e+01] [-2.99103149e-02 -1.82355187e-04 9.99552570e-01 -4.92430406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.21264000000001 meters 0.030834955443088036 Centerline is valid? [True, True] Translation: X:115.68, Y:-15.75, Z:-4.93 [[ 9.80707484e-01 1.93213559e-01 2.96875789e-02 1.15676190e+02] [-1.93130380e-01 9.81156711e-01 -5.67144500e-03 -1.57492591e+01] [-3.02239673e-02 -1.71544820e-04 9.99543137e-01 -4.92532029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24264000000001 meters 0.01414525689397365 Centerline is valid? [True, True] Translation: X:115.70, Y:-15.76, Z:-4.92 [[ 9.80782235e-01 1.92732993e-01 3.03348064e-02 1.15704417e+02] [-1.92645966e-01 9.81251225e-01 -5.79350315e-03 -1.57576774e+01] [-3.08826652e-02 -1.61713104e-04 9.99523004e-01 -4.92385715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.27264000000001 meters 0.025762769103954402 Centerline is valid? [True, True] Translation: X:115.73, Y:-15.77, Z:-4.92 [[ 9.80979004e-01 1.91485609e-01 3.18348026e-02 1.15731603e+02] [-1.91389159e-01 9.81495412e-01 -6.07826603e-03 -1.57678517e+01] [-3.24096132e-02 -1.30184731e-04 9.99474662e-01 -4.92468000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30264000000001 meters 0.024219474028270665 Centerline is valid? [True, True] Translation: X:115.76, Y:-15.78, Z:-4.92 [[ 9.81104723e-01 1.90782659e-01 3.21791727e-02 1.15759408e+02] [-1.90683785e-01 9.81632296e-01 -6.14239796e-03 -1.57757798e+01] [-3.27599782e-02 -1.09710807e-04 9.99463242e-01 -4.92362763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.33264000000001 meters 0.024494701506556 Centerline is valid? [True, True] Translation: X:115.79, Y:-15.78, Z:-4.93 [[ 9.81217381e-01 1.90224851e-01 3.20461727e-02 1.15786123e+02] [-1.90126545e-01 9.81740545e-01 -6.11551719e-03 -1.57811025e+01] [-3.26243504e-02 -9.21763135e-05 9.99467680e-01 -4.92922761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36264000000001 meters 0.012948059640851911 Centerline is valid? [True, True] Translation: X:115.81, Y:-15.79, Z:-4.93 [[ 9.81317628e-01 1.89717890e-01 3.19817983e-02 1.15814231e+02] [-1.89619791e-01 9.81838641e-01 -6.10071002e-03 -1.57888242e+01] [-3.25583792e-02 -7.76476306e-05 9.99469832e-01 -4.92693247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.39264000000001 meters 0.02244698952206879 Centerline is valid? [True, True] Translation: X:115.84, Y:-15.80, Z:-4.93 [[ 9.81501239e-01 1.88669186e-01 3.25462041e-02 1.15841254e+02] [-1.88567071e-01 9.82040700e-01 -6.20674445e-03 -1.57985058e+01] [-3.31327185e-02 -4.52149978e-05 9.99450960e-01 -4.92892535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.42264000000002 meters 0.012418856403724183 Centerline is valid? [True, True] Translation: X:115.87, Y:-15.81, Z:-4.93 [[ 9.81597614e-01 1.88156310e-01 3.26087142e-02 1.15867840e+02] [-1.88053568e-01 9.82139095e-01 -6.21717449e-03 -1.58068625e+01] [-3.31960936e-02 -2.94214014e-05 9.99448857e-01 -4.92918992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45264 meters 0.012143406276914586 Centerline is valid? [True, True] Translation: X:115.90, Y:-15.81, Z:-4.93 [[ 9.81688678e-01 1.87681080e-01 3.26060195e-02 1.15896186e+02] [-1.87578173e-01 9.82230020e-01 -6.21426073e-03 -1.58145668e+01] [-3.31929103e-02 -1.57081627e-05 9.99448963e-01 -4.92869970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48264 meters 0.012270733535387476 Centerline is valid? [True, True] Translation: X:115.92, Y:-15.82, Z:-4.93 [[ 9.81729034e-01 1.87480967e-01 3.25421454e-02 1.15924044e+02] [-1.87378376e-01 9.82268236e-01 -6.20139597e-03 -1.58207176e+01] [-3.31277595e-02 -9.60388711e-06 9.99451125e-01 -4.93036704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.51264 meters 0.012385872213077008 Centerline is valid? [True, True] Translation: X:115.95, Y:-15.83, Z:-4.93 [[ 9.81821245e-01 1.87002661e-01 3.25122571e-02 1.15951638e+02] [-1.86900038e-01 9.82359407e-01 -6.19444776e-03 -1.58273377e+01] [-3.30970999e-02 5.29832777e-06 9.99452141e-01 -4.93227908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54264 meters 0.012308902968726334 Centerline is valid? [True, True] Translation: X:115.98, Y:-15.83, Z:-4.93 [[ 9.81916215e-01 1.86455960e-01 3.27829531e-02 1.15980237e+02] [-1.86351361e-01 9.82463320e-01 -6.24465812e-03 -1.58343310e+01] [-3.33724026e-02 2.25831244e-05 9.99442986e-01 -4.93336705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.57264 meters 0.01512631491322806 Centerline is valid? [True, True] Translation: X:116.01, Y:-15.84, Z:-4.94 [[ 9.82050378e-01 1.85778691e-01 3.26087872e-02 1.16008726e+02] [-1.85674854e-01 9.82591612e-01 -6.21068655e-03 -1.58421917e+01] [-3.31949340e-02 4.45752738e-05 9.99448895e-01 -4.93616929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60264000000001 meters 0.012742963465824606 Centerline is valid? [True, True] Translation: X:116.04, Y:-15.85, Z:-4.94 [[ 9.82316970e-01 1.84540300e-01 3.15950783e-02 1.16037917e+02] [-1.84442213e-01 9.82824944e-01 -6.01658228e-03 -1.58533802e+01] [-3.21627330e-02 8.27247167e-05 9.99482642e-01 -4.93731030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.63264000000001 meters 0.013034020037142989 Centerline is valid? [True, True] Translation: X:116.07, Y:-15.86, Z:-4.94 [[ 9.82414241e-01 1.84053256e-01 3.14111204e-02 1.16066812e+02] [-1.83956055e-01 9.82916268e-01 -5.98170207e-03 -1.58607994e+01] [-3.19754530e-02 9.82435055e-05 9.99488650e-01 -4.93936882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66264000000001 meters 0.013116023818433999 Centerline is valid? [True, True] Translation: X:116.10, Y:-15.87, Z:-4.94 [[ 9.82446659e-01 1.83850454e-01 3.15843853e-02 1.16095656e+02] [-1.83752085e-01 9.82954221e-01 -6.01429385e-03 -1.58675288e+01] [-3.21517355e-02 1.05026257e-04 9.99482994e-01 -4.94082811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.69264000000001 meters 0.028001968336839638 Centerline is valid? [True, True] Translation: X:116.12, Y:-15.87, Z:-4.94 [[ 9.82556128e-01 1.83250831e-01 3.16636768e-02 1.16124619e+02] [-1.83151669e-01 9.83066182e-01 -6.02899264e-03 -1.58744926e+01] [-3.22323078e-02 1.24568419e-04 9.99480396e-01 -4.94472202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72264000000001 meters 0.013062297248977131 Centerline is valid? [True, True] Translation: X:116.16, Y:-15.88, Z:-4.94 [[ 9.82637230e-01 1.82697394e-01 3.23378436e-02 1.16155004e+02] [-1.82593681e-01 9.83169182e-01 -6.15681719e-03 -1.58813059e+01] [-3.29184057e-02 1.45231892e-04 9.99458032e-01 -4.94139433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.75264000000001 meters 0.013288772791826253 Centerline is valid? [True, True] Translation: X:116.18, Y:-15.89, Z:-4.94 [[ 9.82731182e-01 1.81967028e-01 3.35771503e-02 1.16184399e+02] [-1.81854789e-01 9.83304617e-01 -6.39264637e-03 -1.58887972e+01] [-3.41798178e-02 1.76087332e-04 9.99415684e-01 -4.94111952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.78264000000001 meters 0.01434666589697846 Centerline is valid? [True, True] Translation: X:116.21, Y:-15.90, Z:-4.94 [[ 9.83084446e-01 1.79884677e-01 3.44452366e-02 1.16214900e+02] [-1.79765315e-01 9.83687673e-01 -6.55691813e-03 -1.58994343e+01] [-3.50628437e-02 2.53945434e-04 9.99385077e-01 -4.94123093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.81264000000002 meters 0.015212249171424278 Centerline is valid? [True, True] Translation: X:116.24, Y:-15.91, Z:-4.94 [[ 9.83268218e-01 1.79073782e-01 3.34094631e-02 1.16244836e+02] [-1.78960805e-01 9.83835607e-01 -6.36619485e-03 -1.59072384e+01] [-3.40094380e-02 2.80692658e-04 9.99421472e-01 -4.94416778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84264 meters 0.01615713671131889 Centerline is valid? [True, True] Translation: X:116.27, Y:-15.92, Z:-4.95 [[ 9.83461841e-01 1.78176320e-01 3.24962594e-02 1.16274650e+02] [-1.78068872e-01 9.83998529e-01 -6.19444588e-03 -1.59165911e+01] [-3.30799750e-02 3.05428906e-04 9.99452661e-01 -4.94786896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.87264 meters 0.016296083316913332 Centerline is valid? [True, True] Translation: X:116.31, Y:-15.92, Z:-4.95 [[ 9.83436200e-01 1.78281407e-01 3.26952645e-02 1.16305711e+02] [-1.78172524e-01 9.83979494e-01 -6.23754680e-03 -1.59236766e+01] [-3.32835084e-02 3.08831519e-04 9.99445903e-01 -4.94921012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90264 meters 0.01634464995885784 Centerline is valid? [True, True] Translation: X:116.34, Y:-15.93, Z:-4.95 [[ 9.83332515e-01 1.78827826e-01 3.28294455e-02 1.16335800e+02] [-1.78718158e-01 9.83880338e-01 -6.26895249e-03 -1.59299630e+01] [-3.34213091e-02 2.97246781e-04 9.99441308e-01 -4.95047864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.93264 meters 0.01572428166375968 Centerline is valid? [True, True] Translation: X:116.37, Y:-15.94, Z:-4.95 [[ 9.83195315e-01 1.79549430e-01 3.29996040e-02 1.16367365e+02] [-1.79438854e-01 9.83748913e-01 -6.30661528e-03 -1.59350150e+01] [-3.35956737e-02 2.79223484e-04 9.99435467e-01 -4.95097478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96264000000001 meters 0.01572428166375968 Centerline is valid? [True, True] Translation: X:116.40, Y:-15.94, Z:-4.95 [[ 9.83165635e-01 1.79712071e-01 3.29985633e-02 1.16398425e+02] [-1.79601404e-01 9.83719215e-01 -6.31205485e-03 -1.59411077e+01] [-3.35956732e-02 2.79207115e-04 9.99435467e-01 -4.95237236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.99264000000001 meters 0.015135011547820897 Centerline is valid? [True, True] Translation: X:116.43, Y:-15.95, Z:-4.95 [[ 9.82967242e-01 1.80820231e-01 3.28549094e-02 1.16428763e+02] [-1.80710919e-01 9.83516133e-01 -6.29130352e-03 -1.59462827e+01] [-3.34509284e-02 2.46904406e-04 9.99440331e-01 -4.95325778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02264000000001 meters 0.015027094013392892 Centerline is valid? [True, True] Translation: X:116.46, Y:-15.95, Z:-4.95 [[ 9.82946313e-01 1.80884550e-01 3.31259031e-02 1.16459028e+02] [-1.80773379e-01 9.83504305e-01 -6.34572528e-03 -1.59524882e+01] [-3.37273120e-02 2.49225830e-04 9.99431041e-01 -4.95416096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.05264000000001 meters 0.015022760553039548 Centerline is valid? [True, True] Translation: X:116.49, Y:-15.96, Z:-4.96 [[ 9.82921375e-01 1.81039832e-01 3.30174209e-02 1.16488850e+02] [-1.80929444e-01 9.83475734e-01 -6.32586368e-03 -1.59575104e+01] [-3.36170656e-02 2.44003026e-04 9.99434757e-01 -4.95593016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08264000000001 meters 0.015480314179220347 Centerline is valid? [True, True] Translation: X:116.52, Y:-15.96, Z:-4.96 [[ 9.82999028e-01 1.80655883e-01 3.28079681e-02 1.16518683e+02] [-1.80546665e-01 9.83546332e-01 -6.28612674e-03 -1.59625277e+01] [-3.34037824e-02 2.55887262e-04 9.99441905e-01 -4.95745506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.11264000000001 meters 0.017068148199777762 Centerline is valid? [True, True] Translation: X:116.55, Y:-15.97, Z:-4.96 [[ 9.83295144e-01 1.79021877e-01 3.28911446e-02 1.16548072e+02] [-1.78911177e-01 9.83845044e-01 -6.30245632e-03 -1.59705257e+01] [-3.34880671e-02 3.12581301e-04 9.99439069e-01 -4.95930268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.14264000000001 meters 0.017137650181092336 Centerline is valid? [True, True] Translation: X:116.58, Y:-15.98, Z:-4.96 [[ 9.83513932e-01 1.77621786e-01 3.39241300e-02 1.16578877e+02] [-1.77503222e-01 9.84098757e-01 -6.49942534e-03 -1.59785831e+01] [-3.45391337e-02 3.70633010e-04 9.99403277e-01 -4.95790775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.17264000000002 meters 0.029037358053140137 Centerline is valid? [True, True] Translation: X:116.61, Y:-15.99, Z:-4.96 [[ 9.84050584e-01 1.74723641e-01 3.34080473e-02 1.16609773e+02] [-1.74606817e-01 9.84617402e-01 -6.40556370e-03 -1.59890201e+01] [-3.40133481e-02 4.70125905e-04 9.99421268e-01 -4.96094880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20264 meters 0.022550285891806927 Centerline is valid? [True, True] Translation: X:116.64, Y:-16.00, Z:-4.96 [[ 9.84226964e-01 1.73822646e-01 3.29085108e-02 1.16638850e+02] [-1.73708589e-01 9.84776847e-01 -6.31569978e-03 -1.60010180e+01] [-3.35053512e-02 4.99591048e-04 9.99438413e-01 -4.96406819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.23264 meters 0.02126857616123945 Centerline is valid? [True, True] Translation: X:116.67, Y:-16.01, Z:-4.96 [[ 9.84364457e-01 1.73158285e-01 3.22928011e-02 1.16670704e+02] [-1.73047930e-01 9.84893873e-01 -6.20267625e-03 -1.60064719e+01] [-3.28790267e-02 5.17491643e-04 9.99459205e-01 -4.96433048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26264 meters 0.024608073587805743 Centerline is valid? [True, True] Translation: X:116.70, Y:-16.02, Z:-4.97 [[ 9.84454604e-01 1.72780807e-01 3.15582914e-02 1.16700143e+02] [-1.72675048e-01 9.84960161e-01 -6.06706226e-03 -1.60179521e+01] [-3.21319317e-02 5.23417889e-04 9.99483499e-01 -4.96982678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.29264 meters 0.024200936525395716 Centerline is valid? [True, True] Translation: X:116.73, Y:-16.02, Z:-4.97 [[ 9.84326238e-01 1.73616329e-01 3.09713974e-02 1.16731803e+02] [-1.73514732e-01 9.84813246e-01 -5.95895671e-03 -1.60235261e+01] [-3.15356146e-02 4.91563729e-04 9.99502508e-01 -4.97274438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32264 meters 0.018384453513359256 Centerline is valid? [True, True] Translation: X:116.77, Y:-16.02, Z:-4.97 [[ 9.83845773e-01 1.76368784e-01 3.06846507e-02 1.16765465e+02] [-1.76270192e-01 9.84324076e-01 -5.91035899e-03 -1.60216795e+01] [-3.12460433e-02 4.06092440e-04 9.99511641e-01 -4.97057484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.35264000000001 meters 0.017387904474013956 Centerline is valid? [True, True] Translation: X:116.80, Y:-16.03, Z:-4.97 [[ 9.83509923e-01 1.78142312e-01 3.12017402e-02 1.16796418e+02] [-1.78041235e-01 9.84004669e-01 -6.01076649e-03 -1.60262502e+01] [-3.17734298e-02 3.56452150e-04 9.99495034e-01 -4.97104035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38264000000001 meters 0.016105615426730526 Centerline is valid? [True, True] Translation: X:116.83, Y:-16.03, Z:-4.97 [[ 9.83141486e-01 1.80134626e-01 3.13741231e-02 1.16827017e+02] [-1.80033250e-01 9.83641920e-01 -6.04994917e-03 -1.60300784e+01] [-3.19507080e-02 2.99570665e-04 9.99489401e-01 -4.97244677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.41264000000001 meters 0.014884053004840445 Centerline is valid? [True, True] Translation: X:116.86, Y:-16.03, Z:-4.97 [[ 9.82816399e-01 1.81908446e-01 3.13248176e-02 1.16858411e+02] [-1.81808159e-01 9.83315441e-01 -6.04452367e-03 -1.60336247e+01] [-3.19017268e-02 2.45549575e-04 9.99490980e-01 -4.97372145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44264000000001 meters 0.014170228964285778 Centerline is valid? [True, True] Translation: X:116.89, Y:-16.04, Z:-4.98 [[ 9.82466611e-01 1.83828810e-01 3.10857891e-02 1.16889732e+02] [-1.83731014e-01 9.82958257e-01 -5.99826216e-03 -1.60374180e+01] [-3.16586865e-02 1.81668764e-04 9.99498722e-01 -4.97629383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.47264000000001 meters 0.012662055910041898 Centerline is valid? [True, True] Translation: X:116.92, Y:-16.04, Z:-4.98 [[ 9.81819451e-01 1.87257427e-01 3.10680116e-02 1.16920952e+02] [-1.87161320e-01 9.82310872e-01 -5.99917705e-03 -1.60366463e+01] [-3.16418360e-02 7.53786600e-05 9.99499269e-01 -4.97689573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.50264000000001 meters 0.022528495663665916 Centerline is valid? [True, True] Translation: X:116.95, Y:-16.04, Z:-4.98 [[ 9.81533491e-01 1.88781459e-01 3.08798861e-02 1.16950274e+02] [-1.88687261e-01 9.82019124e-01 -5.96300651e-03 -1.60380390e+01] [-3.14503438e-02 2.62494673e-05 9.99505315e-01 -4.98008034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.53264000000001 meters 0.01249634244937223 Centerline is valid? [True, True] Translation: X:116.98, Y:-16.04, Z:-4.98 [[ 9.81259756e-01 1.90167864e-01 3.10720958e-02 1.16980342e+02] [-1.90073191e-01 9.81751589e-01 -5.99988193e-03 -1.60411940e+01] [-3.16460642e-02 -1.85297393e-05 9.99499138e-01 -4.98005525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56264000000002 meters 0.012658325898230507 Centerline is valid? [True, True] Translation: X:117.01, Y:-16.05, Z:-4.98 [[ 9.81060064e-01 1.91149051e-01 3.13558681e-02 1.17008908e+02] [-1.91053163e-01 9.81561021e-01 -6.05402920e-03 -1.60455013e+01] [-3.19349199e-02 -5.12715259e-05 9.99489949e-01 -4.98223415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59264 meters 0.012488215672261493 Centerline is valid? [True, True] Translation: X:117.04, Y:-16.05, Z:-4.98 [[ 9.81023435e-01 1.91278391e-01 3.17111629e-02 1.17038566e+02] [-1.91180428e-01 9.81535824e-01 -6.12126994e-03 -1.60501574e+01] [-3.22965091e-02 -5.74444391e-05 9.99478330e-01 -4.98285118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62264 meters 0.012392296579134206 Centerline is valid? [True, True] Translation: X:117.07, Y:-16.05, Z:-4.98 [[ 9.81055815e-01 1.91074143e-01 3.19399499e-02 1.17067020e+02] [-1.90974669e-01 9.81575606e-01 -6.16492007e-03 -1.60536113e+01] [-3.25294325e-02 -5.15906918e-05 9.99470777e-01 -4.98365108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.65264 meters 0.025430834773205117 Centerline is valid? [True, True] Translation: X:117.10, Y:-16.06, Z:-4.99 [[ 9.81274153e-01 1.89938208e-01 3.20080294e-02 1.17096055e+02] [-1.89837757e-01 9.81796046e-01 -6.17649672e-03 -1.60567543e+01] [-3.25985095e-02 -1.54959297e-05 9.99468527e-01 -4.98612828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68264 meters 0.01216218322385493 Centerline is valid? [True, True] Translation: X:117.12, Y:-16.06, Z:-4.99 [[ 9.81442054e-01 1.88956053e-01 3.26665752e-02 1.17124595e+02] [-1.88850944e-01 9.81985545e-01 -6.30169014e-03 -1.60641678e+01] [-3.32688472e-02 1.56301549e-05 9.99446439e-01 -4.98512270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.71264000000001 meters 0.012889850270640484 Centerline is valid? [True, True] Translation: X:117.15, Y:-16.08, Z:-4.99 [[ 9.82028050e-01 1.85949813e-01 3.23044224e-02 1.17152355e+02] [-1.85845420e-01 9.82559237e-01 -6.23105720e-03 -1.60759641e+01] [-3.28996725e-02 1.15444003e-04 9.99458653e-01 -4.98749410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74264000000001 meters 0.013857875268092288 Centerline is valid? [True, True] Translation: X:117.18, Y:-16.09, Z:-4.99 [[ 9.82425409e-01 1.83905321e-01 3.19240961e-02 1.17181659e+02] [-1.83802327e-01 9.82943946e-01 -6.15666270e-03 -1.60851744e+01] [-3.25118400e-02 1.80738725e-04 9.99471334e-01 -4.98914529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.77264000000001 meters 0.01456179825743392 Centerline is valid? [True, True] Translation: X:117.21, Y:-16.09, Z:-4.99 [[ 9.82783571e-01 1.81927956e-01 3.22284271e-02 1.17211867e+02] [-1.81821934e-01 9.83311831e-01 -6.21507466e-03 -1.60941741e+01] [-3.28212895e-02 2.48238319e-04 9.99461206e-01 -4.98900646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80264000000001 meters 0.017030360388483372 Centerline is valid? [True, True] Translation: X:117.24, Y:-16.11, Z:-4.99 [[ 9.83328309e-01 1.78900877e-01 3.25562921e-02 1.17241182e+02] [-1.78791048e-01 9.83867040e-01 -6.27765901e-03 -1.61067655e+01] [-3.31541414e-02 3.52226242e-04 9.99450188e-01 -4.99062617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.83264000000001 meters 0.03444557651725371 Centerline is valid? [True, True] Translation: X:117.27, Y:-16.12, Z:-5.00 [[ 9.83579778e-01 1.77657449e-01 3.17592543e-02 1.17270678e+02] [-1.77552123e-01 9.84092312e-01 -6.12897734e-03 -1.61157389e+01] [-3.23428965e-02 3.89415139e-04 9.99476756e-01 -4.99541313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86264000000001 meters 0.019561575841115054 Centerline is valid? [True, True] Translation: X:117.30, Y:-16.12, Z:-5.00 [[ 9.83717127e-01 1.76874397e-01 3.18757168e-02 1.17302169e+02] [-1.76767723e-01 9.84233341e-01 -6.15647405e-03 -1.61247860e+01] [-3.24620658e-02 4.21631094e-04 9.99472879e-01 -4.99500900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.89264000000001 meters 0.02336959374729223 Centerline is valid? [True, True] Translation: X:117.33, Y:-16.13, Z:-5.00 [[ 9.83808321e-01 1.76346503e-01 3.19859082e-02 1.17332584e+02] [-1.76238605e-01 9.84328051e-01 -6.18409207e-03 -1.61333402e+01] [-3.25751697e-02 4.46809393e-04 9.99469188e-01 -4.99783400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.92264000000002 meters 0.02162681643258136 Centerline is valid? [True, True] Translation: X:117.36, Y:-16.15, Z:-5.00 [[ 9.83819231e-01 1.76127368e-01 3.28461812e-02 1.17362875e+02] [-1.76013388e-01 9.84367274e-01 -6.35268408e-03 -1.61460332e+01] [-3.34515874e-02 4.68525128e-04 9.99440229e-01 -4.99730682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95264 meters 0.01951040687052991 Centerline is valid? [True, True] Translation: X:117.39, Y:-16.15, Z:-5.00 [[ 9.83812534e-01 1.76178920e-01 3.27701937e-02 1.17394972e+02] [-1.76065301e-01 9.84358048e-01 -6.34379782e-03 -1.61516426e+01] [-3.33752474e-02 4.71413792e-04 9.99442780e-01 -4.99648161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98264 meters 0.019891033129545068 Centerline is valid? [True, True] Translation: X:117.43, Y:-16.16, Z:-5.00 [[ 9.83778133e-01 1.76336878e-01 3.29528553e-02 1.17425357e+02] [-1.76221846e-01 9.84329761e-01 -6.38604544e-03 -1.61603617e+01] [-3.35625716e-02 4.75438854e-04 9.99436505e-01 -4.99807284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.01264 meters 0.02035087773602354 Centerline is valid? [True, True] Translation: X:117.46, Y:-16.17, Z:-5.00 [[ 9.83737316e-01 1.76485213e-01 3.33745965e-02 1.17456199e+02] [-1.76367178e-01 9.84303174e-01 -6.47141212e-03 -1.61715575e+01] [-3.39928298e-02 4.79986183e-04 9.99421962e-01 -4.99963122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04264 meters 0.01874624245999855 Centerline is valid? [True, True] Translation: X:117.49, Y:-16.18, Z:-5.00 [[ 9.83712288e-01 1.76714326e-01 3.28965344e-02 1.17488261e+02] [-1.76599585e-01 9.84262071e-01 -6.38448540e-03 -1.61774918e+01] [-3.35070411e-02 4.70982435e-04 9.99438370e-01 -5.00042250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.07264 meters 0.019125218612951234 Centerline is valid? [True, True] Translation: X:117.52, Y:-16.19, Z:-5.00 [[ 9.83720687e-01 1.76812594e-01 3.21078949e-02 1.17517974e+02] [-1.76703118e-01 9.84244427e-01 -6.23826851e-03 -1.61855971e+01] [-3.27050211e-02 4.63148648e-04 9.99464940e-01 -5.00318626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10264000000001 meters 0.03262270940808325 Centerline is valid? [True, True] Translation: X:117.55, Y:-16.20, Z:-5.01 [[ 9.83654372e-01 1.77321241e-01 3.13249676e-02 1.17548020e+02] [-1.77217147e-01 9.84152927e-01 -6.09089920e-03 -1.61963491e+01] [-3.19086043e-02 4.40018244e-04 9.99490694e-01 -5.01031253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.13264000000001 meters 0.018210625536720676 Centerline is valid? [True, True] Translation: X:117.58, Y:-16.20, Z:-5.01 [[ 9.83343008e-01 1.79115367e-01 3.08903533e-02 1.17579737e+02] [-1.79014839e-01 9.83828003e-01 -6.01235116e-03 -1.62037426e+01] [-3.14676991e-02 3.82371842e-04 9.99504696e-01 -5.00879930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16264000000001 meters 0.017078308939262207 Centerline is valid? [True, True] Translation: X:117.61, Y:-16.21, Z:-5.01 [[ 9.83056034e-01 1.80664025e-01 3.10055377e-02 1.17611756e+02] [-1.80563298e-01 9.83544810e-01 -6.04163495e-03 -1.62097894e+01] [-3.15868418e-02 3.40803541e-04 9.99500953e-01 -5.01017234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.19264000000001 meters 0.015179468959618947 Centerline is valid? [True, True] Translation: X:117.64, Y:-16.21, Z:-5.01 [[ 9.82686971e-01 1.82624756e-01 3.12172322e-02 1.17643654e+02] [-1.82523620e-01 9.83182648e-01 -6.08344111e-03 -1.62139205e+01] [-3.18032280e-02 2.80236078e-04 9.99494110e-01 -5.01040020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22264000000001 meters 0.02990701075267957 Centerline is valid? [True, True] Translation: X:117.67, Y:-16.22, Z:-5.02 [[ 9.81857071e-01 1.87065483e-01 3.10354106e-02 1.17674392e+02] [-1.86967557e-01 9.82347436e-01 -6.05373306e-03 -1.62176819e+01] [-3.16200005e-02 1.41285725e-04 9.99499953e-01 -5.01719019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.25264000000001 meters 0.012279357770342595 Centerline is valid? [True, True] Translation: X:117.71, Y:-16.22, Z:-5.01 [[ 9.81342492e-01 1.89697548e-01 3.13329459e-02 1.17706689e+02] [-1.89598910e-01 9.81842572e-01 -6.11694024e-03 -1.62214622e+01] [-3.19243887e-02 6.21210031e-05 9.99490285e-01 -5.01308009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28264000000001 meters 0.01182857159911494 Centerline is valid? [True, True] Translation: X:117.74, Y:-16.23, Z:-5.01 [[ 9.80857625e-01 1.92103564e-01 3.18518618e-02 1.17738593e+02] [-1.92002712e-01 9.81374659e-01 -6.22400454e-03 -1.62255986e+01] [-3.24542635e-02 -1.07815282e-05 9.99473222e-01 -5.01334383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.31264000000002 meters 0.012395757380055902 Centerline is valid? [True, True] Translation: X:117.77, Y:-16.23, Z:-5.01 [[ 9.79928390e-01 1.96494440e-01 3.36197310e-02 1.17770273e+02] [-1.96384435e-01 9.80504926e-01 -6.57600183e-03 -1.62274802e+01] [-3.42564596e-02 -1.58380977e-04 9.99413063e-01 -5.01184432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34264 meters 0.01328765682036117 Centerline is valid? [True, True] Translation: X:117.80, Y:-16.23, Z:-5.01 [[ 9.79516463e-01 1.98404472e-01 3.43971457e-02 1.17800575e+02] [-1.98290240e-01 9.80120205e-01 -6.73536026e-03 -1.62307162e+01] [-3.50496631e-02 -2.23222019e-04 9.99385547e-01 -5.01189890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.37264 meters 0.014649237933165162 Centerline is valid? [True, True] Translation: X:117.83, Y:-16.23, Z:-5.01 [[ 9.79147281e-01 2.00130831e-01 3.49034680e-02 1.17830465e+02] [-2.00014310e-01 9.79769140e-01 -6.83439935e-03 -1.62334446e+01] [-3.55651148e-02 -2.89309520e-04 9.99367319e-01 -5.01291391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40264 meters 0.030867667375311297 Centerline is valid? [True, True] Translation: X:117.86, Y:-16.24, Z:-5.02 [[ 9.78736628e-01 2.02052057e-01 3.53494047e-02 1.17860965e+02] [-2.01933771e-01 9.79374716e-01 -6.92226515e-03 -1.62354534e+01] [-3.60189711e-02 -3.63164126e-04 9.99351040e-01 -5.01517470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.43264 meters 0.016387955340660343 Centerline is valid? [True, True] Translation: X:117.89, Y:-16.24, Z:-5.01 [[ 9.78584342e-01 2.02640037e-01 3.61897844e-02 1.17890472e+02] [-2.02516464e-01 9.79253216e-01 -7.08673565e-03 -1.62400577e+01] [-3.68750192e-02 -3.94058627e-04 9.99319808e-01 -5.01396519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46264000000001 meters 0.015870768598398612 Centerline is valid? [True, True] Translation: X:117.92, Y:-16.25, Z:-5.01 [[ 9.78497395e-01 2.03074751e-01 3.61039121e-02 1.17920577e+02] [-2.02952045e-01 9.79163152e-01 -7.07032123e-03 -1.62469839e+01] [-3.67874241e-02 -4.09071887e-04 9.99323030e-01 -5.01439298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.49264000000001 meters 0.01680047384521579 Centerline is valid? [True, True] Translation: X:117.95, Y:-16.25, Z:-5.02 [[ 9.78343279e-01 2.03892711e-01 3.56677736e-02 1.17950114e+02] [-2.03773459e-01 9.78993143e-01 -6.98590796e-03 -1.62526108e+01] [-3.63428815e-02 -4.33529519e-04 9.99339285e-01 -5.01658286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52264000000001 meters 0.017106611138666693 Centerline is valid? [True, True] Translation: X:117.98, Y:-16.26, Z:-5.02 [[ 9.78296027e-01 2.04190345e-01 3.52588496e-02 1.17980484e+02] [-2.04073990e-01 9.78931106e-01 -6.90625925e-03 -1.62576905e+01] [-3.59261761e-02 -4.39048117e-04 9.99354350e-01 -5.01827490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.55264000000001 meters 0.017310588746301748 Centerline is valid? [True, True] Translation: X:118.01, Y:-16.26, Z:-5.02 [[ 9.78303166e-01 2.04277524e-01 3.45486410e-02 1.18010776e+02] [-2.04165846e-01 9.78912920e-01 -6.76768366e-03 -1.62617658e+01] [-3.52025967e-02 -4.32806169e-04 9.99380103e-01 -5.02074381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58264000000001 meters 0.018792822356212796 Centerline is valid? [True, True] Translation: X:118.04, Y:-16.26, Z:-5.03 [[ 9.78332852e-01 2.04354592e-01 3.32269832e-02 1.18039744e+02] [-2.04251328e-01 9.78896841e-01 -6.50916520e-03 -1.62611765e+01] [-3.38559667e-02 -4.18525302e-04 9.99426635e-01 -5.02629245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.61264000000001 meters 0.01847394859385893 Centerline is valid? [True, True] Translation: X:118.07, Y:-16.27, Z:-5.03 [[ 9.78356220e-01 2.04222710e-01 3.33495313e-02 1.18068086e+02] [-2.04118646e-01 9.78924364e-01 -6.53201970e-03 -1.62657791e+01] [-3.39806555e-02 -4.16619086e-04 9.99422404e-01 -5.02751544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.64264000000001 meters 0.01676511666471473 Centerline is valid? [True, True] Translation: X:118.10, Y:-16.27, Z:-5.03 [[ 9.78464709e-01 2.03701044e-01 3.33571277e-02 1.18097444e+02] [-2.03596701e-01 9.79033056e-01 -6.53139225e-03 -1.62733232e+01] [-3.39881821e-02 -4.00664341e-04 9.99422155e-01 -5.02684717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.67264000000002 meters 0.030614292230786874 Centerline is valid? [True, True] Translation: X:118.13, Y:-16.28, Z:-5.03 [[ 9.78566903e-01 2.03209812e-01 3.33554780e-02 1.18126842e+02] [-2.03105190e-01 9.79135141e-01 -6.53119626e-03 -1.62776580e+01] [-3.39867238e-02 -3.83458199e-04 9.99422211e-01 -5.03128922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70264 meters 0.029174308568398036 Centerline is valid? [True, True] Translation: X:118.15, Y:-16.29, Z:-5.03 [[ 9.79026331e-01 2.01047265e-01 3.29763666e-02 1.18154893e+02] [-2.00943796e-01 9.79581494e-01 -6.45654650e-03 -1.62865765e+01] [-3.36011095e-02 -3.05267251e-04 9.99435277e-01 -5.03180262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.73264 meters 0.0239012856149485 Centerline is valid? [True, True] Translation: X:118.18, Y:-16.29, Z:-5.03 [[ 9.79333182e-01 1.99576834e-01 3.27964271e-02 1.18183417e+02] [-1.99473680e-01 9.79882147e-01 -6.42090535e-03 -1.62925265e+01] [-3.34180974e-02 -2.53818342e-04 9.99441427e-01 -5.03419456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76264 meters 0.03730819004962241 Centerline is valid? [True, True] Translation: X:118.21, Y:-16.30, Z:-5.04 [[ 9.79631831e-01 1.98152121e-01 3.25148012e-02 1.18212785e+02] [-1.98049965e-01 9.80171258e-01 -6.36522743e-03 -1.62990748e+01] [-3.31313569e-02 -2.03975845e-04 9.99450985e-01 -5.03509322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.79264 meters 0.012100955603416038 Centerline is valid? [True, True] Translation: X:118.24, Y:-16.31, Z:-5.04 [[ 9.80230594e-01 1.95238967e-01 3.20893936e-02 1.18241678e+02] [-1.95137930e-01 9.80755696e-01 -6.28119582e-03 -1.63075964e+01] [-3.26981898e-02 -1.04837554e-04 9.99465266e-01 -5.03601719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82264 meters 0.011693342001848113 Centerline is valid? [True, True] Translation: X:118.27, Y:-16.32, Z:-5.04 [[ 9.80574608e-01 1.93531697e-01 3.19205210e-02 1.18271437e+02] [-1.93430731e-01 9.81094022e-01 -6.25074359e-03 -1.63169477e+01] [-3.25267494e-02 -4.50892735e-05 9.99470864e-01 -5.03759627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.85264000000001 meters 0.011693342001848113 Centerline is valid? [True, True] Translation: X:118.30, Y:-16.32, Z:-5.04 [[ 9.80569877e-01 1.93555693e-01 3.19203673e-02 1.18301662e+02] [-1.93454715e-01 9.81089288e-01 -6.25152859e-03 -1.63229121e+01] [-3.25267494e-02 -4.50849213e-05 9.99470864e-01 -5.03895647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88264000000001 meters 0.011754112962944908 Centerline is valid? [True, True] Translation: X:118.33, Y:-16.33, Z:-5.04 [[ 9.80853869e-01 1.92063705e-01 3.22059266e-02 1.18331570e+02] [-1.91960131e-01 9.81382460e-01 -6.30674393e-03 -1.63326325e+01] [-3.28176281e-02 3.74031193e-06 9.99461357e-01 -5.04111662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.91264000000001 meters 0.012307145701015071 Centerline is valid? [True, True] Translation: X:118.36, Y:-16.35, Z:-5.04 [[ 9.81408421e-01 1.89169052e-01 3.24434976e-02 1.18362674e+02] [-1.89062196e-01 9.81944529e-01 -6.35828920e-03 -1.63462383e+01] [-3.30605065e-02 1.06239679e-04 9.99453346e-01 -5.04157583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94264000000001 meters 0.01554470416341404 Centerline is valid? [True, True] Translation: X:118.39, Y:-16.36, Z:-5.04 [[ 9.81646066e-01 1.87930475e-01 3.24520731e-02 1.18394086e+02] [-1.87822673e-01 9.82182322e-01 -6.36637312e-03 -1.63551137e+01] [-3.30702880e-02 1.54290013e-04 9.99453017e-01 -5.04326917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.97264000000001 meters 0.017680974726592597 Centerline is valid? [True, True] Translation: X:118.43, Y:-16.36, Z:-5.04 [[ 9.81786831e-01 1.87161566e-01 3.26368963e-02 1.18426160e+02] [-1.87051893e-01 9.82329127e-01 -6.40908540e-03 -1.63625730e+01] [-3.32597083e-02 1.87562416e-04 9.99446725e-01 -5.04325773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.00264000000001 meters 0.020234469089792928 Centerline is valid? [True, True] Translation: X:118.46, Y:-16.37, Z:-5.05 [[ 9.81956964e-01 1.86174286e-01 3.31610693e-02 1.18456895e+02] [-1.86060259e-01 9.82516708e-01 -6.51908559e-03 -1.63715143e+01] [-3.37949908e-02 2.31504349e-04 9.99428759e-01 -5.04503210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.03264000000001 meters 0.02459660086639115 Centerline is valid? [True, True] Translation: X:118.49, Y:-16.38, Z:-5.05 [[ 9.82014797e-01 1.85919396e-01 3.28773000e-02 1.18488668e+02] [-1.85806967e-01 9.82564969e-01 -6.46935689e-03 -1.63787805e+01] [-3.35068622e-02 2.44172803e-04 9.99438458e-01 -5.04642502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06264000000002 meters 0.027982678447215022 Centerline is valid? [True, True] Translation: X:118.52, Y:-16.39, Z:-5.05 [[ 9.81999854e-01 1.85990644e-01 3.29206188e-02 1.18519235e+02] [-1.85877727e-01 9.82551484e-01 -6.48475428e-03 -1.63881671e+01] [-3.35523065e-02 2.48817938e-04 9.99436932e-01 -5.04991624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09264 meters 0.014329003221046034 Centerline is valid? [True, True] Translation: X:118.55, Y:-16.40, Z:-5.05 [[ 9.81985574e-01 1.86075452e-01 3.28672806e-02 1.18551422e+02] [-1.85962745e-01 9.82535426e-01 -6.48031499e-03 -1.63969954e+01] [-3.34990951e-02 2.51486113e-04 9.99438716e-01 -5.04804481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12264 meters 0.014617389373801906 Centerline is valid? [True, True] Translation: X:118.58, Y:-16.40, Z:-5.05 [[ 9.81937156e-01 1.86372193e-01 3.26316853e-02 1.18581963e+02] [-1.86261018e-01 9.82479183e-01 -6.44116798e-03 -1.64048429e+01] [-3.32604061e-02 2.46811265e-04 9.99446689e-01 -5.05081620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.15264 meters 0.014482291090674358 Centerline is valid? [True, True] Translation: X:118.61, Y:-16.41, Z:-5.05 [[ 9.81888254e-01 1.86739207e-01 3.19988199e-02 1.18613939e+02] [-1.86632398e-01 9.82409494e-01 -6.31931028e-03 -1.64120625e+01] [-3.26160075e-02 2.32840058e-04 9.99467929e-01 -5.05284044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18264 meters 0.028870762807812277 Centerline is valid? [True, True] Translation: X:118.64, Y:-16.42, Z:-5.06 [[ 9.81845699e-01 1.87110161e-01 3.11257434e-02 1.18643733e+02] [-1.87009085e-01 9.82338912e-01 -6.15331844e-03 -1.64189853e+01] [-3.17273773e-02 2.20812458e-04 9.99496536e-01 -5.05885924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.21264000000001 meters 0.018795411047613498 Centerline is valid? [True, True] Translation: X:118.68, Y:-16.43, Z:-5.06 [[ 9.81640852e-01 1.88426836e-01 2.96068513e-02 1.18675070e+02] [-1.88335857e-01 9.82087215e-01 -5.85727439e-03 -1.64262055e+01] [-3.01801778e-02 1.73708126e-04 9.99544460e-01 -5.06168346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24264000000001 meters 0.01600748011953041 Centerline is valid? [True, True] Translation: X:118.71, Y:-16.43, Z:-5.06 [[ 9.81421524e-01 1.89595847e-01 2.94144199e-02 1.18707932e+02] [-1.89506434e-01 9.81862208e-01 -5.82377841e-03 -1.64321603e+01] [-2.99850714e-02 1.41359652e-04 9.99550337e-01 -5.06141187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.27264000000001 meters 0.013089150075259282 Centerline is valid? [True, True] Translation: X:118.74, Y:-16.44, Z:-5.06 [[ 9.81119077e-01 1.91158000e-01 2.93934652e-02 1.18738436e+02] [-1.91069218e-01 9.81559274e-01 -5.82622748e-03 -1.64377059e+01] [-2.99651584e-02 1.00036512e-04 9.99550939e-01 -5.06205992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30264000000001 meters 0.02616750438123678 Centerline is valid? [True, True] Translation: X:118.77, Y:-16.44, Z:-5.06 [[ 9.80392374e-01 1.94867057e-01 2.92851933e-02 1.18771188e+02] [-1.94780452e-01 9.80829664e-01 -5.80908397e-03 -1.64420538e+01] [-2.98557854e-02 -9.00155442e-06 9.99554217e-01 -5.06495451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.33264000000001 meters 0.013275270219041886 Centerline is valid? [True, True] Translation: X:118.80, Y:-16.45, Z:-5.07 [[ 9.80011013e-01 1.96818806e-01 2.89960869e-02 1.18801912e+02] [-1.96734566e-01 9.80439878e-01 -5.75817907e-03 -1.64465408e+01] [-2.95622378e-02 -6.14536663e-05 9.99562940e-01 -5.06705745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36264000000001 meters 0.013236691728254008 Centerline is valid? [True, True] Translation: X:118.83, Y:-16.45, Z:-5.07 [[ 9.79598501e-01 1.98891752e-01 2.87897292e-02 1.18834196e+02] [-1.98809468e-01 9.80021457e-01 -5.72174864e-03 -1.64511935e+01] [-2.93525610e-02 -1.18654367e-04 9.99569114e-01 -5.06685962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.39264000000001 meters 0.027854301632142156 Centerline is valid? [True, True] Translation: X:118.86, Y:-16.45, Z:-5.07 [[ 9.78806847e-01 2.02655242e-01 2.94619801e-02 1.18864631e+02] [-2.02570535e-01 9.79250121e-01 -5.86328855e-03 -1.64519144e+01] [-3.00388738e-02 -2.29102078e-04 9.99548705e-01 -5.06896276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.42264000000002 meters 0.02834421732323338 Centerline is valid? [True, True] Translation: X:118.89, Y:-16.45, Z:-5.07 [[ 9.78427642e-01 2.04452194e-01 2.96420401e-02 1.18894273e+02] [-2.04367276e-01 9.78876508e-01 -5.89898446e-03 -1.64525590e+01] [-3.02219571e-02 -2.86133542e-04 9.99543171e-01 -5.07260113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45264 meters 0.01666360990077961 Centerline is valid? [True, True] Translation: X:118.92, Y:-16.46, Z:-5.07 [[ 9.78129961e-01 2.05851896e-01 2.97787705e-02 1.18924366e+02] [-2.05766828e-01 9.78583102e-01 -5.92663595e-03 -1.64576006e+01] [-3.03610109e-02 -3.30462945e-04 9.99538944e-01 -5.06780256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48264 meters 0.0236719368132961 Centerline is valid? [True, True] Translation: X:118.95, Y:-16.46, Z:-5.07 [[ 9.77593410e-01 2.08236003e-01 3.08040700e-02 1.18953660e+02] [-2.08146142e-01 9.78078521e-01 -6.13117225e-03 -1.64562985e+01] [-3.14055300e-02 -4.17954740e-04 9.99506637e-01 -5.06998086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.51264 meters 0.020102471949291104 Centerline is valid? [True, True] Translation: X:118.98, Y:-16.46, Z:-5.07 [[ 9.77358517e-01 2.09221702e-01 3.15691009e-02 1.18981798e+02] [-2.09127879e-01 9.77868123e-01 -6.28204335e-03 -1.64597733e+01] [-3.21847572e-02 -4.62170542e-04 9.99481830e-01 -5.06976103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54264 meters 0.020337065520047017 Centerline is valid? [True, True] Translation: X:119.01, Y:-16.47, Z:-5.07 [[ 9.77209733e-01 2.09904101e-01 3.16450062e-02 1.19010615e+02] [-2.09810212e-01 9.77721858e-01 -6.29630327e-03 -1.64651959e+01] [-3.22616341e-02 -4.86636608e-04 9.99479340e-01 -5.07003664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.57264 meters 0.021529600198913295 Centerline is valid? [True, True] Translation: X:119.04, Y:-16.47, Z:-5.07 [[ 9.77012500e-01 2.10743058e-01 3.21549067e-02 1.19039374e+02] [-2.10646598e-01 9.77541349e-01 -6.39694825e-03 -1.64667310e+01] [-3.27808633e-02 -5.23423306e-04 9.99462426e-01 -5.07074316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60264000000001 meters 0.020712006710654606 Centerline is valid? [True, True] Translation: X:119.07, Y:-16.47, Z:-5.07 [[ 9.77023148e-01 2.10748266e-01 3.17952344e-02 1.19069105e+02] [-2.10653983e-01 9.77540229e-01 -6.32455618e-03 -1.64711925e+01] [-3.24140099e-02 -5.18554973e-04 9.99474393e-01 -5.07125136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.63264000000001 meters 0.032639477785473 Centerline is valid? [True, True] Translation: X:119.10, Y:-16.47, Z:-5.08 [[ 9.77086883e-01 2.10507531e-01 3.14293143e-02 1.19097894e+02] [-2.10415306e-01 9.77592105e-01 -6.25098693e-03 -1.64728268e+01] [-3.20409293e-02 -5.05451446e-04 9.99486430e-01 -5.07628791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66264000000001 meters 0.02567013888265531 Centerline is valid? [True, True] Translation: X:119.13, Y:-16.48, Z:-5.08 [[ 9.77465555e-01 2.08890737e-01 3.04261109e-02 1.19127261e+02] [-2.08803547e-01 9.77938887e-01 -6.05071376e-03 -1.64788176e+01] [-3.10188151e-02 -4.38715601e-04 9.99518704e-01 -5.07787136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.69264000000001 meters 0.01839893801692169 Centerline is valid? [True, True] Translation: X:119.16, Y:-16.48, Z:-5.08 [[ 9.77731160e-01 2.07623099e-01 3.05684006e-02 1.19155349e+02] [-2.07534487e-01 9.78208816e-01 -6.07854786e-03 -1.64848190e+01] [-3.11643259e-02 -4.00811667e-04 9.99514194e-01 -5.07827514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72264000000001 meters 0.018134340175284258 Centerline is valid? [True, True] Translation: X:119.18, Y:-16.49, Z:-5.08 [[ 9.78099082e-01 2.05874263e-01 3.06263684e-02 1.19183613e+02] [-2.05784511e-01 9.78578391e-01 -6.08835070e-03 -1.64907661e+01] [-3.12237370e-02 -3.47422003e-04 9.99512360e-01 -5.08123016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.75264000000001 meters 0.014256195083862933 Centerline is valid? [True, True] Translation: X:119.21, Y:-16.50, Z:-5.08 [[ 9.78926459e-01 2.01854873e-01 3.09450637e-02 1.19211429e+02] [-2.01761276e-01 9.79415418e-01 -6.15036160e-03 -1.65024855e+01] [-3.15495530e-02 -2.22763850e-04 9.99502164e-01 -5.08013353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.78264000000001 meters 0.013910727542057152 Centerline is valid? [True, True] Translation: X:119.24, Y:-16.51, Z:-5.08 [[ 9.79271829e-01 2.00193678e-01 3.08087037e-02 1.19240536e+02] [-2.00100123e-01 9.79756328e-01 -6.12197991e-03 -1.65085234e+01] [-3.14106041e-02 -1.69742922e-04 9.99506551e-01 -5.08356831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.81264000000002 meters 0.01760165591601804 Centerline is valid? [True, True] Translation: X:119.27, Y:-16.51, Z:-5.09 [[ 9.79590264e-01 1.98718750e-01 3.02286935e-02 1.19269082e+02] [-1.98627952e-01 9.80056552e-01 -6.00771325e-03 -1.65141783e+01] [-3.08196744e-02 -1.19166061e-04 9.99524954e-01 -5.08605612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84264 meters 0.034616315652317355 Centerline is valid? [True, True] Translation: X:119.30, Y:-16.52, Z:-5.09 [[ 9.79811839e-01 1.97725630e-01 2.95522674e-02 1.19299235e+02] [-1.97638430e-01 9.80257399e-01 -5.87222189e-03 -1.65197427e+01] [-3.01299175e-02 -8.69912151e-05 9.99545987e-01 -5.08895601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.87264 meters 0.012810024456624812 Centerline is valid? [True, True] Translation: X:119.33, Y:-16.53, Z:-5.09 [[ 9.80027214e-01 1.96658067e-01 2.95341172e-02 1.19328052e+02] [-1.96570485e-01 9.80472132e-01 -5.86878882e-03 -1.65254861e+01] [-3.01115235e-02 -5.39629843e-05 9.99546544e-01 -5.09062861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90264 meters 0.020962803130949767 Centerline is valid? [True, True] Translation: X:119.36, Y:-16.53, Z:-5.09 [[ 9.79984515e-01 1.96943935e-01 2.90419767e-02 1.19357240e+02] [-1.96859379e-01 9.80414750e-01 -5.77081310e-03 -1.65299211e+01] [-2.96097089e-02 -6.18780242e-05 9.99561535e-01 -5.09333290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.93264 meters 0.01956037155898815 Centerline is valid? [True, True] Translation: X:119.39, Y:-16.53, Z:-5.09 [[ 9.79796277e-01 1.97894569e-01 2.89308702e-02 1.19386783e+02] [-1.97811094e-01 9.80223307e-01 -5.74802206e-03 -1.65315294e+01] [-2.94962156e-02 -9.09564700e-05 9.99564888e-01 -5.09309145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96264000000001 meters 0.035083052251742464 Centerline is valid? [True, True] Translation: X:119.42, Y:-16.53, Z:-5.09 [[ 9.79700014e-01 1.98349044e-01 2.90781730e-02 1.19415399e+02] [-1.98264934e-01 9.80131443e-01 -5.77671994e-03 -1.65346939e+01] [-2.96462385e-02 -1.05729423e-04 9.99560448e-01 -5.09414598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.99264000000001 meters 0.013118781310510292 Centerline is valid? [True, True] Translation: X:119.44, Y:-16.54, Z:-5.09 [[ 9.79566178e-01 1.98929324e-01 2.96180092e-02 1.19444829e+02] [-1.98842367e-01 9.80013831e-01 -5.88262258e-03 -1.65385211e+01] [-3.01962848e-02 -1.26896927e-04 9.99543980e-01 -5.09307484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02264000000001 meters 0.022950407347493682 Centerline is valid? [True, True] Translation: X:119.47, Y:-16.54, Z:-5.10 [[ 9.79571616e-01 1.98735413e-01 3.07194419e-02 1.19472925e+02] [-1.98641791e-01 9.80053172e-01 -6.10071858e-03 -1.65427387e+01] [-3.13191153e-02 -1.26074198e-04 9.99509428e-01 -5.09529080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.05264000000001 meters 0.023760269303314374 Centerline is valid? [True, True] Translation: X:119.50, Y:-16.55, Z:-5.09 [[ 9.79661419e-01 1.98229049e-01 3.11247218e-02 1.19501471e+02] [-1.98132728e-01 9.80155718e-01 -6.17985069e-03 -1.65506642e+01] [-3.17320999e-02 -1.12664732e-04 9.99496404e-01 -5.09406059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08264000000001 meters 0.011827233515853155 Centerline is valid? [True, True] Translation: X:119.53, Y:-16.56, Z:-5.09 [[ 9.79819218e-01 1.97334202e-01 3.18357126e-02 1.19531357e+02] [-1.97232994e-01 9.80336271e-01 -6.31988551e-03 -1.65592267e+01] [-3.24568333e-02 -8.67076337e-05 9.99473134e-01 -5.09310224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.11264000000001 meters 0.021114654433767043 Centerline is valid? [True, True] Translation: X:119.56, Y:-16.57, Z:-5.10 [[ 9.80085377e-01 1.96004877e-01 3.18550095e-02 1.19559953e+02] [-1.95902839e-01 9.80602920e-01 -6.32386348e-03 -1.65674641e+01] [-3.24766234e-02 -4.25606621e-05 9.99472494e-01 -5.09572031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.14264000000001 meters 0.0247501270344501 Centerline is valid? [True, True] Translation: X:119.59, Y:-16.57, Z:-5.10 [[ 9.80216336e-01 1.95308714e-01 3.21004793e-02 1.19589251e+02] [-1.95204742e-01 9.80741814e-01 -6.37203148e-03 -1.65749409e+01] [-3.27267956e-02 -2.01964248e-05 9.99464335e-01 -5.09707003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.17264000000002 meters 0.01442456627874134 Centerline is valid? [True, True] Translation: X:119.62, Y:-16.58, Z:-5.10 [[ 9.80346441e-01 1.94713068e-01 3.17439238e-02 1.19617391e+02] [-1.94611077e-01 9.80860245e-01 -6.30140075e-03 -1.65821194e+01] [-3.23633180e-02 -1.63399704e-07 9.99476171e-01 -5.09829631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20264 meters 0.01679209444543848 Centerline is valid? [True, True] Translation: X:119.65, Y:-16.59, Z:-5.10 [[ 9.80440373e-01 1.94309410e-01 3.13133735e-02 1.19646749e+02] [-1.94209979e-01 9.80940290e-01 -6.21539060e-03 -1.65890273e+01] [-3.19242586e-02 1.24502775e-05 9.99490291e-01 -5.10026121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.23264 meters 0.02132461705850684 Centerline is valid? [True, True] Translation: X:119.68, Y:-16.60, Z:-5.10 [[ 9.80467551e-01 1.94324759e-01 3.03524290e-02 1.19675909e+02] [-1.94231369e-01 9.80937250e-01 -6.02392625e-03 -1.65963378e+01] [-3.09444262e-02 1.08704004e-05 9.99521107e-01 -5.10347318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26264 meters 0.025265609074616866 Centerline is valid? [True, True] Translation: X:119.71, Y:-16.60, Z:-5.11 [[ 9.80460003e-01 1.94395925e-01 3.01398027e-02 1.19705939e+02] [-1.94303798e-01 9.80923149e-01 -5.98414487e-03 -1.66036868e+01] [-3.07281236e-02 1.09365627e-05 9.99527780e-01 -5.10537524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.29264 meters 0.01186874429956267 Centerline is valid? [True, True] Translation: X:119.74, Y:-16.61, Z:-5.10 [[ 9.80367838e-01 1.94818988e-01 3.04049923e-02 1.19736313e+02] [-1.94725446e-01 9.80839213e-01 -6.03646135e-03 -1.66114487e+01] [-3.09984260e-02 -2.67312523e-06 9.99519433e-01 -5.10316799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32264 meters 0.0119128974276597 Centerline is valid? [True, True] Translation: X:119.77, Y:-16.62, Z:-5.10 [[ 9.79991409e-01 1.96519068e-01 3.15767986e-02 1.19765906e+02] [-1.96419045e-01 9.80500001e-01 -6.26947666e-03 -1.66174860e+01] [-3.21931228e-02 -5.82513584e-05 9.99481665e-01 -5.10323411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.35264000000001 meters 0.01215860153649104 Centerline is valid? [True, True] Translation: X:119.80, Y:-16.62, Z:-5.10 [[ 9.79738486e-01 1.97664802e-01 3.22664784e-02 1.19795373e+02] [-1.97560877e-01 9.80269666e-01 -6.40958886e-03 -1.66217812e+01] [-3.28968001e-02 -9.48728754e-05 9.99458749e-01 -5.10385039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38264000000001 meters 0.012441634741100657 Centerline is valid? [True, True] Translation: X:119.83, Y:-16.63, Z:-5.10 [[ 9.79450794e-01 1.99023422e-01 3.26468946e-02 1.19825330e+02] [-1.98917804e-01 9.79994723e-01 -6.48460537e-03 -1.66258605e+01] [-3.32843728e-02 -1.42696701e-04 9.99445912e-01 -5.10344834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.41264000000001 meters 0.014838624849986182 Centerline is valid? [True, True] Translation: X:119.85, Y:-16.63, Z:-5.11 [[ 9.78716539e-01 2.02509047e-01 3.32268431e-02 1.19854266e+02] [-2.02401639e-01 9.79280356e-01 -6.60008335e-03 -1.66251729e+01] [-3.38749713e-02 -2.65556776e-04 9.99426043e-01 -5.10507650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44264000000001 meters 0.01653647926968369 Centerline is valid? [True, True] Translation: X:119.88, Y:-16.63, Z:-5.11 [[ 9.78341540e-01 2.04409249e-01 3.26295955e-02 1.19882663e+02] [-2.04306744e-01 9.78885464e-01 -6.48089716e-03 -1.66277301e+01] [-3.32653921e-02 -3.25915505e-04 9.99446501e-01 -5.10692574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.47264000000001 meters 0.025074603697307147 Centerline is valid? [True, True] Translation: X:119.91, Y:-16.63, Z:-5.11 [[ 9.77904680e-01 2.06614279e-01 3.18273011e-02 1.19911633e+02] [-2.06517994e-01 9.78422396e-01 -6.31925640e-03 -1.66321494e+01] [-3.24461928e-02 -3.93279969e-04 9.99473406e-01 -5.10934591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.50264000000001 meters 0.022153509936542238 Centerline is valid? [True, True] Translation: X:119.94, Y:-16.63, Z:-5.11 [[ 9.77133280e-01 2.10328524e-01 3.11843690e-02 1.19940911e+02] [-2.10238000e-01 9.77630633e-01 -6.19098237e-03 -1.66326349e+01] [-3.17889346e-02 -5.06724462e-04 9.99494476e-01 -5.11163934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.53264000000001 meters 0.022478250986006875 Centerline is valid? [True, True] Translation: X:119.97, Y:-16.64, Z:-5.11 [[ 9.76813898e-01 2.11858272e-01 3.08331277e-02 1.19969829e+02] [-2.11770569e-01 9.77300245e-01 -6.12024736e-03 -1.66370722e+01] [-3.14298483e-02 -5.51206315e-04 9.99505808e-01 -5.11260118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56264000000002 meters 0.02890439270266485 Centerline is valid? [True, True] Translation: X:120.00, Y:-16.64, Z:-5.12 [[ 9.76533051e-01 2.13229364e-01 3.02727305e-02 1.19998237e+02] [-2.13145515e-01 9.77001994e-01 -6.00781110e-03 -1.66390347e+01] [-3.08575598e-02 -5.85670636e-04 9.99523621e-01 -5.11545481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59264 meters 0.027502049250045336 Centerline is valid? [True, True] Translation: X:120.03, Y:-16.64, Z:-5.12 [[ 9.76098603e-01 2.15199393e-01 3.03436624e-02 1.20027446e+02] [-2.15116175e-01 9.76569914e-01 -6.01953837e-03 -1.66365974e+01] [-3.09281088e-02 -6.51749581e-04 9.99521399e-01 -5.11711662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62264 meters 0.03578340261125468 Centerline is valid? [True, True] Translation: X:120.06, Y:-16.64, Z:-5.12 [[ 9.75962546e-01 2.15734981e-01 3.09116131e-02 1.20055133e+02] [-2.15648951e-01 9.76451715e-01 -6.13016128e-03 -1.66401100e+01] [-3.15061879e-02 -6.83249118e-04 9.99503323e-01 -5.11980986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.65264 meters 0.025819052196461557 Centerline is valid? [True, True] Translation: X:120.08, Y:-16.65, Z:-5.12 [[ 9.75953365e-01 2.15804603e-01 3.07148497e-02 1.20083308e+02] [-2.15719761e-01 9.76436330e-01 -6.08916099e-03 -1.66481190e+01] [-3.13051641e-02 -6.83062867e-04 9.99509640e-01 -5.11717735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68264 meters 0.028738116360758428 Centerline is valid? [True, True] Translation: X:120.11, Y:-16.65, Z:-5.12 [[ 9.76018596e-01 2.15522904e-01 3.06198862e-02 1.20111427e+02] [-2.15438492e-01 9.76498553e-01 -6.06893253e-03 -1.66468612e+01] [-3.12082686e-02 -6.73311089e-04 9.99512677e-01 -5.12074723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.71264000000001 meters 0.0307344812464642 Centerline is valid? [True, True] Translation: X:120.14, Y:-16.65, Z:-5.12 [[ 9.76143993e-01 2.14927652e-01 3.08059921e-02 1.20139785e+02] [-2.14841986e-01 9.76629750e-01 -6.10351380e-03 -1.66546382e+01] [-3.13978622e-02 -6.60512176e-04 9.99506747e-01 -5.12156753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74264000000001 meters 0.024826752422223496 Centerline is valid? [True, True] Translation: X:120.17, Y:-16.66, Z:-5.12 [[ 9.76377690e-01 2.13866324e-01 3.07863939e-02 1.20168431e+02] [-2.13780272e-01 9.76862735e-01 -6.09862343e-03 -1.66607838e+01] [-3.13783711e-02 -6.26963779e-04 9.99507381e-01 -5.12127131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.77264000000001 meters 0.024826752422223496 Centerline is valid? [True, True] Translation: X:120.20, Y:-16.67, Z:-5.12 [[ 9.76388117e-01 2.13818673e-01 3.07866916e-02 1.20196218e+02] [-2.13732644e-01 9.76873166e-01 -6.09711970e-03 -1.66661972e+01] [-3.13783710e-02 -6.26965780e-04 9.99507381e-01 -5.12252123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80264000000001 meters 0.02266934991308882 Centerline is valid? [True, True] Translation: X:120.22, Y:-16.67, Z:-5.12 [[ 9.76996095e-01 2.11082732e-01 3.03761499e-02 1.20223237e+02] [-2.10997702e-01 9.77468054e-01 -6.01446287e-03 -1.66718520e+01] [-3.09612654e-02 -5.33191095e-04 9.99520443e-01 -5.12482494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.83264000000001 meters 0.02199820427218697 Centerline is valid? [True, True] Translation: X:120.25, Y:-16.68, Z:-5.13 [[ 9.77369936e-01 2.09311611e-01 3.06048591e-02 1.20250436e+02] [-2.09224488e-01 9.77848872e-01 -6.05779363e-03 -1.66775948e+01] [-3.11948935e-02 -4.82580608e-04 9.99513204e-01 -5.12701012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86264000000001 meters 0.01927759295330161 Centerline is valid? [True, True] Translation: X:120.28, Y:-16.69, Z:-5.13 [[ 9.77829972e-01 2.07145356e-01 3.06487736e-02 1.20278330e+02] [-2.07056984e-01 9.78310088e-01 -6.06440440e-03 -1.66869600e+01] [-3.12402176e-02 -4.16086234e-04 9.99511819e-01 -5.12715561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.89264000000001 meters 0.015680277738832047 Centerline is valid? [True, True] Translation: X:120.30, Y:-16.70, Z:-5.13 [[ 9.78768589e-01 2.02604394e-01 3.10404306e-02 1.20304885e+02] [-2.02511519e-01 9.79260631e-01 -6.14015306e-03 -1.66986448e+01] [-3.16406937e-02 -2.76255814e-04 9.99499270e-01 -5.12758651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92264000000002 meters 0.018717281450233214 Centerline is valid? [True, True] Translation: X:120.33, Y:-16.71, Z:-5.13 [[ 9.79179323e-01 2.00532478e-01 3.15369466e-02 1.20332753e+02] [-2.00435567e-01 9.79687031e-01 -6.23729602e-03 -1.67065715e+01] [-3.21471180e-02 -2.13694479e-04 9.99483125e-01 -5.12957340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95264 meters 0.015684311455469082 Centerline is valid? [True, True] Translation: X:120.36, Y:-16.71, Z:-5.13 [[ 9.79536355e-01 1.98784848e-01 3.15137122e-02 1.20361558e+02] [-1.98687235e-01 9.80043141e-01 -6.23084120e-03 -1.67141165e+01] [-3.21233944e-02 -1.58036878e-04 9.99483898e-01 -5.12912544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98264 meters 0.012784718571663304 Centerline is valid? [True, True] Translation: X:120.39, Y:-16.72, Z:-5.13 [[ 9.79860316e-01 1.97196932e-01 3.14186357e-02 1.20389475e+02] [-1.97099117e-01 9.80363891e-01 -6.21123099e-03 -1.67191247e+01] [-3.20265316e-02 -1.06446597e-04 9.99487013e-01 -5.13029103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.01264 meters 0.012842988743562513 Centerline is valid? [True, True] Translation: X:120.42, Y:-16.72, Z:-5.13 [[ 9.79844461e-01 1.97353163e-01 3.09283307e-02 1.20418788e+02] [-1.97258479e-01 9.80332452e-01 -6.11356436e-03 -1.67236585e+01] [-3.15265776e-02 -1.10533309e-04 9.99502908e-01 -5.13139151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04264 meters 0.013122602042223833 Centerline is valid? [True, True] Translation: X:120.45, Y:-16.73, Z:-5.13 [[ 9.79758486e-01 1.97834448e-01 3.05751692e-02 1.20447778e+02] [-1.97742173e-01 9.80235439e-01 -6.04298733e-03 -1.67273374e+01] [-3.11663755e-02 -1.25332289e-04 9.99514203e-01 -5.13380587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.07264 meters 0.022486813429973253 Centerline is valid? [True, True] Translation: X:120.48, Y:-16.73, Z:-5.14 [[ 9.79397586e-01 1.99577097e-01 3.08115494e-02 1.20475965e+02] [-1.99484260e-01 9.79882110e-01 -6.08938331e-03 -1.67277808e+01] [-3.14069874e-02 -1.82491826e-04 9.99506662e-01 -5.13815840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10264000000001 meters 0.014808875666646282 Centerline is valid? [True, True] Translation: X:120.50, Y:-16.73, Z:-5.14 [[ 9.79283415e-01 2.00168118e-01 3.06058544e-02 1.20504325e+02] [-2.00076872e-01 9.79761544e-01 -6.04662624e-03 -1.67319601e+01] [-3.11967809e-02 -2.02162800e-04 9.99513242e-01 -5.13807948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.13264000000001 meters 0.014175869855733424 Centerline is valid? [True, True] Translation: X:120.53, Y:-16.74, Z:-5.14 [[ 9.79228345e-01 2.00441562e-01 3.05782283e-02 1.20532406e+02] [-2.00350659e-01 9.79705637e-01 -6.03970758e-03 -1.67369132e+01] [-3.11682711e-02 -2.12115340e-04 9.99514129e-01 -5.13750386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16264000000001 meters 0.024982276491681246 Centerline is valid? [True, True] Translation: X:120.56, Y:-16.74, Z:-5.14 [[ 9.79187778e-01 2.00580687e-01 3.09626229e-02 1.20561740e+02] [-2.00487592e-01 9.79677161e-01 -6.11441199e-03 -1.67392039e+01] [-3.15598074e-02 -2.20464222e-04 9.99501841e-01 -5.14045398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.19264000000001 meters 0.041313083300541925 Centerline is valid? [True, True] Translation: X:120.59, Y:-16.74, Z:-5.14 [[ 9.79286833e-01 2.00054934e-01 3.12301416e-02 1.20589291e+02] [-1.99960051e-01 9.79784660e-01 -6.16425048e-03 -1.67429639e+01] [-3.18320024e-02 -2.08211388e-04 9.99493212e-01 -5.14286246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22264000000001 meters 0.013867402121248394 Centerline is valid? [True, True] Translation: X:120.62, Y:-16.75, Z:-5.14 [[ 9.79639315e-01 1.98477318e-01 3.02252777e-02 1.20617086e+02] [-1.98387756e-01 9.80105469e-01 -5.96387017e-03 -1.67488860e+01] [-3.08076529e-02 -1.53883325e-04 9.99525320e-01 -5.14387911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.25264000000001 meters 0.013326781791189025 Centerline is valid? [True, True] Translation: X:120.65, Y:-16.76, Z:-5.15 [[ 9.79856773e-01 1.97422330e-01 3.00853611e-02 1.20645525e+02] [-1.97333144e-01 9.80318524e-01 -5.93475978e-03 -1.67557957e+01] [-3.06648909e-02 -1.21624341e-04 9.99529714e-01 -5.14539694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.28264000000001 meters 0.01321388304322689 Centerline is valid? [True, True] Translation: X:120.67, Y:-16.76, Z:-5.15 [[ 9.79996447e-01 1.96771988e-01 2.97951099e-02 1.20673802e+02] [-1.96684260e-01 9.80449272e-01 -5.87599099e-03 -1.67618194e+01] [-3.03688242e-02 -1.01778865e-04 9.99538756e-01 -5.14753751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.31264000000002 meters 0.013351889448593135 Centerline is valid? [True, True] Translation: X:120.70, Y:-16.77, Z:-5.15 [[ 9.80062805e-01 1.96489899e-01 2.94723324e-02 1.20701794e+02] [-1.96403979e-01 9.80505844e-01 -5.81085532e-03 -1.67672028e+01] [-3.00395686e-02 -9.34802012e-05 9.99548706e-01 -5.14927232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34264 meters 0.013171194798651732 Centerline is valid? [True, True] Translation: X:120.73, Y:-16.77, Z:-5.15 [[ 9.80117985e-01 1.96235322e-01 2.93331699e-02 1.20730304e+02] [-1.96150142e-01 9.80556827e-01 -5.78195307e-03 -1.67714282e+01] [-2.98974634e-02 -8.67092409e-05 9.99552967e-01 -5.14986371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.37264 meters 0.024256151318397336 Centerline is valid? [True, True] Translation: X:120.76, Y:-16.78, Z:-5.15 [[ 9.80132052e-01 1.96095114e-01 2.97970980e-02 1.20757388e+02] [-1.96007195e-01 9.80584876e-01 -5.87200285e-03 -1.67756742e+01] [-3.03700547e-02 -8.51074086e-05 9.99538720e-01 -5.15484404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40264 meters 0.013083039491798025 Centerline is valid? [True, True] Translation: X:120.79, Y:-16.78, Z:-5.15 [[ 9.80229161e-01 1.95627037e-01 2.96792024e-02 1.20785819e+02] [-1.95539660e-01 9.80678366e-01 -5.84672441e-03 -1.67817736e+01] [-3.02495291e-02 -7.23313829e-05 9.99542376e-01 -5.15315688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.43264 meters 0.012498138134974949 Centerline is valid? [True, True] Translation: X:120.81, Y:-16.79, Z:-5.15 [[ 9.80373386e-01 1.94745992e-01 3.06923914e-02 1.20813701e+02] [-1.94652165e-01 9.80853708e-01 -6.04470063e-03 -1.67882225e+01] [-3.12819272e-02 -4.82768233e-05 9.99510600e-01 -5.15225935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46264000000001 meters 0.012285431149085547 Centerline is valid? [True, True] Translation: X:120.84, Y:-16.79, Z:-5.15 [[ 9.80426898e-01 1.94443528e-01 3.09000256e-02 1.20842773e+02] [-1.94348337e-01 9.80913713e-01 -6.08367738e-03 -1.67938496e+01] [-3.14931906e-02 -4.07676641e-05 9.99503966e-01 -5.15280274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.49264000000001 meters 0.012924722569683201 Centerline is valid? [True, True] Translation: X:120.87, Y:-16.80, Z:-5.16 [[ 9.80512794e-01 1.94039557e-01 3.07133851e-02 1.20870934e+02] [-1.93945339e-01 9.80993705e-01 -6.04614309e-03 -1.67992114e+01] [-3.13028284e-02 -2.83972549e-05 9.99509946e-01 -5.15756756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52264000000001 meters 0.020774732965776112 Centerline is valid? [True, True] Translation: X:120.90, Y:-16.80, Z:-5.16 [[ 9.80453139e-01 1.94404758e-01 3.03056640e-02 1.20899287e+02] [-1.94313215e-01 9.80921398e-01 -5.96540509e-03 -1.68040246e+01] [-3.08871775e-02 -3.99908690e-05 9.99522877e-01 -5.15958266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.55264000000001 meters 0.012798178696275989 Centerline is valid? [True, True] Translation: X:120.93, Y:-16.81, Z:-5.16 [[ 9.80285659e-01 1.95286297e-01 3.00547684e-02 1.20927683e+02] [-1.95196723e-01 9.80746276e-01 -5.91455992e-03 -1.68087214e+01] [-3.06311347e-02 -6.86340293e-05 9.99530754e-01 -5.15827209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58264000000001 meters 0.015216307181715665 Centerline is valid? [True, True] Translation: X:120.96, Y:-16.81, Z:-5.17 [[ 9.79747507e-01 1.98037958e-01 2.95937435e-02 1.20956150e+02] [-1.97952405e-01 9.80194340e-01 -5.82251409e-03 -1.68083810e+01] [-3.01606987e-02 -1.53559028e-04 9.99545051e-01 -5.16510766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.61264000000001 meters 0.015563590668598349 Centerline is valid? [True, True] Translation: X:120.98, Y:-16.81, Z:-5.17 [[ 9.79369216e-01 2.00040525e-01 2.86308743e-02 1.20984506e+02] [-1.99961362e-01 9.79787602e-01 -5.63112141e-03 -1.68118954e+01] [-2.91786281e-02 -2.10121644e-04 9.99574191e-01 -5.16542656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64264000000001 meters 0.017672518296502994 Centerline is valid? [True, True] Translation: X:121.01, Y:-16.81, Z:-5.17 [[ 9.79016678e-01 2.01848866e-01 2.79889234e-02 1.21012263e+02] [-2.01773986e-01 9.79416647e-01 -5.50368651e-03 -1.68127420e+01] [-2.85237304e-02 -2.59235755e-04 9.99593082e-01 -5.16961232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.67264000000002 meters 0.019137176775038876 Centerline is valid? [True, True] Translation: X:121.04, Y:-16.81, Z:-5.17 [[ 9.78399248e-01 2.04813593e-01 2.80410936e-02 1.21041857e+02] [-2.04739706e-01 9.78800935e-01 -5.51198657e-03 -1.68118939e+01] [-2.85755784e-02 -3.48201742e-04 9.99591574e-01 -5.16973174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70264 meters 0.025836109016123078 Centerline is valid? [True, True] Translation: X:121.07, Y:-16.81, Z:-5.17 [[ 9.78173006e-01 2.05756140e-01 2.90169179e-02 1.21070227e+02] [-2.05677469e-01 9.78603218e-01 -5.70261677e-03 -1.68143126e+01] [-2.95693976e-02 -3.89980440e-04 9.99562654e-01 -5.17111028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.73264 meters 0.036664250471017054 Centerline is valid? [True, True] Translation: X:121.10, Y:-16.82, Z:-5.17 [[ 9.78050721e-01 2.06217188e-01 2.98539399e-02 1.21098012e+02] [-2.06134204e-01 9.78506156e-01 -5.86458955e-03 -1.68175218e+01] [-3.04216431e-02 -4.18052080e-04 9.99537067e-01 -5.17204788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76264 meters 0.01952495339106297 Centerline is valid? [True, True] Translation: X:121.13, Y:-16.82, Z:-5.17 [[ 9.77939356e-01 2.06767641e-01 2.96944327e-02 1.21126436e+02] [-2.06685855e-01 9.78389980e-01 -5.83126935e-03 -1.68233559e+01] [-3.02584533e-02 -4.34791418e-04 9.99542014e-01 -5.16992745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.79264 meters 0.027769840789475208 Centerline is valid? [True, True] Translation: X:121.16, Y:-16.83, Z:-5.17 [[ 9.77906280e-01 2.06925017e-01 2.96874525e-02 1.21155253e+02] [-2.06843389e-01 9.78356705e-01 -5.82834889e-03 -1.68277368e+01] [-3.02509494e-02 -4.41074298e-04 9.99542238e-01 -5.17235234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82264 meters 0.020554844253451537 Centerline is valid? [True, True] Translation: X:121.18, Y:-16.83, Z:-5.17 [[ 9.77871928e-01 2.06996515e-01 3.03139617e-02 1.21183608e+02] [-2.06911484e-01 9.78341575e-01 -5.94987414e-03 -1.68289657e+01] [-3.08890122e-02 -4.54091918e-04 9.99522717e-01 -5.17303164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.85264000000001 meters 0.020369333161203804 Centerline is valid? [True, True] Translation: X:121.21, Y:-16.83, Z:-5.17 [[ 9.77871906e-01 2.06962069e-01 3.05489372e-02 1.21211203e+02] [-2.06875757e-01 9.78348860e-01 -5.99411761e-03 -1.68332573e+01] [-3.11280729e-02 -4.58355294e-04 9.99515299e-01 -5.17346519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88264000000001 meters 0.020548595640923106 Centerline is valid? [True, True] Translation: X:121.24, Y:-16.84, Z:-5.18 [[ 9.77917697e-01 2.06718505e-01 3.07316876e-02 1.21239279e+02] [-2.06631107e-01 9.78400354e-01 -6.02772265e-03 -1.68359102e+01] [-3.13139358e-02 -4.55505983e-04 9.99509495e-01 -5.17525908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.91264000000001 meters 0.01951530576330418 Centerline is valid? [True, True] Translation: X:121.27, Y:-16.84, Z:-5.18 [[ 9.78009518e-01 2.06259969e-01 3.08902476e-02 1.21267982e+02] [-2.06171535e-01 9.78497126e-01 -6.05572736e-03 -1.68405897e+01] [-3.14750727e-02 -4.46130768e-04 9.99504438e-01 -5.17583070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94264000000001 meters 0.01903359620771032 Centerline is valid? [True, True] Translation: X:121.30, Y:-16.85, Z:-5.18 [[ 9.78233680e-01 2.05229218e-01 3.06567391e-02 1.21295623e+02] [-2.05141646e-01 9.78713850e-01 -6.00881105e-03 -1.68450944e+01] [-3.12373587e-02 -4.10952578e-04 9.99511910e-01 -5.17762533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.97264000000001 meters 0.016820586890734818 Centerline is valid? [True, True] Translation: X:121.32, Y:-16.85, Z:-5.18 [[ 9.79021707e-01 2.01367958e-01 3.11037564e-02 1.21322263e+02] [-2.01275958e-01 9.79515625e-01 -6.09343926e-03 -1.68530780e+01] [-3.16936388e-02 -2.94829078e-04 9.99497587e-01 -5.17979747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.00264000000001 meters 0.014170592748614933 Centerline is valid? [True, True] Translation: X:121.35, Y:-16.86, Z:-5.18 [[ 9.79513647e-01 1.98785179e-01 3.22097503e-02 1.21349740e+02] [-1.98685197e-01 9.80043062e-01 -6.30781755e-03 -1.68620693e+01] [-3.28208430e-02 -2.21007222e-04 9.99461227e-01 -5.17775352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.03264000000001 meters 0.012027367990273603 Centerline is valid? [True, True] Translation: X:121.38, Y:-16.87, Z:-5.18 [[ 9.80574706e-01 1.93414593e-01 3.26196564e-02 1.21375658e+02] [-1.93309127e-01 9.81117115e-01 -6.38653236e-03 -1.68738780e+01] [-3.32389517e-02 -4.32052204e-05 9.99447432e-01 -5.17747052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06264000000002 meters 0.03054943019199981 Centerline is valid? [True, True] Translation: X:121.40, Y:-16.88, Z:-5.18 [[ 9.81143920e-01 1.90432613e-01 3.30458376e-02 1.21402020e+02] [-1.90322751e-01 9.81700268e-01 -6.46787939e-03 -1.68834763e+01] [-3.36728028e-02 5.65457995e-05 9.99432909e-01 -5.18072694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09264 meters 0.012496180625305168 Centerline is valid? [True, True] Translation: X:121.43, Y:-16.89, Z:-5.18 [[ 9.81615694e-01 1.87989448e-01 3.30241909e-02 1.21430268e+02] [-1.87878437e-01 9.82171038e-01 -6.46100971e-03 -1.68928374e+01] [-3.36500055e-02 1.37695179e-04 9.99433669e-01 -5.17901857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12264 meters 0.02628064998982988 Centerline is valid? [True, True] Translation: X:121.46, Y:-16.90, Z:-5.18 [[ 9.82087171e-01 1.85469978e-01 3.32517055e-02 1.21458003e+02] [-1.85356015e-01 9.82649905e-01 -6.50468209e-03 -1.69012682e+01] [-3.38812085e-02 2.24761201e-04 9.99425842e-01 -5.18155179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.15264 meters 0.016335742881201702 Centerline is valid? [True, True] Translation: X:121.49, Y:-16.91, Z:-5.18 [[ 9.82850996e-01 1.81304372e-01 3.36547788e-02 1.21486853e+02] [-1.81185227e-01 9.83426960e-01 -6.58232407e-03 -1.69136667e+01] [-3.42904209e-02 3.71695013e-04 9.99411841e-01 -5.18073869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18264 meters 0.030620196980036055 Centerline is valid? [True, True] Translation: X:121.52, Y:-16.92, Z:-5.18 [[ 9.83211950e-01 1.79282662e-01 3.39409657e-02 1.21516087e+02] [-1.79160277e-01 9.83797504e-01 -6.63829754e-03 -1.69232634e+01] [-3.45811690e-02 4.45980640e-04 9.99401793e-01 -5.18326638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.21264000000001 meters 0.02390335176349585 Centerline is valid? [True, True] Translation: X:121.55, Y:-16.93, Z:-5.18 [[ 9.83474972e-01 1.77882379e-01 3.36873652e-02 1.21546416e+02] [-1.77761003e-01 9.84051634e-01 -6.58845534e-03 -1.69332323e+01] [-3.43220769e-02 4.91281093e-04 9.99410703e-01 -5.18482228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24264000000001 meters 0.021243707641946427 Centerline is valid? [True, True] Translation: X:121.58, Y:-16.95, Z:-5.19 [[ 9.83875584e-01 1.75911446e-01 3.23109700e-02 1.21576507e+02] [-1.75798756e-01 9.84405849e-01 -6.31837028e-03 -1.69459159e+01] [-3.29185815e-02 5.36261920e-04 9.99457893e-01 -5.18706042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.27264000000001 meters 0.02329302199153427 Centerline is valid? [True, True] Translation: X:121.61, Y:-16.95, Z:-5.19 [[ 9.84025560e-01 1.75136412e-01 3.19520711e-02 1.21608036e+02] [-1.75025623e-01 9.84544017e-01 -6.25373935e-03 -1.69541606e+01] [-3.25534779e-02 5.61408197e-04 9.99469837e-01 -5.18972132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30264000000001 meters 0.023083318057609607 Centerline is valid? [True, True] Translation: X:121.64, Y:-16.96, Z:-5.19 [[ 9.84122998e-01 1.74647583e-01 3.16250941e-02 1.21637595e+02] [-1.74538613e-01 9.84630839e-01 -6.19547146e-03 -1.69637366e+01] [-3.22210670e-02 5.77305883e-04 9.99480600e-01 -5.19121437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.33264000000001 meters 0.02539069766500216 Centerline is valid? [True, True] Translation: X:121.67, Y:-16.98, Z:-5.19 [[ 9.84226227e-01 1.73945309e-01 3.22763766e-02 1.21666358e+02] [-1.73831246e-01 9.84755121e-01 -6.32853584e-03 -1.69776278e+01] [-3.28851462e-02 6.18068179e-04 9.99458946e-01 -5.19304508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36264000000001 meters 0.023510078795325583 Centerline is valid? [True, True] Translation: X:121.70, Y:-16.98, Z:-5.19 [[ 9.84195172e-01 1.74067800e-01 3.25617004e-02 1.21699102e+02] [-1.73951616e-01 9.84733472e-01 -6.38938109e-03 -1.69836611e+01] [-3.31767819e-02 6.24237628e-04 9.99449304e-01 -5.19205480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.39264000000001 meters 0.0241921504762702 Centerline is valid? [True, True] Translation: X:121.73, Y:-16.99, Z:-5.19 [[ 9.84143168e-01 1.74393539e-01 3.23901016e-02 1.21729862e+02] [-1.74278532e-01 9.84675842e-01 -6.36235932e-03 -1.69926840e+01] [-3.30033049e-02 6.16573083e-04 9.99455052e-01 -5.19385617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.42264000000002 meters 0.023375309771215016 Centerline is valid? [True, True] Translation: X:121.76, Y:-17.00, Z:-5.20 [[ 9.84052403e-01 1.75140300e-01 3.10925057e-02 1.21760941e+02] [-1.75034527e-01 9.84543319e-01 -6.11288522e-03 -1.70031762e+01] [-3.16825313e-02 5.73137346e-04 9.99497818e-01 -5.19677867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45264 meters 0.03255762039074716 Centerline is valid? [True, True] Translation: X:121.79, Y:-17.01, Z:-5.20 [[ 9.84009724e-01 1.75301060e-01 3.15341406e-02 1.21791022e+02] [-1.75192121e-01 9.84514702e-01 -6.20662066e-03 -1.70132021e+01] [-3.21338523e-02 5.82842105e-04 9.99483404e-01 -5.20087966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48264 meters 0.02250375866946293 Centerline is valid? [True, True] Translation: X:121.82, Y:-17.02, Z:-5.20 [[ 9.83899556e-01 1.75967596e-01 3.12580913e-02 1.21822881e+02] [-1.75860696e-01 9.84395799e-01 -6.15845050e-03 -1.70209838e+01] [-3.18540215e-02 5.62227018e-04 9.99492374e-01 -5.19954340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.51264 meters 0.022290692796080182 Centerline is valid? [True, True] Translation: X:121.85, Y:-17.03, Z:-5.20 [[ 9.83822729e-01 1.76420877e-01 3.11209136e-02 1.21853064e+02] [-1.76315127e-01 9.84314673e-01 -6.13185314e-03 -1.70322060e+01] [-3.17145588e-02 5.45568665e-04 9.99496818e-01 -5.20141900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54264 meters 0.03210296306333852 Centerline is valid? [True, True] Translation: X:121.88, Y:-17.04, Z:-5.20 [[ 9.83760345e-01 1.76688105e-01 3.15736846e-02 1.21883826e+02] [-1.76579189e-01 9.84266737e-01 -6.22735766e-03 -1.70407806e+01] [-3.21772275e-02 5.50971889e-04 9.99482027e-01 -5.20423139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.57264 meters 0.022764297747300773 Centerline is valid? [True, True] Translation: X:121.91, Y:-17.05, Z:-5.20 [[ 9.83529023e-01 1.77935621e-01 3.17738293e-02 1.21913088e+02] [-1.77825758e-01 9.84041993e-01 -6.27336858e-03 -1.70515601e+01] [-3.23830380e-02 5.19834780e-04 9.99475397e-01 -5.20496123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60264000000001 meters 0.02869192809820073 Centerline is valid? [True, True] Translation: X:121.94, Y:-17.06, Z:-5.21 [[ 9.83147727e-01 1.79915338e-01 3.24194173e-02 1.21943787e+02] [-1.79801954e-01 9.83681988e-01 -6.40343678e-03 -1.70599130e+01] [-3.30424734e-02 4.66449744e-04 9.99453840e-01 -5.20708676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.63264000000001 meters 0.01794330320589086 Centerline is valid? [True, True] Translation: X:121.98, Y:-17.07, Z:-5.21 [[ 9.82734175e-01 1.82405777e-01 3.10108541e-02 1.21975292e+02] [-1.82303117e-01 9.83223268e-01 -6.13014703e-03 -1.70653413e+01] [-3.16087676e-02 3.70929606e-04 9.99500249e-01 -5.20734622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66264000000001 meters 0.01794330320589086 Centerline is valid? [True, True] Translation: X:122.01, Y:-17.07, Z:-5.21 [[ 9.82698630e-01 1.82597347e-01 3.10098682e-02 1.22007122e+02] [-1.82494624e-01 9.83187710e-01 -6.13512976e-03 -1.70718256e+01] [-3.16087797e-02 3.69849363e-04 9.99500249e-01 -5.20878072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.69264000000001 meters 0.016439244152842283 Centerline is valid? [True, True] Translation: X:122.04, Y:-17.08, Z:-5.21 [[ 9.82272775e-01 1.84991846e-01 3.03020147e-02 1.22038997e+02] [-1.84894706e-01 9.82740012e-01 -6.00135210e-03 -1.70775047e+01] [-3.08892035e-02 2.92282689e-04 9.99522772e-01 -5.21190294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72264000000001 meters 0.02932988827593825 Centerline is valid? [True, True] Translation: X:122.07, Y:-17.08, Z:-5.22 [[ 9.81815434e-01 1.87528880e-01 2.95190191e-02 1.22070450e+02] [-1.87437691e-01 9.82259067e-01 -5.85129580e-03 -1.70815958e+01] [-3.00926111e-02 2.11915756e-04 9.99547092e-01 -5.21549465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.75264000000001 meters 0.01414673697265791 Centerline is valid? [True, True] Translation: X:122.10, Y:-17.08, Z:-5.22 [[ 9.80769954e-01 1.93146389e-01 2.80137625e-02 1.22100716e+02] [-1.93066350e-01 9.81169950e-01 -5.56003847e-03 -1.70844704e+01] [-2.85601633e-02 4.46038035e-05 9.99592074e-01 -5.22012709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.78264000000001 meters 0.013755339948862846 Centerline is valid? [True, True] Translation: X:122.13, Y:-17.09, Z:-5.22 [[ 9.80339575e-01 1.95329570e-01 2.79405958e-02 1.22131260e+02] [-1.95250820e-01 9.80737660e-01 -5.54606370e-03 -1.70891737e+01] [-2.84857048e-02 -1.83985071e-05 9.99594200e-01 -5.22088949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.81264000000002 meters 0.025775404309218923 Centerline is valid? [True, True] Translation: X:122.16, Y:-17.09, Z:-5.22 [[ 9.80054549e-01 1.96682560e-01 2.84438215e-02 1.22161155e+02] [-1.96601516e-01 9.80467219e-01 -5.64595140e-03 -1.70940475e+01] [-2.89986948e-02 -5.87580930e-05 9.99579448e-01 -5.22185256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84264 meters 0.014392239245642766 Centerline is valid? [True, True] Translation: X:122.19, Y:-17.10, Z:-5.22 [[ 9.79422015e-01 1.99885068e-01 2.79011875e-02 1.22191210e+02] [-1.99808385e-01 9.79819339e-01 -5.53824136e-03 -1.70989218e+01] [-2.84451349e-02 -1.50615723e-04 9.99595344e-01 -5.22144950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.87264 meters 0.022940821399803246 Centerline is valid? [True, True] Translation: X:122.22, Y:-17.10, Z:-5.22 [[ 9.79333464e-01 2.00268404e-01 2.82583209e-02 1.22220389e+02] [-2.00189899e-01 9.79741057e-01 -5.60932399e-03 -1.71048921e+01] [-2.88092076e-02 -1.63631727e-04 9.99584915e-01 -5.22386711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90264 meters 0.014611397943004175 Centerline is valid? [True, True] Translation: X:122.25, Y:-17.11, Z:-5.22 [[ 9.79194077e-01 2.00897148e-01 2.86233520e-02 1.22250336e+02] [-2.00816887e-01 9.79612322e-01 -5.68121804e-03 -1.71127363e+01] [-2.91811288e-02 -1.85037383e-04 9.99574123e-01 -5.22287226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.93264 meters 0.014685647760670675 Centerline is valid? [True, True] Translation: X:122.28, Y:-17.12, Z:-5.22 [[ 9.79185275e-01 2.00783924e-01 2.96987080e-02 1.22279356e+02] [-2.00697471e-01 9.79635534e-01 -5.89448097e-03 -1.71210268e+01] [-3.02774267e-02 -1.88666614e-04 9.99541516e-01 -5.22330939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96264000000001 meters 0.02468360925785483 Centerline is valid? [True, True] Translation: X:122.31, Y:-17.13, Z:-5.23 [[ 9.79299072e-01 2.00151528e-01 3.02108165e-02 1.22309998e+02] [-2.00061759e-01 9.79764939e-01 -5.99636135e-03 -1.71287983e+01] [-3.07996797e-02 -1.71797980e-04 9.99525563e-01 -5.22516218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.99264000000001 meters 0.01421942906356063 Centerline is valid? [True, True] Translation: X:122.34, Y:-17.14, Z:-5.23 [[ 9.79327922e-01 2.00007431e-01 3.02299156e-02 1.22339603e+02] [-1.99917451e-01 9.79794366e-01 -6.00108660e-03 -1.71373017e+01] [-3.08193629e-02 -1.66456013e-04 9.99524957e-01 -5.22509798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02264000000001 meters 0.022687268504024985 Centerline is valid? [True, True] Translation: X:122.37, Y:-17.15, Z:-5.23 [[ 9.79488758e-01 1.98925720e-01 3.20987650e-02 1.22369225e+02] [-1.98823727e-01 9.80014560e-01 -6.37085540e-03 -1.71488770e+01] [-3.27245841e-02 -1.41814848e-04 9.99464397e-01 -5.22516098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.05264000000001 meters 0.01304412627970821 Centerline is valid? [True, True] Translation: X:122.40, Y:-17.16, Z:-5.22 [[ 9.79478293e-01 1.98970121e-01 3.21428879e-02 1.22401267e+02] [-1.98867715e-01 9.80005547e-01 -6.38438416e-03 -1.71580762e+01] [-3.27705101e-02 -1.38816961e-04 9.99462893e-01 -5.22432233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08264000000001 meters 0.012793513614225252 Centerline is valid? [True, True] Translation: X:122.43, Y:-17.17, Z:-5.23 [[ 9.79514187e-01 1.98769615e-01 3.22892775e-02 1.22433314e+02] [-1.98665950e-01 9.80046236e-01 -6.41997339e-03 -1.71674407e+01] [-3.29210805e-02 -1.26324993e-04 9.99457946e-01 -5.22515868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.11264000000001 meters 0.013122005758828976 Centerline is valid? [True, True] Translation: X:122.46, Y:-17.18, Z:-5.23 [[ 9.79534535e-01 1.98721021e-01 3.19695414e-02 1.22464221e+02] [-1.98619136e-01 9.80056091e-01 -6.36369286e-03 -1.71761734e+01] [-3.25965433e-02 -1.16305758e-04 9.99468585e-01 -5.22789100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.14264000000001 meters 0.012963673392965818 Centerline is valid? [True, True] Translation: X:122.50, Y:-17.19, Z:-5.23 [[ 9.79585290e-01 1.98541729e-01 3.15252430e-02 1.22495412e+02] [-1.98442466e-01 9.80092430e-01 -6.27829134e-03 -1.71864689e+01] [-3.21441548e-02 -1.05825116e-04 9.99483238e-01 -5.22940464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.17264000000002 meters 0.013159577672257831 Centerline is valid? [True, True] Translation: X:122.53, Y:-17.20, Z:-5.23 [[ 9.79690589e-01 1.98116114e-01 3.09249906e-02 1.22525941e+02] [-1.98020187e-01 9.80178554e-01 -6.16501317e-03 -1.71958981e+01] [-3.15334010e-02 -8.39670330e-05 9.99502695e-01 -5.23315860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20264000000002 meters 0.012984033961635853 Centerline is valid? [True, True] Translation: X:122.56, Y:-17.20, Z:-5.23 [[ 9.79719450e-01 1.98001690e-01 3.07429687e-02 1.22557679e+02] [-1.97906656e-01 9.80201676e-01 -6.13435889e-03 -1.72047661e+01] [-3.13489228e-02 -7.42874114e-05 9.99508499e-01 -5.23378092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.23264 meters 0.01260836258142258 Centerline is valid? [True, True] Translation: X:122.59, Y:-17.21, Z:-5.23 [[ 9.79723995e-01 1.97962578e-01 3.08498063e-02 1.22589331e+02] [-1.97866669e-01 9.80209576e-01 -6.16184476e-03 -1.72141342e+01] [-3.14590903e-02 -6.72412380e-05 9.99505038e-01 -5.23434893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26264 meters 0.013288155672679054 Centerline is valid? [True, True] Translation: X:122.62, Y:-17.22, Z:-5.24 [[ 9.79653551e-01 1.98345739e-01 3.06249455e-02 1.22620609e+02] [-1.98251205e-01 9.80132115e-01 -6.12348449e-03 -1.72212374e+01] [-3.12310597e-02 -7.25390151e-05 9.99512189e-01 -5.23870088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.29264 meters 0.013103885389050395 Centerline is valid? [True, True] Translation: X:122.65, Y:-17.23, Z:-5.24 [[ 9.79566521e-01 1.98837199e-01 3.02192029e-02 1.22652558e+02] [-1.98745211e-01 9.80032531e-01 -6.04808710e-03 -1.72284486e+01] [-3.08183866e-02 -8.14182220e-05 9.99524997e-01 -5.23878175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32264 meters 0.013473369695096736 Centerline is valid? [True, True] Translation: X:122.68, Y:-17.23, Z:-5.24 [[ 9.79274474e-01 2.00255549e-01 3.03186320e-02 1.22683712e+02] [-2.00163436e-01 9.79743691e-01 -6.07441102e-03 -1.72332792e+01] [-3.09209229e-02 -1.20165885e-04 9.99521827e-01 -5.24050834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.35264000000001 meters 0.013831636699645548 Centerline is valid? [True, True] Translation: X:122.72, Y:-17.24, Z:-5.24 [[ 9.79065094e-01 2.01187464e-01 3.09054250e-02 1.22715292e+02] [-2.01092022e-01 9.79552746e-01 -6.19806041e-03 -1.72389354e+01] [-3.15204660e-02 -1.46529807e-04 9.99503096e-01 -5.24243304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38264000000001 meters 0.02563889667388279 Centerline is valid? [True, True] Translation: X:122.75, Y:-17.25, Z:-5.24 [[ 9.78801710e-01 2.02363554e-01 3.15627054e-02 1.22747249e+02] [-2.02264426e-01 9.79310451e-01 -6.33586734e-03 -1.72467519e+01] [-3.21918359e-02 -1.82454706e-04 9.99481692e-01 -5.24265536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.41264000000001 meters 0.014402449807967458 Centerline is valid? [True, True] Translation: X:122.78, Y:-17.25, Z:-5.24 [[ 9.78630788e-01 2.03164741e-01 3.17154471e-02 1.22778892e+02] [-2.03064830e-01 9.79144549e-01 -6.37401004e-03 -1.72522012e+01] [-3.23489813e-02 -2.02489402e-04 9.99476614e-01 -5.24288998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44264000000001 meters 0.014988870598226794 Centerline is valid? [True, True] Translation: X:122.81, Y:-17.26, Z:-5.24 [[ 9.78474212e-01 2.03876252e-01 3.19795351e-02 1.22810463e+02] [-2.03774935e-01 9.78996641e-01 -6.43059737e-03 -1.72555857e+01] [-3.26189036e-02 -2.24454000e-04 9.99467837e-01 -5.24444676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.47264000000001 meters 0.013985149382906395 Centerline is valid? [True, True] Translation: X:122.84, Y:-17.26, Z:-5.24 [[ 9.78516866e-01 2.03599008e-01 3.24374319e-02 1.22842116e+02] [-2.03494410e-01 9.79054339e-01 -6.52884697e-03 -1.72636526e+01] [-3.30872752e-02 -2.12249192e-04 9.99452444e-01 -5.24386448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.50264000000001 meters 0.013159523122571425 Centerline is valid? [True, True] Translation: X:122.87, Y:-17.27, Z:-5.24 [[ 9.78674640e-01 2.02721037e-01 3.31682196e-02 1.22873100e+02] [-2.02610965e-01 9.79236513e-01 -6.68194610e-03 -1.72723278e+01] [-3.38341027e-02 -1.80793781e-04 9.99427446e-01 -5.24321116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.53264000000001 meters 0.01264979174019368 Centerline is valid? [True, True] Translation: X:122.90, Y:-17.28, Z:-5.24 [[ 9.78902727e-01 2.01505741e-01 3.38361943e-02 1.22903260e+02] [-2.01390244e-01 9.79487324e-01 -6.82287842e-03 -1.72809965e+01] [-3.45169725e-02 -1.35345130e-04 9.99404103e-01 -5.24487574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56264000000002 meters 0.012012491389611354 Centerline is valid? [True, True] Translation: X:122.93, Y:-17.29, Z:-5.25 [[ 9.79733101e-01 1.97571119e-01 3.29955077e-02 1.22933881e+02] [-1.97458895e-01 9.80288556e-01 -6.65821062e-03 -1.72949646e+01] [-3.36605887e-02 8.01284365e-06 9.99433322e-01 -5.24578172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59264 meters 0.012595948117248474 Centerline is valid? [True, True] Translation: X:122.96, Y:-17.31, Z:-5.25 [[ 9.80224823e-01 1.95106198e-01 3.30585353e-02 1.22964597e+02] [-1.94991907e-01 9.80782117e-01 -6.67793682e-03 -1.73058230e+01] [-3.37261271e-02 9.97326053e-05 9.99431107e-01 -5.24809032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62264 meters 0.03609239589847394 Centerline is valid? [True, True] Translation: X:123.00, Y:-17.32, Z:-5.25 [[ 9.80723321e-01 1.92572550e-01 3.31297592e-02 1.22995421e+02] [-1.92456096e-01 9.81282720e-01 -6.69891773e-03 -1.73168143e+01] [-3.37996878e-02 1.93760734e-04 9.99428609e-01 -5.25210632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.65264 meters 0.019290086285796332 Centerline is valid? [True, True] Translation: X:123.03, Y:-17.33, Z:-5.25 [[ 9.81152488e-01 1.90426154e-01 3.28279560e-02 1.23025782e+02] [-1.90310418e-01 9.81701485e-01 -6.64369179e-03 -1.73282345e+01] [-3.34923858e-02 2.70972721e-04 9.99438936e-01 -5.25308031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68264 meters 0.018931695627874102 Centerline is valid? [True, True] Translation: X:123.05, Y:-17.35, Z:-5.26 [[ 9.81959453e-01 1.86376496e-01 3.19285894e-02 1.23054044e+02] [-1.86264691e-01 9.82478315e-01 -6.46730917e-03 -1.73457093e+01] [-3.25745011e-02 4.03466534e-04 9.99469229e-01 -5.25543015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71264000000001 meters 0.0376093852094355 Centerline is valid? [True, True] Translation: X:123.08, Y:-17.36, Z:-5.26 [[ 9.82298962e-01 1.84725214e-01 3.10699862e-02 1.23084330e+02] [-1.84618366e-01 9.82790106e-01 -6.29814726e-03 -1.73562703e+01] [-3.16987017e-02 4.50573435e-04 9.99497368e-01 -5.25948265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74264000000001 meters 0.020793396433772513 Centerline is valid? [True, True] Translation: X:123.11, Y:-17.37, Z:-5.26 [[ 9.82456864e-01 1.84058007e-01 3.00193387e-02 1.23114372e+02] [-1.83957798e-01 9.82915275e-01 -6.09026072e-03 -1.73685124e+01] [-3.06274278e-02 4.61126994e-04 9.99530764e-01 -5.26006363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.77264000000001 meters 0.02078883088328974 Centerline is valid? [True, True] Translation: X:123.14, Y:-17.38, Z:-5.26 [[ 9.82261043e-01 1.85109429e-01 2.99623439e-02 1.23144852e+02] [-1.85009891e-01 9.82717819e-01 -6.08515090e-03 -1.73762596e+01] [-3.05709481e-02 4.33876675e-04 9.99532505e-01 -5.26243924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80264000000001 meters 0.018620503514511416 Centerline is valid? [True, True] Translation: X:123.18, Y:-17.38, Z:-5.26 [[ 9.81871534e-01 1.87206347e-01 2.96997434e-02 1.23176537e+02] [-1.87109445e-01 9.82320543e-01 -6.03379800e-03 -1.73806116e+01] [-3.03042333e-02 3.67311989e-04 9.99540654e-01 -5.26305850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.83264000000001 meters 0.014614179308243947 Centerline is valid? [True, True] Translation: X:123.21, Y:-17.38, Z:-5.27 [[ 9.80562831e-01 1.94070929e-01 2.88619070e-02 1.23208699e+02] [-1.93982240e-01 9.80987487e-01 -5.86858762e-03 -1.73802712e+01] [-2.94520919e-02 1.55821510e-04 9.99566181e-01 -5.26549999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86264000000001 meters 0.013396354985232683 Centerline is valid? [True, True] Translation: X:123.24, Y:-17.38, Z:-5.27 [[ 9.79695864e-01 1.98373622e-01 2.90503156e-02 1.23240118e+02] [-1.98285471e-01 9.80126474e-01 -5.91326201e-03 -1.73815260e+01] [-2.96460186e-02 3.29428148e-05 9.99560460e-01 -5.26706950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.89264000000001 meters 0.02829502304622974 Centerline is valid? [True, True] Translation: X:123.27, Y:-17.38, Z:-5.27 [[ 9.78812429e-01 2.02603741e-01 2.96302779e-02 1.23272341e+02] [-2.02513913e-01 9.79260800e-01 -6.03324967e-03 -1.73826910e+01] [-3.02381286e-02 -9.51237655e-05 9.99542719e-01 -5.26954500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.92264000000002 meters 0.01740620638234468 Centerline is valid? [True, True] Translation: X:123.31, Y:-17.38, Z:-5.27 [[ 9.77048513e-01 2.10867089e-01 3.01873306e-02 1.23305335e+02] [-2.10777599e-01 9.77514679e-01 -6.15274602e-03 -1.73811733e+01] [-3.08059704e-02 -3.51281726e-04 9.99525322e-01 -5.26804466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95264000000002 meters 0.020105958492612486 Centerline is valid? [True, True] Translation: X:123.34, Y:-17.38, Z:-5.27 [[ 9.76363051e-01 2.14021813e-01 3.01638365e-02 1.23336199e+02] [-2.13933741e-01 9.76828781e-01 -6.15528015e-03 -1.73832146e+01] [-3.07822679e-02 -4.43274278e-04 9.99526015e-01 -5.26928174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98264 meters 0.021997750863103037 Centerline is valid? [True, True] Translation: X:123.37, Y:-17.39, Z:-5.27 [[ 9.75742707e-01 2.16806742e-01 3.03480688e-02 1.23368085e+02] [-2.16718973e-01 9.76214397e-01 -6.19169695e-03 -1.73862682e+01] [-3.09686233e-02 -5.35499147e-04 9.99520214e-01 -5.27016092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.01264000000003 meters 0.02597315825482936 Centerline is valid? [True, True] Translation: X:123.40, Y:-17.39, Z:-5.27 [[ 9.75107575e-01 2.19694361e-01 2.99934162e-02 1.23399524e+02] [-2.19609830e-01 9.75568557e-01 -6.12474240e-03 -1.73872455e+01] [-3.06062052e-02 -6.14566328e-04 9.99531331e-01 -5.27403159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04264000000003 meters 0.0264556315960482 Centerline is valid? [True, True] Translation: X:123.43, Y:-17.39, Z:-5.28 [[ 9.75038466e-01 2.20009759e-01 2.99281727e-02 1.23429362e+02] [-2.19925567e-01 9.75497476e-01 -6.11719456e-03 -1.73944054e+01] [-3.05406994e-02 -6.17470350e-04 9.99533333e-01 -5.27582886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.07264000000004 meters 0.028503610892608337 Centerline is valid? [True, True] Translation: X:123.46, Y:-17.41, Z:-5.28 [[ 9.75129540e-01 2.19644023e-01 2.96459577e-02 1.23460009e+02] [-2.19561190e-01 9.75579902e-01 -6.06128389e-03 -1.74052556e+01] [-3.02533252e-02 -5.98564763e-04 9.99542084e-01 -5.27685818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.10264000000004 meters 0.03636956667306803 Centerline is valid? [True, True] Translation: X:123.49, Y:-17.41, Z:-5.28 [[ 9.75301775e-01 2.18898488e-01 2.94940536e-02 1.23490717e+02] [-2.18815999e-01 9.75747473e-01 -6.03556747e-03 -1.74122277e+01] [-3.00999248e-02 -5.67271135e-04 9.99546734e-01 -5.27979402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.13264000000004 meters 0.023774959849874225 Centerline is valid? [True, True] Translation: X:123.52, Y:-17.42, Z:-5.28 [[ 9.75751597e-01 2.16863796e-01 2.96465095e-02 1.23520434e+02] [-2.16779363e-01 9.76201742e-01 -6.07173650e-03 -1.74241016e+01] [-3.02577141e-02 -5.02244873e-04 9.99542004e-01 -5.28066876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16264 meters 0.021949551244957795 Centerline is valid? [True, True] Translation: X:123.55, Y:-17.43, Z:-5.28 [[ 9.75977172e-01 2.15844230e-01 2.96619090e-02 1.23551301e+02] [-2.15759104e-01 9.76427699e-01 -6.07934334e-03 -1.74346371e+01] [-3.02749008e-02 -4.66526599e-04 9.99541501e-01 -5.28141038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.19264 meters 0.0401915325594669 Centerline is valid? [True, True] Translation: X:123.58, Y:-17.44, Z:-5.28 [[ 9.76229356e-01 2.14705129e-01 2.96302511e-02 1.23581723e+02] [-2.14619508e-01 9.76678824e-01 -6.07788418e-03 -1.74431839e+01] [-3.02441917e-02 -4.25820958e-04 9.99542449e-01 -5.28483917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.22264 meters 0.018353591254171773 Centerline is valid? [True, True] Translation: X:123.61, Y:-17.45, Z:-5.28 [[ 9.76425786e-01 2.13813309e-01 2.96066480e-02 1.23612614e+02] [-2.13727268e-01 9.76874462e-01 -6.07785057e-03 -1.74548583e+01] [-3.02215037e-02 -3.93177981e-04 9.99543149e-01 -5.28207602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.25264 meters 0.017419255394189214 Centerline is valid? [True, True] Translation: X:123.64, Y:-17.47, Z:-5.28 [[ 9.76766100e-01 2.12339001e-01 2.89850621e-02 1.23642112e+02] [-2.12255732e-01 9.77196007e-01 -5.95548718e-03 -1.74655395e+01] [-2.95886691e-02 -3.35127596e-04 9.99562103e-01 -5.28469334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.28264000000001 meters 0.03271894460018461 Centerline is valid? [True, True] Translation: X:123.67, Y:-17.47, Z:-5.29 [[ 9.76840224e-01 2.12081931e-01 2.83625030e-02 1.23672826e+02] [-2.12001972e-01 9.77251838e-01 -5.83174058e-03 -1.74740374e+01] [-2.89541150e-02 -3.16227796e-04 9.99580692e-01 -5.28885451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.31264000000002 meters 0.01820594419966145 Centerline is valid? [True, True] Translation: X:123.70, Y:-17.48, Z:-5.29 [[ 9.76793337e-01 2.12412615e-01 2.74892330e-02 1.23703364e+02] [-2.12337484e-01 9.77180016e-01 -5.65760841e-03 -1.74819189e+01] [-2.80636765e-02 -3.10680374e-04 9.99606089e-01 -5.29014024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34264000000002 meters 0.018479000541918606 Centerline is valid? [True, True] Translation: X:123.74, Y:-17.49, Z:-5.29 [[ 9.76589004e-01 2.13347353e-01 2.75104420e-02 1.23735236e+02] [-2.13272356e-01 9.76976354e-01 -5.66623136e-03 -1.74877765e+01] [-2.80859268e-02 -3.33637559e-04 9.99605457e-01 -5.29153571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.37264000000002 meters 0.030507775079445087 Centerline is valid? [True, True] Translation: X:123.77, Y:-17.49, Z:-5.30 [[ 9.76384844e-01 2.14394444e-01 2.66018404e-02 1.23766655e+02] [-2.14324589e-01 9.76747102e-01 -5.48350415e-03 -1.74935089e+01] [-2.71589033e-02 -3.47418170e-04 9.99631069e-01 -5.29502134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.40264000000002 meters 0.019719049793947323 Centerline is valid? [True, True] Translation: X:123.80, Y:-17.50, Z:-5.29 [[ 9.76005055e-01 2.16104931e-01 2.66981671e-02 1.23798087e+02] [-2.16035079e-01 9.76370066e-01 -5.50810907e-03 -1.75001911e+01] [-2.72576207e-02 -3.91798350e-04 9.99628365e-01 -5.29423516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.43264000000002 meters 0.02277400841805288 Centerline is valid? [True, True] Translation: X:123.83, Y:-17.50, Z:-5.30 [[ 9.75779720e-01 2.17099275e-01 2.68671145e-02 1.23829321e+02] [-2.17028773e-01 9.76149441e-01 -5.54808847e-03 -1.75028259e+01] [-2.74308048e-02 -4.17224660e-04 9.99623618e-01 -5.29893337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46264000000002 meters 0.025719472114734875 Centerline is valid? [True, True] Translation: X:123.86, Y:-17.51, Z:-5.30 [[ 9.75618038e-01 2.17861406e-01 2.65678593e-02 1.23860746e+02] [-2.17792633e-01 9.75979622e-01 -5.49053866e-03 -1.75095839e+01] [-2.71258657e-02 -4.29615466e-04 9.99631934e-01 -5.30001491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.49264000000002 meters 0.02160020137126338 Centerline is valid? [True, True] Translation: X:123.89, Y:-17.52, Z:-5.30 [[ 9.75459692e-01 2.18439973e-01 2.76109950e-02 1.23892137e+02] [-2.18365785e-01 9.75850280e-01 -5.71103344e-03 -1.75178430e+01] [-2.81917152e-02 -4.58413661e-04 9.99602429e-01 -5.29678420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52264000000002 meters 0.021452143307236566 Centerline is valid? [True, True] Translation: X:123.92, Y:-17.53, Z:-5.30 [[ 9.75468855e-01 2.18419455e-01 2.74491166e-02 1.23924338e+02] [-2.18346002e-01 9.75854876e-01 -5.68197461e-03 -1.75254643e+01] [-2.80274081e-02 -4.50815621e-04 9.99607053e-01 -5.29836990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.55264000000003 meters 0.02148340288392549 Centerline is valid? [True, True] Translation: X:123.96, Y:-17.53, Z:-5.30 [[ 9.75512780e-01 2.18248164e-01 2.72498547e-02 1.23955793e+02] [-2.18175549e-01 9.75893205e-01 -5.64640205e-03 -1.75329072e+01] [-2.78252650e-02 -4.37114665e-04 9.99612707e-01 -5.30077298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58264000000003 meters 0.02148340288392549 Centerline is valid? [True, True] Translation: X:123.99, Y:-17.54, Z:-5.30 [[ 9.75470590e-01 2.18436781e-01 2.72488729e-02 1.23987555e+02] [-2.18364108e-01 9.75851004e-01 -5.65113534e-03 -1.75396838e+01] [-2.78252557e-02 -4.37659493e-04 9.99612707e-01 -5.30220761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.61264000000003 meters 0.02144806977619911 Centerline is valid? [True, True] Translation: X:124.02, Y:-17.55, Z:-5.30 [[ 9.75583507e-01 2.17859526e-01 2.78217203e-02 1.24017587e+02] [-2.17783348e-01 9.75980045e-01 -5.77632735e-03 -1.75467155e+01] [-2.84118717e-02 -4.23817686e-04 9.99596211e-01 -5.30405853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64264000000003 meters 0.020052277058522236 Centerline is valid? [True, True] Translation: X:124.05, Y:-17.56, Z:-5.30 [[ 9.75785902e-01 2.16854403e-01 2.85664176e-02 1.24048454e+02] [-2.16773525e-01 9.76203876e-01 -5.93563173e-03 -1.75570877e+01] [-2.91738155e-02 -4.00537271e-04 9.99574273e-01 -5.30428756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.67264000000003 meters 0.019592785686914794 Centerline is valid? [True, True] Translation: X:124.08, Y:-17.57, Z:-5.31 [[ 9.75905800e-01 2.16363490e-01 2.81905788e-02 1.24080359e+02] [-2.16284394e-01 9.76312808e-01 -5.86194936e-03 -1.75658713e+01] [-2.87911349e-02 -3.76471873e-04 9.99585378e-01 -5.30626335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70264000000003 meters 0.020917673632519646 Centerline is valid? [True, True] Translation: X:124.11, Y:-17.57, Z:-5.31 [[ 9.75993086e-01 2.16064693e-01 2.74507629e-02 1.24112359e+02] [-2.15989431e-01 9.76378986e-01 -5.71328246e-03 -1.75746209e+01] [-2.80367867e-02 -3.52950497e-04 9.99606830e-01 -5.30897639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.73264000000003 meters 0.01823011928991886 Centerline is valid? [True, True] Translation: X:124.14, Y:-17.58, Z:-5.31 [[ 9.76147215e-01 2.15434356e-01 2.69193642e-02 1.24144274e+02] [-2.15361599e-01 9.76518271e-01 -5.60782764e-03 -1.75842921e+01] [-2.74953697e-02 -3.23331978e-04 9.99621879e-01 -5.31006535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76264000000003 meters 0.01907213992966219 Centerline is valid? [True, True] Translation: X:124.18, Y:-17.59, Z:-5.31 [[ 9.76184335e-01 2.15237970e-01 2.71433426e-02 1.24175213e+02] [-2.15163750e-01 9.76561579e-01 -5.66069143e-03 -1.75902041e+01] [-2.77255412e-02 -3.14385068e-04 9.99615524e-01 -5.31349754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.79264000000003 meters 0.01861316108816487 Centerline is valid? [True, True] Translation: X:124.21, Y:-17.60, Z:-5.31 [[ 9.76153451e-01 2.15399784e-01 2.69698738e-02 1.24206814e+02] [-2.15326460e-01 9.76525901e-01 -5.62856302e-03 -1.75979738e+01] [-2.75491715e-02 -3.12986218e-04 9.99620401e-01 -5.31371085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.82264000000004 meters 0.0190915822844054 Centerline is valid? [True, True] Translation: X:124.24, Y:-17.60, Z:-5.31 [[ 9.75798220e-01 2.16924526e-01 2.75968165e-02 1.24239722e+02] [-2.16848219e-01 9.76188312e-01 -5.76446452e-03 -1.76040176e+01] [-2.81901435e-02 -3.59366281e-04 9.99602514e-01 -5.31245378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.85264000000004 meters 0.020112924163608617 Centerline is valid? [True, True] Translation: X:124.27, Y:-17.61, Z:-5.31 [[ 9.75404372e-01 2.18657079e-01 2.78458920e-02 1.24271309e+02] [-2.18579921e-01 9.75801679e-01 -5.82254165e-03 -1.76084555e+01] [-2.84452081e-02 -4.07220314e-04 9.99595270e-01 -5.31260593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88264000000004 meters 0.022889925857858158 Centerline is valid? [True, True] Translation: X:124.30, Y:-17.61, Z:-5.31 [[ 9.74467603e-01 2.22778272e-01 2.79773671e-02 1.24304213e+02] [-2.22701884e-01 9.74869000e-01 -5.85690599e-03 -1.76082138e+01] [-2.85790593e-02 -5.23247222e-04 9.99591398e-01 -5.31207217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.91264 meters 0.026042025512912403 Centerline is valid? [True, True] Translation: X:124.34, Y:-17.61, Z:-5.31 [[ 9.73923264e-01 2.25062027e-01 2.86454033e-02 1.24335486e+02] [-2.24982878e-01 9.74344252e-01 -5.99866194e-03 -1.76078729e+01] [-2.92605551e-02 -6.02488852e-04 9.99571637e-01 -5.31391312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.94264 meters 0.028511371196146107 Centerline is valid? [True, True] Translation: X:124.37, Y:-17.61, Z:-5.31 [[ 9.73344527e-01 2.27401833e-01 2.98133697e-02 1.24367188e+02] [-2.27317223e-01 9.73800757e-01 -6.24225200e-03 -1.76087990e+01] [-3.04517815e-02 -7.01230578e-04 9.99535991e-01 -5.31388219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.97264 meters 0.04047098901065722 Centerline is valid? [True, True] Translation: X:124.40, Y:-17.61, Z:-5.32 [[ 9.72765499e-01 2.29785475e-01 3.04289374e-02 1.24399222e+02] [-2.29698347e-01 9.73240986e-01 -6.37600841e-03 -1.76113916e+01] [-3.10798032e-02 -7.87115624e-04 9.99516596e-01 -5.31513748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.00264 meters 0.03290787291517952 Centerline is valid? [True, True] Translation: X:124.43, Y:-17.61, Z:-5.32 [[ 9.72277140e-01 2.31788710e-01 3.08408202e-02 1.24430158e+02] [-2.31699974e-01 9.72765780e-01 -6.46992315e-03 -1.76096951e+01] [-3.15005497e-02 -8.55258858e-04 9.99503369e-01 -5.31545693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.03264000000001 meters 0.03928400793083184 Centerline is valid? [True, True] Translation: X:124.46, Y:-17.62, Z:-5.32 [[ 9.72166674e-01 2.32292958e-01 3.05276975e-02 1.24461146e+02] [-2.32206332e-01 9.72645482e-01 -6.40199319e-03 -1.76170404e+01] [-3.11797649e-02 -8.64920241e-04 9.99513419e-01 -5.31767632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06264000000002 meters 0.03101153383976416 Centerline is valid? [True, True] Translation: X:124.49, Y:-17.62, Z:-5.32 [[ 9.72200640e-01 2.32040311e-01 3.13561761e-02 1.24492407e+02] [-2.31948603e-01 9.72705777e-01 -6.58151924e-03 -1.76225110e+01] [-3.20275114e-02 -8.74464025e-04 9.99486605e-01 -5.31694587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.09264000000002 meters 0.029739456140897704 Centerline is valid? [True, True] Translation: X:124.52, Y:-17.63, Z:-5.32 [[ 9.72658338e-01 2.30206158e-01 3.06738035e-02 1.24522614e+02] [-2.30117317e-01 9.73141562e-01 -6.44369907e-03 -1.76279650e+01] [-3.13333322e-02 -7.91055719e-04 9.99508678e-01 -5.31964146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12264000000002 meters 0.02723078672233193 Centerline is valid? [True, True] Translation: X:124.55, Y:-17.64, Z:-5.32 [[ 9.72955829e-01 2.28997815e-01 3.02812678e-02 1.24553851e+02] [-2.28910506e-01 9.73426657e-01 -6.36585501e-03 -1.76363650e+01] [-3.09343602e-02 -7.38004587e-04 9.99521146e-01 -5.32048755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.15264000000002 meters 0.03696956826361221 Centerline is valid? [True, True] Translation: X:124.58, Y:-17.64, Z:-5.33 [[ 9.73239949e-01 2.27879761e-01 2.95772885e-02 1.24584379e+02] [-2.27795788e-01 9.73689042e-01 -6.22316864e-03 -1.76410997e+01] [-3.02172159e-02 -6.80945425e-04 9.99543124e-01 -5.32516211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18264000000002 meters 0.02454678167251 Centerline is valid? [True, True] Translation: X:124.61, Y:-17.65, Z:-5.33 [[ 9.74130477e-01 2.24128309e-01 2.89191133e-02 1.24613287e+02] [-2.24046178e-01 9.74559492e-01 -6.09150220e-03 -1.76494922e+01] [-2.95486744e-02 -5.45298845e-04 9.99563194e-01 -5.32734617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.21264000000002 meters 0.02844015339599006 Centerline is valid? [True, True] Translation: X:124.64, Y:-17.66, Z:-5.33 [[ 9.74555033e-01 2.22375016e-01 2.81396485e-02 1.24644331e+02] [-2.22296581e-01 9.74961087e-01 -5.92526592e-03 -1.76571780e+01] [-2.87526934e-02 -4.80849939e-04 9.99586440e-01 -5.33131982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24264000000002 meters 0.020907033474472918 Centerline is valid? [True, True] Translation: X:124.68, Y:-17.67, Z:-5.33 [[ 9.75078497e-01 2.20032270e-01 2.84205128e-02 1.24676002e+02] [-2.19951076e-01 9.75492508e-01 -5.99097021e-03 -1.76652805e+01] [-2.90422041e-02 -4.09456150e-04 9.99578102e-01 -5.33151942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.27264000000002 meters 0.01591310033958561 Centerline is valid? [True, True] Translation: X:124.71, Y:-17.68, Z:-5.33 [[ 9.76192523e-01 2.14949462e-01 2.90669211e-02 1.24705865e+02] [-2.14862213e-01 9.76625138e-01 -6.12938852e-03 -1.76778916e+01] [-2.97049946e-02 -2.61919748e-04 9.99558675e-01 -5.33054956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30264000000003 meters 0.014086759776064743 Centerline is valid? [True, True] Translation: X:124.74, Y:-17.69, Z:-5.33 [[ 9.76778435e-01 2.12186067e-01 2.96810132e-02 1.24736743e+02] [-2.12093838e-01 9.77229267e-01 -6.25814416e-03 -1.76886929e+01] [-3.03330457e-02 -1.82339733e-04 9.99539831e-01 -5.33115038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.33264000000003 meters 0.013310218348909554 Centerline is valid? [True, True] Translation: X:124.77, Y:-17.70, Z:-5.33 [[ 9.77981775e-01 2.06652949e-01 2.90896235e-02 1.24765089e+02] [-2.06561752e-01 9.78414308e-01 -6.13874066e-03 -1.77038334e+01] [-2.97302928e-02 -5.22711265e-06 9.99557957e-01 -5.33409916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36264000000003 meters 0.013786792239334 Centerline is valid? [True, True] Translation: X:124.80, Y:-17.71, Z:-5.34 [[ 9.78489241e-01 2.04235640e-01 2.90965354e-02 1.24795228e+02] [-2.04143169e-01 9.78921753e-01 -6.14563667e-03 -1.77145235e+01] [-2.97383895e-02 7.35804216e-05 9.99557714e-01 -5.33632438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.39264000000003 meters 0.014296974968941865 Centerline is valid? [True, True] Translation: X:124.83, Y:-17.72, Z:-5.34 [[ 9.78841430e-01 2.02543784e-01 2.90769617e-02 1.24827223e+02] [-2.02450614e-01 9.79273199e-01 -6.14409440e-03 -1.77245760e+01] [-2.97187374e-02 1.27445413e-04 9.99558293e-01 -5.33672149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42264000000003 meters 0.0391245795268435 Centerline is valid? [True, True] Translation: X:124.86, Y:-17.73, Z:-5.34 [[ 9.79070119e-01 2.01517399e-01 2.85033373e-02 1.24857817e+02] [-2.01427261e-01 9.79484922e-01 -6.02879292e-03 -1.77327294e+01] [-2.91334958e-02 1.61261835e-04 9.99575517e-01 -5.33983273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.45264000000003 meters 0.015677589574451874 Centerline is valid? [True, True] Translation: X:124.89, Y:-17.74, Z:-5.34 [[ 9.79216645e-01 2.01013098e-01 2.69906770e-02 1.24887421e+02] [-2.00931923e-01 9.79588539e-01 -5.71466664e-03 -1.77411794e+01] [-2.75884807e-02 1.72608055e-04 9.99619351e-01 -5.34226956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48264000000003 meters 0.015621267235531347 Centerline is valid? [True, True] Translation: X:124.92, Y:-17.75, Z:-5.34 [[ 9.79090189e-01 2.01710756e-01 2.63661182e-02 1.24920133e+02] [-2.01633533e-01 9.79445123e-01 -5.58301303e-03 -1.77474471e+01] [-2.69503196e-02 1.49979733e-04 9.99636763e-01 -5.34422182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.51264000000003 meters 0.033459758422254966 Centerline is valid? [True, True] Translation: X:124.95, Y:-17.75, Z:-5.35 [[ 9.78782638e-01 2.03201943e-01 2.63347138e-02 1.24950829e+02] [-2.03125279e-01 9.79136843e-01 -5.58245354e-03 -1.77517101e+01] [-2.69196540e-02 1.14762494e-04 9.99637594e-01 -5.34784967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54264000000003 meters 0.013963221570305339 Centerline is valid? [True, True] Translation: X:124.98, Y:-17.75, Z:-5.35 [[ 9.78014060e-01 2.06766975e-01 2.71277684e-02 1.24984091e+02] [-2.06686817e-01 9.78390217e-01 -5.75692222e-03 -1.77531050e+01] [-2.77318846e-02 2.33987758e-05 9.99615397e-01 -5.34579847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.57264000000004 meters 0.0218342712914636 Centerline is valid? [True, True] Translation: X:125.02, Y:-17.76, Z:-5.35 [[ 9.77556450e-01 2.08930015e-01 2.70487746e-02 1.25016476e+02] [-2.08851167e-01 9.77930594e-01 -5.73954352e-03 -1.77575779e+01] [-2.76509872e-02 -3.84403681e-05 9.99617638e-01 -5.34724713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.60264000000004 meters 0.014154491524380659 Centerline is valid? [True, True] Translation: X:125.05, Y:-17.76, Z:-5.35 [[ 9.77125034e-01 2.10882056e-01 2.74850222e-02 1.25047894e+02] [-2.10801245e-01 9.77511509e-01 -5.83819959e-03 -1.77621197e+01] [-2.80980971e-02 -8.92259238e-05 9.99605167e-01 -5.34770022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.63264000000004 meters 0.015512863367363728 Centerline is valid? [True, True] Translation: X:125.08, Y:-17.76, Z:-5.35 [[ 9.76418655e-01 2.14121263e-01 2.75444123e-02 1.25079684e+02] [-2.14041195e-01 9.76807071e-01 -5.85774130e-03 -1.77624319e+01] [-2.81598437e-02 -1.76031043e-04 9.99603417e-01 -5.34960398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.66264 meters 0.015363329419258618 Centerline is valid? [True, True] Translation: X:125.11, Y:-17.77, Z:-5.35 [[ 9.76097728e-01 2.15522063e-01 2.79904636e-02 1.25112059e+02] [-2.15439925e-01 9.76498946e-01 -5.95366807e-03 -1.77685108e+01] [-2.86158051e-02 -2.18901513e-04 9.99590460e-01 -5.34855088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.69264 meters 0.027735580952951977 Centerline is valid? [True, True] Translation: X:125.14, Y:-17.77, Z:-5.35 [[ 9.75841946e-01 2.16602464e-01 2.85634060e-02 1.25143988e+02] [-2.16517207e-01 9.76259858e-01 -6.08185292e-03 -1.77733086e+01] [-2.92026510e-02 -2.49541704e-04 9.99573480e-01 -5.35305282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.72264 meters 0.027914059117445173 Centerline is valid? [True, True] Translation: X:125.18, Y:-17.78, Z:-5.35 [[ 9.75302855e-01 2.18936997e-01 2.91707344e-02 1.25175779e+02] [-2.18848941e-01 9.75738945e-01 -6.21709922e-03 -1.77775968e+01] [-2.98241746e-02 -3.20429728e-04 9.99555109e-01 -5.34915991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.75264 meters 0.01801550771606109 Centerline is valid? [True, True] Translation: X:125.21, Y:-17.78, Z:-5.35 [[ 9.74989609e-01 2.20315394e-01 2.92641174e-02 1.25207252e+02] [-2.20227224e-01 9.75428623e-01 -6.24266128e-03 -1.77796529e+01] [-2.99204121e-02 -3.58225461e-04 9.99552220e-01 -5.34976393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.78264000000001 meters 0.02007602735791922 Centerline is valid? [True, True] Translation: X:125.24, Y:-17.78, Z:-5.35 [[ 9.74727230e-01 2.21470679e-01 2.92842153e-02 1.25238908e+02] [-2.21382757e-01 9.75166953e-01 -6.25202157e-03 -1.77812225e+01] [-2.99416385e-02 -3.89004657e-04 9.99551573e-01 -5.35315530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.81264000000002 meters 0.018879009467118724 Centerline is valid? [True, True] Translation: X:125.27, Y:-17.79, Z:-5.35 [[ 9.74512315e-01 2.22409763e-01 2.93196959e-02 1.25270857e+02] [-2.22321915e-01 9.74953192e-01 -6.26419311e-03 -1.77879825e+01] [-2.99785488e-02 -4.13877606e-04 9.99550457e-01 -5.35203786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84264000000002 meters 0.030354019494034403 Centerline is valid? [True, True] Translation: X:125.30, Y:-17.79, Z:-5.36 [[ 9.74138973e-01 2.24016784e-01 2.94913837e-02 1.25302529e+02] [-2.23928471e-01 9.74585178e-01 -6.30648193e-03 -1.77877926e+01] [-3.01546232e-02 -4.60570629e-04 9.99545140e-01 -5.35690487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.87264000000002 meters 0.0269289819620313 Centerline is valid? [True, True] Translation: X:125.33, Y:-17.79, Z:-5.36 [[ 9.74046531e-01 2.24438781e-01 2.93357972e-02 1.25334013e+02] [-2.24351383e-01 9.74488080e-01 -6.28005911e-03 -1.77918432e+01] [-2.99968735e-02 -4.64456870e-04 9.99549885e-01 -5.35770085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.90264000000002 meters 0.022368745822710895 Centerline is valid? [True, True] Translation: X:125.36, Y:-17.79, Z:-5.36 [[ 9.74060597e-01 2.24362362e-01 2.94530837e-02 1.25364982e+02] [-2.24274201e-01 9.74505678e-01 -6.30609181e-03 -1.77938182e+01] [-3.01170470e-02 -4.63051271e-04 9.99546272e-01 -5.35846257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.93264000000002 meters 0.023007665763166395 Centerline is valid? [True, True] Translation: X:125.39, Y:-17.80, Z:-5.36 [[ 9.74206831e-01 2.23739255e-01 2.93563811e-02 1.25393842e+02] [-2.23651362e-01 9.74648937e-01 -6.28628438e-03 -1.77969216e+01] [-3.00186542e-02 -4.41453441e-04 9.99549241e-01 -5.36168871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96264000000002 meters 0.020008202562626146 Centerline is valid? [True, True] Translation: X:125.42, Y:-17.80, Z:-5.36 [[ 9.74378745e-01 2.23049239e-01 2.88980771e-02 1.25423341e+02] [-2.22963798e-01 9.74807091e-01 -6.18705283e-03 -1.78045360e+01] [-2.95500679e-02 -4.14692269e-04 9.99563215e-01 -5.36077125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.99264000000002 meters 0.02048139196250694 Centerline is valid? [True, True] Translation: X:125.45, Y:-17.81, Z:-5.36 [[ 9.74590150e-01 2.22189761e-01 2.83857302e-02 1.25452618e+02] [-2.22106954e-01 9.75003366e-01 -6.07754544e-03 -1.78078713e+01] [-2.90265509e-02 -3.81552146e-04 9.99578568e-01 -5.36478403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02264000000002 meters 0.01676474891723097 Centerline is valid? [True, True] Translation: X:125.48, Y:-17.82, Z:-5.36 [[ 9.75318121e-01 2.18997323e-01 2.81910413e-02 1.25482905e+02] [-2.18914341e-01 9.75725418e-01 -6.03493724e-03 -1.78170073e+01] [-2.88283506e-02 -2.85439563e-04 9.99584336e-01 -5.36471150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.05264000000003 meters 0.015493300788156042 Centerline is valid? [True, True] Translation: X:125.51, Y:-17.82, Z:-5.36 [[ 9.75750458e-01 2.16981381e-01 2.88118728e-02 1.25511997e+02] [-2.16893795e-01 9.76175716e-01 -6.16879224e-03 -1.78246526e+01] [-2.94639636e-02 -2.29914593e-04 9.99565817e-01 -5.36492924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08264000000003 meters 0.025210951033461014 Centerline is valid? [True, True] Translation: X:125.54, Y:-17.83, Z:-5.37 [[ 9.76137127e-01 2.15187330e-01 2.91671577e-02 1.25542852e+02] [-2.15096773e-01 9.76572773e-01 -6.24475253e-03 -1.78323405e+01] [-2.98276437e-02 -1.78026702e-04 9.99555041e-01 -5.36732721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.11264000000003 meters 0.013206451104247108 Centerline is valid? [True, True] Translation: X:125.57, Y:-17.84, Z:-5.37 [[ 9.76866526e-01 2.11886150e-01 2.89145188e-02 1.25574378e+02] [-2.11795725e-01 9.77294354e-01 -6.19011631e-03 -1.78409463e+01] [-2.95695958e-02 -7.70540323e-05 9.99562721e-01 -5.36645048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14264000000003 meters 0.022840865621740016 Centerline is valid? [True, True] Translation: X:125.61, Y:-17.85, Z:-5.37 [[ 9.77136274e-01 2.10641816e-01 2.88916362e-02 1.25605974e+02] [-2.10550839e-01 9.77563310e-01 -6.19030044e-03 -1.78477339e+01] [-2.95473396e-02 -3.43911294e-05 9.99563381e-01 -5.37096441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.17264000000003 meters 0.013232532816615903 Centerline is valid? [True, True] Translation: X:125.64, Y:-17.85, Z:-5.37 [[ 9.77571733e-01 2.08600939e-01 2.89681627e-02 1.25638896e+02] [-2.08508419e-01 9.78000842e-01 -6.21223557e-03 -1.78537180e+01] [-2.96267657e-02 3.28000906e-05 9.99561030e-01 -5.36992915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20264000000003 meters 0.013537612803893165 Centerline is valid? [True, True] Translation: X:125.67, Y:-17.86, Z:-5.37 [[ 9.77644561e-01 2.08242775e-01 2.90870931e-02 1.25669188e+02] [-2.08149140e-01 9.78077167e-01 -6.24432217e-03 -1.78588202e+01] [-2.97497566e-02 5.02742051e-05 9.99557377e-01 -5.37233193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.23264000000003 meters 0.016353365907430358 Centerline is valid? [True, True] Translation: X:125.70, Y:-17.86, Z:-5.38 [[ 9.77774427e-01 2.07690569e-01 2.86670129e-02 1.25698973e+02] [-2.07599179e-01 9.78194573e-01 -6.16105295e-03 -1.78648578e+01] [-2.93215090e-02 7.28716576e-05 9.99570029e-01 -5.37587383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26264000000003 meters 0.013761851480030876 Centerline is valid? [True, True] Translation: X:125.73, Y:-17.87, Z:-5.38 [[ 9.77887348e-01 2.07174609e-01 2.85484882e-02 1.25730700e+02] [-2.07083814e-01 9.78303978e-01 -6.13350653e-03 -1.78723335e+01] [-2.91998064e-02 8.59486085e-05 9.99573591e-01 -5.37534527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.29264000000003 meters 0.026183915875940468 Centerline is valid? [True, True] Translation: X:125.76, Y:-17.88, Z:-5.38 [[ 9.77996105e-01 2.06583306e-01 2.91025166e-02 1.25760966e+02] [-2.06488499e-01 9.78429009e-01 -6.25897956e-03 -1.78774968e+01] [-2.97677471e-02 1.11922666e-04 9.99556836e-01 -5.37766766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.32264000000004 meters 0.023526672270767192 Centerline is valid? [True, True] Translation: X:125.79, Y:-17.88, Z:-5.38 [[ 9.77995729e-01 2.06524323e-01 2.95306430e-02 1.25791014e+02] [-2.06426548e-01 9.78441460e-01 -6.35533692e-03 -1.78822586e+01] [-3.02065371e-02 1.19583653e-04 9.99543671e-01 -5.37882948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.35264000000004 meters 0.013866757863797654 Centerline is valid? [True, True] Translation: X:125.82, Y:-17.89, Z:-5.38 [[ 9.77987244e-01 2.06570839e-01 2.94862479e-02 1.25822282e+02] [-2.06473374e-01 9.78431640e-01 -6.34598395e-03 -1.78878936e+01] [-3.01611732e-02 1.18166272e-04 9.99545041e-01 -5.37744951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38264000000004 meters 0.01352603188249173 Centerline is valid? [True, True] Translation: X:125.85, Y:-17.89, Z:-5.38 [[ 9.77846337e-01 2.07317809e-01 2.89113578e-02 1.25854651e+02] [-2.07224479e-01 9.78273641e-01 -6.22074855e-03 -1.78923706e+01] [-2.95728913e-02 9.17951233e-05 9.99562622e-01 -5.37901596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.41264 meters 0.030946445395677962 Centerline is valid? [True, True] Translation: X:125.89, Y:-17.90, Z:-5.38 [[ 9.77736666e-01 2.07985243e-01 2.78056014e-02 1.25886684e+02] [-2.07899053e-01 9.78131961e-01 -5.98752297e-03 -1.78966567e+01] [-2.84428638e-02 7.34625506e-05 9.99595417e-01 -5.38371724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.44264 meters 0.014488179579490737 Centerline is valid? [True, True] Translation: X:125.92, Y:-17.90, Z:-5.39 [[ 9.77493985e-01 2.09270691e-01 2.66699723e-02 1.25915765e+02] [-2.09191664e-01 9.77857748e-01 -5.75079594e-03 -1.78996423e+01] [-2.72829121e-02 4.22325562e-05 9.99627751e-01 -5.38823184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.47264 meters 0.014488179579490737 Centerline is valid? [True, True] Translation: X:125.94, Y:-17.91, Z:-5.39 [[ 9.77498871e-01 2.09247864e-01 2.66700057e-02 1.25944262e+02] [-2.09168832e-01 9.77862633e-01 -5.75064083e-03 -1.79057395e+01] [-2.72829113e-02 4.27109575e-05 9.99627751e-01 -5.38951845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.50264 meters 0.014322315414382504 Centerline is valid? [True, True] Translation: X:125.97, Y:-17.91, Z:-5.39 [[ 9.77337973e-01 2.09973937e-01 2.68594985e-02 1.25973110e+02] [-2.09894070e-01 9.77706983e-01 -5.79083696e-03 -1.79104034e+01] [-2.74766441e-02 2.19553933e-05 9.99622446e-01 -5.39060658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.53264000000001 meters 0.014383698961097077 Centerline is valid? [True, True] Translation: X:126.00, Y:-17.91, Z:-5.39 [[ 9.77171681e-01 2.10742059e-01 2.68940652e-02 1.26001565e+02] [-2.10662291e-01 9.77541705e-01 -5.79782643e-03 -1.79146139e+01] [-2.75119162e-02 -9.35873132e-08 9.99621476e-01 -5.39212114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56264000000002 meters 0.013863754945273808 Centerline is valid? [True, True] Translation: X:126.03, Y:-17.92, Z:-5.39 [[ 9.76944896e-01 2.11825516e-01 2.66199302e-02 1.26031080e+02] [-2.11747799e-01 9.77307500e-01 -5.73758433e-03 -1.79182269e+01] [-2.72312242e-02 -3.14079049e-05 9.99629161e-01 -5.39124013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.59264000000002 meters 0.017015654830985723 Centerline is valid? [True, True] Translation: X:126.06, Y:-17.92, Z:-5.40 [[ 9.76791861e-01 2.12512163e-01 2.67626854e-02 1.26059809e+02] [-2.12433881e-01 9.77158420e-01 -5.76786232e-03 -1.79221161e+01] [-2.73771243e-02 -5.13001548e-05 9.99625175e-01 -5.39619576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62264000000002 meters 0.020092597080942787 Centerline is valid? [True, True] Translation: X:126.09, Y:-17.93, Z:-5.39 [[ 9.76631460e-01 2.13239515e-01 2.68309524e-02 1.26088811e+02] [-2.13161141e-01 9.76999951e-01 -5.78133797e-03 -1.79264979e+01] [-2.74466488e-02 -7.30798793e-05 9.99623267e-01 -5.39455974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.65264000000002 meters 0.014196565882883597 Centerline is valid? [True, True] Translation: X:126.12, Y:-17.93, Z:-5.39 [[ 9.76399746e-01 2.14186448e-01 2.77074211e-02 1.26117856e+02] [-2.14103273e-01 9.76792790e-01 -5.96940565e-03 -1.79300061e+01] [-2.83429750e-02 -1.03723378e-04 9.99598252e-01 -5.39435927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68264000000002 meters 0.026748057998267665 Centerline is valid? [True, True] Translation: X:126.15, Y:-17.94, Z:-5.40 [[ 9.76361965e-01 2.14288456e-01 2.82448301e-02 1.26146654e+02] [-2.14202084e-01 9.76770416e-01 -6.08452154e-03 -1.79365805e+01] [-2.88925572e-02 -1.09406076e-04 9.99582517e-01 -5.39571798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.71264000000002 meters 0.01409216283338475 Centerline is valid? [True, True] Translation: X:126.17, Y:-17.94, Z:-5.40 [[ 9.76356160e-01 2.14198335e-01 2.91156675e-02 1.26174983e+02] [-2.14106533e-01 9.76790183e-01 -6.27150770e-03 -1.79434986e+01] [-2.97832447e-02 -1.10629428e-04 9.99556375e-01 -5.39570594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74264000000002 meters 0.013335308821475648 Centerline is valid? [True, True] Translation: X:126.20, Y:-17.95, Z:-5.39 [[ 9.76405238e-01 2.13935405e-01 2.94015858e-02 1.26204174e+02] [-2.13841711e-01 9.76847804e-01 -6.33176533e-03 -1.79513498e+01] [-3.00754633e-02 -1.04916573e-04 9.99547625e-01 -5.39416421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77264000000002 meters 0.013515166948801267 Centerline is valid? [True, True] Translation: X:126.23, Y:-17.96, Z:-5.40 [[ 9.76438721e-01 2.13812832e-01 2.91804058e-02 1.26232104e+02] [-2.13720505e-01 9.76874640e-01 -6.28356617e-03 -1.79570059e+01] [-2.98491055e-02 -1.00933739e-04 9.99554411e-01 -5.39533097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80264000000003 meters 0.01400030034677997 Centerline is valid? [True, True] Translation: X:126.26, Y:-17.96, Z:-5.40 [[ 9.76404706e-01 2.13978624e-01 2.91032299e-02 1.26259896e+02] [-2.13886894e-01 9.76838337e-01 -6.26572189e-03 -1.79614629e+01] [-2.97698813e-02 -1.06919135e-04 9.99556773e-01 -5.39829897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.83264000000003 meters 0.014356183122344332 Centerline is valid? [True, True] Translation: X:126.29, Y:-17.96, Z:-5.40 [[ 9.76042602e-01 2.15653592e-01 2.88854139e-02 1.26288629e+02] [-2.15563981e-01 9.76469919e-01 -6.21823442e-03 -1.79646263e+01] [-2.95467224e-02 -1.57393122e-04 9.99563388e-01 -5.39896376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86264000000003 meters 0.01515307633076511 Centerline is valid? [True, True] Translation: X:126.32, Y:-17.97, Z:-5.40 [[ 9.75722670e-01 2.17098010e-01 2.88743138e-02 1.26317310e+02] [-2.17009143e-01 9.76149790e-01 -6.21438323e-03 -1.79690077e+01] [-2.95347855e-02 -2.02475496e-04 9.99563733e-01 -5.39991336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.89264000000003 meters 0.01653458648638251 Centerline is valid? [True, True] Translation: X:126.34, Y:-17.97, Z:-5.40 [[ 9.75242242e-01 2.19201182e-01 2.92132057e-02 1.26344730e+02] [-2.19111200e-01 9.75679644e-01 -6.28596905e-03 -1.79721994e+01] [-2.98806220e-02 -2.70598019e-04 9.99553438e-01 -5.40023527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92264000000003 meters 0.020218189712165244 Centerline is valid? [True, True] Translation: X:126.38, Y:-17.97, Z:-5.40 [[ 9.74056732e-01 2.24370740e-01 2.95170027e-02 1.26375572e+02] [-2.24281319e-01 9.74503761e-01 -6.34890977e-03 -1.79706866e+01] [-3.01889398e-02 -4.35914012e-04 9.99544115e-01 -5.40018837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.95264000000003 meters 0.024334723261292424 Centerline is valid? [True, True] Translation: X:126.40, Y:-17.97, Z:-5.40 [[ 9.73407163e-01 2.27175598e-01 2.94913982e-02 1.26404710e+02] [-2.27087625e-01 9.73853672e-01 -6.34316393e-03 -1.79687079e+01] [-3.01613185e-02 -5.22650382e-04 9.99544907e-01 -5.40328440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98264000000003 meters 0.023579068764551934 Centerline is valid? [True, True] Translation: X:126.43, Y:-17.97, Z:-5.40 [[ 9.72798004e-01 2.29773231e-01 2.94670171e-02 1.26433126e+02] [-2.29686655e-01 9.73244007e-01 -6.33591219e-03 -1.79727028e+01] [-3.01344208e-02 -6.04617858e-04 9.99545672e-01 -5.40084563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.01264000000003 meters 0.03074642911415463 Centerline is valid? [True, True] Translation: X:126.46, Y:-17.96, Z:-5.41 [[ 9.71916053e-01 2.33410886e-01 2.99757230e-02 1.26463936e+02] [-2.33323077e-01 9.72377922e-01 -6.44349446e-03 -1.79639667e+01] [-3.06517130e-02 -7.31492221e-04 9.99529858e-01 -5.40522724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04264000000003 meters 0.03229745106688102 Centerline is valid? [True, True] Translation: X:126.49, Y:-17.97, Z:-5.41 [[ 9.71608145e-01 2.34678938e-01 3.00567687e-02 1.26493091e+02] [-2.34591292e-01 9.72072629e-01 -6.45985093e-03 -1.79666687e+01] [-3.07333531e-02 -7.74612422e-04 9.99527319e-01 -5.40650327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.07264000000004 meters 0.03317952560796441 Centerline is valid? [True, True] Translation: X:126.52, Y:-17.97, Z:-5.41 [[ 9.71453815e-01 2.35295374e-01 3.02253619e-02 1.26521333e+02] [-2.35207085e-01 9.71923581e-01 -6.49464786e-03 -1.79737480e+01] [-3.09049026e-02 -7.99968824e-04 9.99522009e-01 -5.40711352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10264000000004 meters 0.037085839748711845 Centerline is valid? [True, True] Translation: X:126.55, Y:-17.97, Z:-5.41 [[ 9.71333238e-01 2.35698849e-01 3.09482377e-02 1.26549480e+02] [-2.35606537e-01 9.71825786e-01 -6.64847954e-03 -1.79729192e+01] [-3.16433344e-02 -8.33717960e-04 9.99498877e-01 -5.40814964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.13264000000004 meters 0.03103264669924066 Centerline is valid? [True, True] Translation: X:126.58, Y:-17.98, Z:-5.41 [[ 9.71383726e-01 2.35542042e-01 3.05549072e-02 1.26578765e+02] [-2.35452050e-01 9.71863814e-01 -6.56189690e-03 -1.79763923e+01] [-3.12408113e-02 -8.20095676e-04 9.99511550e-01 -5.40757221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16264 meters 0.04015863946411562 Centerline is valid? [True, True] Translation: X:126.61, Y:-17.98, Z:-5.41 [[ 9.71495360e-01 2.35111955e-01 3.03172208e-02 1.26607123e+02] [-2.35023191e-01 9.71967966e-01 -6.50948491e-03 -1.79763279e+01] [-3.09978252e-02 -8.01315578e-04 9.99519131e-01 -5.41270742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.19264 meters 0.0313416584978472 Centerline is valid? [True, True] Translation: X:126.64, Y:-17.98, Z:-5.41 [[ 9.71691928e-01 2.34357287e-01 2.98573142e-02 1.26635771e+02] [-2.34270902e-01 9.72150232e-01 -6.40870486e-03 -1.79805832e+01] [-3.05277216e-02 -7.67413140e-04 9.99533626e-01 -5.41273222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.22264 meters 0.03724045529951454 Centerline is valid? [True, True] Translation: X:126.66, Y:-17.99, Z:-5.41 [[ 9.72276298e-01 2.31831163e-01 3.05468756e-02 1.26664544e+02] [-2.31739548e-01 9.72755783e-01 -6.55500000e-03 -1.79864002e+01] [-3.12343032e-02 -7.05648005e-04 9.99511841e-01 -5.41463701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.25264 meters 0.02543130483673429 Centerline is valid? [True, True] Translation: X:126.69, Y:-17.99, Z:-5.41 [[ 9.72641305e-01 2.30269135e-01 3.07411211e-02 1.26692278e+02] [-2.30175603e-01 9.73126759e-01 -6.59567717e-03 -1.79949408e+01] [-3.14337884e-02 -6.60628026e-04 9.99505618e-01 -5.41288269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.28264000000001 meters 0.02392689404638176 Centerline is valid? [True, True] Translation: X:126.72, Y:-18.00, Z:-5.41 [[ 9.73073579e-01 2.28443598e-01 3.06811457e-02 1.26720551e+02] [-2.28349572e-01 9.73556963e-01 -6.58123818e-03 -1.80011618e+01] [-3.13732848e-02 -6.01997508e-04 9.99507556e-01 -5.41394717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.31264000000002 meters 0.021355786245526143 Centerline is valid? [True, True] Translation: X:126.75, Y:-18.01, Z:-5.42 [[ 9.73936206e-01 2.24866044e-01 2.97242073e-02 1.26748284e+02] [-2.24776157e-01 9.74389572e-01 -6.37497325e-03 -1.80052078e+01] [-3.03964727e-02 -4.72475826e-04 9.99537809e-01 -5.41743574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34264000000002 meters 0.029799669998124095 Centerline is valid? [True, True] Translation: X:126.78, Y:-18.01, Z:-5.42 [[ 9.74437885e-01 2.22772849e-01 2.90355951e-02 1.26776156e+02] [-2.22686237e-01 9.74870298e-01 -6.22436866e-03 -1.80116012e+01] [-2.96925596e-02 -4.00566771e-04 9.99558998e-01 -5.42248856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.37264000000002 meters 0.018471418904157134 Centerline is valid? [True, True] Translation: X:126.80, Y:-18.02, Z:-5.42 [[ 9.74947309e-01 2.20599553e-01 2.85233628e-02 1.26803057e+02] [-2.20515076e-01 9.75364408e-01 -6.11332564e-03 -1.80188995e+01] [-2.91692698e-02 -3.29661140e-04 9.99574432e-01 -5.42357390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.40264000000002 meters 0.01564250922362213 Centerline is valid? [True, True] Translation: X:126.83, Y:-18.03, Z:-5.43 [[ 9.75887060e-01 2.16384022e-01 2.86775246e-02 1.26829856e+02] [-2.16296862e-01 9.76308308e-01 -6.14452906e-03 -1.80264144e+01] [-2.93276835e-02 -2.06492182e-04 9.99569830e-01 -5.42518627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.43264000000002 meters 0.027454924166207935 Centerline is valid? [True, True] Translation: X:126.86, Y:-18.03, Z:-5.43 [[ 9.76322578e-01 2.14379891e-01 2.89047858e-02 1.26857549e+02] [-2.14290525e-01 9.76750347e-01 -6.19119998e-03 -1.80348221e+01] [-2.95600284e-02 -1.49413395e-04 9.99562996e-01 -5.42767974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46264000000002 meters 0.025800032451974972 Centerline is valid? [True, True] Translation: X:126.88, Y:-18.05, Z:-5.43 [[ 9.77050927e-01 2.11049551e-01 2.88023099e-02 1.26884422e+02] [-2.10959412e-01 9.77475363e-01 -6.16780282e-03 -1.80451157e+01] [-2.94552603e-02 -4.98609061e-05 9.99566098e-01 -5.42748536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.49264000000002 meters 0.03163460028677195 Centerline is valid? [True, True] Translation: X:126.91, Y:-18.05, Z:-5.43 [[ 9.77291476e-01 2.09920664e-01 2.88909379e-02 1.26911310e+02] [-2.09829504e-01 9.77718423e-01 -6.18582366e-03 -1.80497821e+01] [-2.95457345e-02 -1.68184568e-05 9.99563429e-01 -5.42983651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52264000000002 meters 0.025751815357345217 Centerline is valid? [True, True] Translation: X:126.94, Y:-18.05, Z:-5.43 [[ 9.77398473e-01 2.09435965e-01 2.87889098e-02 1.26939066e+02] [-2.09345321e-01 9.77822364e-01 -6.16119900e-03 -1.80538715e+01] [-2.94408165e-02 -4.87706081e-06 9.99566525e-01 -5.43065623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.55264000000003 meters 0.013096177581193996 Centerline is valid? [True, True] Translation: X:126.97, Y:-18.06, Z:-5.43 [[ 9.77397705e-01 2.09451980e-01 2.86983241e-02 1.26966645e+02] [-2.09361973e-01 9.77818934e-01 -6.13972644e-03 -1.80581667e+01] [-2.93477425e-02 -7.38323621e-06 9.99569262e-01 -5.42823953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58264000000003 meters 0.021408385667589416 Centerline is valid? [True, True] Translation: X:126.99, Y:-18.06, Z:-5.43 [[ 9.77180764e-01 2.10428157e-01 2.89438340e-02 1.26994282e+02] [-2.10337099e-01 9.77609323e-01 -6.18996946e-03 -1.80598749e+01] [-2.95983058e-02 -3.92429807e-05 9.99561873e-01 -5.43304603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.61264000000003 meters 0.02415635645210458 Centerline is valid? [True, True] Translation: X:127.02, Y:-18.06, Z:-5.43 [[ 9.77087830e-01 2.10832418e-01 2.91387122e-02 1.27021766e+02] [-2.10740375e-01 9.77522219e-01 -6.22944133e-03 -1.80643531e+01] [-2.97971068e-02 -5.39918188e-05 9.99555966e-01 -5.43254799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64264000000003 meters 0.01960472494593965 Centerline is valid? [True, True] Translation: X:127.05, Y:-18.07, Z:-5.43 [[ 9.77020929e-01 2.11079713e-01 2.95881506e-02 1.27050340e+02] [-2.10985002e-01 9.77468849e-01 -6.32285975e-03 -1.80697047e+01] [-3.02561229e-02 -6.50896822e-05 9.99542177e-01 -5.43243910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.67264000000003 meters 0.013086747543222602 Centerline is valid? [True, True] Translation: X:127.08, Y:-18.08, Z:-5.43 [[ 9.77013017e-01 2.11147390e-01 2.93657017e-02 1.27079099e+02] [-2.11054173e-01 9.77454232e-01 -6.27382007e-03 -1.80753116e+01] [-3.00283301e-02 -6.81500157e-05 9.99549046e-01 -5.43156156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70264000000003 meters 0.013365094482365787 Centerline is valid? [True, True] Translation: X:127.11, Y:-18.08, Z:-5.43 [[ 9.77035468e-01 2.11136088e-01 2.86922849e-02 1.27106341e+02] [-2.11047125e-01 9.77456673e-01 -6.12888050e-03 -1.80803022e+01] [-2.93394932e-02 -6.72906336e-05 9.99569502e-01 -5.43427935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.73264000000003 meters 0.013812307237700334 Centerline is valid? [True, True] Translation: X:127.13, Y:-18.09, Z:-5.44 [[ 9.77072068e-01 2.11036206e-01 2.81761304e-02 1.27133852e+02] [-2.10950440e-01 9.77478243e-01 -6.01633157e-03 -1.80856039e+01] [-2.88112182e-02 -6.53775660e-05 9.99584869e-01 -5.43750951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76264000000003 meters 0.014313987372785813 Centerline is valid? [True, True] Translation: X:127.16, Y:-18.09, Z:-5.44 [[ 9.77121174e-01 2.10948398e-01 2.71105989e-02 1.27161570e+02] [-2.10869010e-01 9.77497197e-01 -5.78716547e-03 -1.80900309e+01] [-2.77213277e-02 -6.20232176e-05 9.99615688e-01 -5.44081064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.79264000000003 meters 0.01838132618442011 Centerline is valid? [True, True] Translation: X:127.19, Y:-18.10, Z:-5.44 [[ 9.77099756e-01 2.11011758e-01 2.73880244e-02 1.27189824e+02] [-2.10930814e-01 9.77483521e-01 -5.84449738e-03 -1.80955634e+01] [-2.80046002e-02 -6.63213224e-05 9.99607792e-01 -5.44142266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.82264000000004 meters 0.01357556029484092 Centerline is valid? [True, True] Translation: X:127.22, Y:-18.10, Z:-5.44 [[ 9.77026589e-01 2.11248766e-01 2.81603193e-02 1.27218314e+02] [-2.11163334e-01 9.77432326e-01 -6.00779220e-03 -1.81011306e+01] [-2.87939451e-02 -7.66541842e-05 9.99585365e-01 -5.43953810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.85264000000004 meters 0.013452966675196309 Centerline is valid? [True, True] Translation: X:127.25, Y:-18.11, Z:-5.44 [[ 9.76856512e-01 2.11913247e-01 2.90539298e-02 1.27247360e+02] [-2.11822645e-01 9.77288476e-01 -6.19688096e-03 -1.81056885e+01] [-2.97072720e-02 -1.00816752e-04 9.99558637e-01 -5.43837436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88264000000004 meters 0.014211029598379672 Centerline is valid? [True, True] Translation: X:127.27, Y:-18.11, Z:-5.44 [[ 9.76712506e-01 2.12586604e-01 2.89761317e-02 1.27274667e+02] [-2.12496822e-01 9.77142221e-01 -6.17898666e-03 -1.81093494e+01] [-2.96273715e-02 -1.22242358e-04 9.99561006e-01 -5.44117983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.91264 meters 0.02016273062756218 Centerline is valid? [True, True] Translation: X:127.30, Y:-18.11, Z:-5.44 [[ 9.76515816e-01 2.13492904e-01 2.89420255e-02 1.27302846e+02] [-2.13403790e-01 9.76944603e-01 -6.16970739e-03 -1.81136432e+01] [-2.95919444e-02 -1.51521083e-04 9.99562051e-01 -5.44253628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.94264 meters 0.01599915333684032 Centerline is valid? [True, True] Translation: X:127.33, Y:-18.11, Z:-5.44 [[ 9.75966453e-01 2.15903771e-01 2.95811590e-02 1.27331719e+02] [-2.15811826e-01 9.76414619e-01 -6.30455567e-03 -1.81134885e+01] [-3.02446534e-02 -2.30929108e-04 9.99542499e-01 -5.44231921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.97264 meters 0.016304624328900126 Centerline is valid? [True, True] Translation: X:127.36, Y:-18.12, Z:-5.44 [[ 9.75701108e-01 2.17155648e-01 2.91679903e-02 1.27360301e+02] [-2.17066873e-01 9.76136954e-01 -6.21448904e-03 -1.81170597e+01] [-2.98214646e-02 -2.67920592e-04 9.99555205e-01 -5.44244962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.00264 meters 0.023337914685386492 Centerline is valid? [True, True] Translation: X:127.39, Y:-18.12, Z:-5.45 [[ 9.75346618e-01 2.18804007e-01 2.87015833e-02 1.27388297e+02] [-2.18718799e-01 9.75768778e-01 -6.11386413e-03 -1.81189910e+01] [-2.93438468e-02 -3.14439140e-04 9.99569327e-01 -5.44675833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.03264000000001 meters 0.022137364850055772 Centerline is valid? [True, True] Translation: X:127.42, Y:-18.12, Z:-5.45 [[ 9.74564196e-01 2.22381032e-01 2.77723815e-02 1.27418097e+02] [-2.22302757e-01 9.74959747e-01 -5.91405065e-03 -1.81182096e+01] [-2.83921268e-02 -4.10254962e-04 9.99596778e-01 -5.44817805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06264000000002 meters 0.022301352117752492 Centerline is valid? [True, True] Translation: X:127.45, Y:-18.12, Z:-5.45 [[ 9.74170179e-01 2.24057441e-01 2.81198268e-02 1.27446770e+02] [-2.23977935e-01 9.74575829e-01 -5.98657714e-03 -1.81215286e+01] [-2.87462406e-02 -4.66275791e-04 9.99586633e-01 -5.44720849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.09264000000002 meters 0.025939005761759174 Centerline is valid? [True, True] Translation: X:127.48, Y:-18.12, Z:-5.45 [[ 9.73655301e-01 2.26265656e-01 2.82702700e-02 1.27476159e+02] [-2.26186250e-01 9.74065484e-01 -6.01780706e-03 -1.81184832e+01] [-2.88987173e-02 -5.35076601e-04 9.99582202e-01 -5.45016056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12264000000002 meters 0.02571754581821663 Centerline is valid? [True, True] Translation: X:127.50, Y:-18.12, Z:-5.45 [[ 9.73598868e-01 2.26468097e-01 2.85909824e-02 1.27503877e+02] [-2.26387056e-01 9.74018428e-01 -6.08297343e-03 -1.81225170e+01] [-2.92257431e-02 -5.50252294e-04 9.99572685e-01 -5.45051591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.15264000000002 meters 0.0323527458183671 Centerline is valid? [True, True] Translation: X:127.53, Y:-18.13, Z:-5.45 [[ 9.73713977e-01 2.25889036e-01 2.92444073e-02 1.27532300e+02] [-2.25804064e-01 9.74152885e-01 -6.21940078e-03 -1.81269062e+01] [-2.98934182e-02 -5.47588561e-04 9.99552942e-01 -5.45216872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18264000000002 meters 0.02080070103758414 Centerline is valid? [True, True] Translation: X:127.56, Y:-18.14, Z:-5.45 [[ 9.74499550e-01 2.22409582e-01 2.97423036e-02 1.27559637e+02] [-2.22320117e-01 9.74953217e-01 -6.32379542e-03 -1.81371533e+01] [-3.04038273e-02 -4.49776619e-04 9.99537596e-01 -5.44922831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.21264000000002 meters 0.01978141706997547 Centerline is valid? [True, True] Translation: X:127.59, Y:-18.15, Z:-5.45 [[ 9.75094746e-01 2.19791188e-01 2.96996689e-02 1.27586054e+02] [-2.19700804e-01 9.75546871e-01 -6.31338485e-03 -1.81452432e+01] [-3.03610454e-02 -3.68892753e-04 9.99538929e-01 -5.45257462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24264000000002 meters 0.01707227053680025 Centerline is valid? [True, True] Translation: X:127.61, Y:-18.16, Z:-5.45 [[ 9.75790604e-01 2.16721537e-01 2.94019321e-02 1.27613635e+02] [-2.16631629e-01 9.76233426e-01 -6.24788712e-03 -1.81562565e+01] [-3.00572006e-02 -2.72758908e-04 9.99548143e-01 -5.45417519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27264000000002 meters 0.019710528542973848 Centerline is valid? [True, True] Translation: X:127.64, Y:-18.17, Z:-5.46 [[ 9.76403038e-01 2.14006430e-01 2.89543621e-02 1.27640813e+02] [-2.13918071e-01 9.76832234e-01 -6.15191192e-03 -1.81659630e+01] [-2.96001029e-02 -1.87115805e-04 9.99561803e-01 -5.45774174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30264000000003 meters 0.023099837091950147 Centerline is valid? [True, True] Translation: X:127.67, Y:-18.18, Z:-5.46 [[ 9.77420462e-01 2.09440495e-01 2.79985608e-02 1.27667689e+02] [-2.09356036e-01 9.77821393e-01 -5.94755626e-03 -1.81777455e+01] [-2.86232508e-02 -4.84044992e-05 9.99590270e-01 -5.45921557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.33264000000003 meters 0.01328900042022645 Centerline is valid? [True, True] Translation: X:127.69, Y:-18.18, Z:-5.46 [[ 9.77736775e-01 2.07979332e-01 2.78459369e-02 1.27694544e+02] [-2.07895228e-01 9.78133221e-01 -5.91412770e-03 -1.81846752e+01] [-2.84670523e-02 -6.57725315e-06 9.99594731e-01 -5.45793131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36264000000003 meters 0.013187795299965537 Centerline is valid? [True, True] Translation: X:127.72, Y:-18.19, Z:-5.46 [[ 9.77959637e-01 2.06933969e-01 2.78079306e-02 1.27722387e+02] [-2.06849731e-01 9.78354911e-01 -5.90395440e-03 -1.81905908e+01] [-2.84277542e-02 2.17661255e-05 9.99595849e-01 -5.45907992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.39264000000003 meters 0.013187795299965537 Centerline is valid? [True, True] Translation: X:127.75, Y:-18.20, Z:-5.46 [[ 9.77974769e-01 2.06862386e-01 2.78083619e-02 1.27749283e+02] [-2.06778177e-01 9.78370049e-01 -5.90192177e-03 -1.81961646e+01] [-2.84277540e-02 2.17681986e-05 9.99595849e-01 -5.46029280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42264000000003 meters 0.01367928196225319 Centerline is valid? [True, True] Translation: X:127.78, Y:-18.20, Z:-5.46 [[ 9.78356862e-01 2.05150152e-01 2.70419229e-02 1.27777406e+02] [-2.05069934e-01 9.78730510e-01 -5.73686834e-03 -1.82037073e+01] [-2.76436744e-02 6.72191589e-05 9.99617838e-01 -5.46310566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.45264000000003 meters 0.013751826452527316 Centerline is valid? [True, True] Translation: X:127.80, Y:-18.21, Z:-5.46 [[ 9.78536723e-01 2.04281908e-01 2.71069036e-02 1.27804756e+02] [-2.04200998e-01 9.78912097e-01 -5.74968144e-03 -1.82111333e+01] [-2.77098318e-02 9.10176629e-05 9.99616005e-01 -5.46388227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48264000000003 meters 0.029864964543747874 Centerline is valid? [True, True] Translation: X:127.83, Y:-18.22, Z:-5.47 [[ 9.78700662e-01 2.03397005e-01 2.78329376e-02 1.27832547e+02] [-2.03311418e-01 9.79096341e-01 -5.90107383e-03 -1.82184693e+01] [-2.84513881e-02 1.16630860e-04 9.99595171e-01 -5.46546085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.51264000000003 meters 0.014792796234786609 Centerline is valid? [True, True] Translation: X:127.86, Y:-18.23, Z:-5.46 [[ 9.79178521e-01 2.00997350e-01 2.84515328e-02 1.27859252e+02] [-2.00906941e-01 9.79591767e-01 -6.03089538e-03 -1.82293778e+01] [-2.90830812e-02 1.89212812e-04 9.99576980e-01 -5.46352623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54264000000003 meters 0.015486590708936255 Centerline is valid? [True, True] Translation: X:127.89, Y:-18.24, Z:-5.46 [[ 9.79543737e-01 1.99220805e-01 2.83749500e-02 1.27887428e+02] [-1.99130195e-01 9.79954598e-01 -6.01265729e-03 -1.82370914e+01] [-2.90040091e-02 2.39351482e-04 9.99579267e-01 -5.46381896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.57264000000004 meters 0.02489119996550896 Centerline is valid? [True, True] Translation: X:127.91, Y:-18.24, Z:-5.47 [[ 9.79880365e-01 1.97558334e-01 2.83756056e-02 1.27913669e+02] [-1.97467059e-01 9.80291090e-01 -6.01152788e-03 -1.82447002e+01] [-2.90039808e-02 2.87330755e-04 9.99579255e-01 -5.46762823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60264000000004 meters 0.025993135256430565 Centerline is valid? [True, True] Translation: X:127.94, Y:-18.26, Z:-5.47 [[ 9.80612047e-01 1.93945881e-01 2.80179855e-02 1.27938748e+02] [-1.93855463e-01 9.81012153e-01 -5.93418197e-03 -1.82575847e+01] [-2.86368944e-02 3.87690783e-04 9.99589805e-01 -5.47104367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.63264000000004 meters 0.03243242032508419 Centerline is valid? [True, True] Translation: X:127.97, Y:-18.27, Z:-5.47 [[ 9.80983003e-01 1.91991748e-01 2.84871214e-02 1.27966004e+02] [-1.91897527e-01 9.81396437e-01 -6.03097675e-03 -1.82669397e+01] [-2.91150573e-02 4.49677528e-04 9.99575966e-01 -5.47126116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66264 meters 0.040675463013777356 Centerline is valid? [True, True] Translation: X:127.99, Y:-18.28, Z:-5.47 [[ 9.81575001e-01 1.88889298e-01 2.88331551e-02 1.27992768e+02] [-1.88791484e-01 9.81998235e-01 -6.10258181e-03 -1.82812560e+01] [-2.94668198e-02 5.46687622e-04 9.99565609e-01 -5.47204532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.69264 meters 0.031479613097586776 Centerline is valid? [True, True] Translation: X:128.02, Y:-18.29, Z:-5.47 [[ 9.81751433e-01 1.88024814e-01 2.84744115e-02 1.28020881e+02] [-1.87929092e-01 9.82164116e-01 -6.02541236e-03 -1.82906726e+01] [-2.90994722e-02 5.64286924e-04 9.99576361e-01 -5.47275730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.72264 meters 0.025448323907943618 Centerline is valid? [True, True] Translation: X:128.05, Y:-18.30, Z:-5.47 [[ 9.81817928e-01 1.87732165e-01 2.81103365e-02 1.28047883e+02] [-1.87638770e-01 9.82220095e-01 -5.94786073e-03 -1.83007518e+01] [-2.87271422e-02 5.65127319e-04 9.99587131e-01 -5.47314559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.75264 meters 0.03548492362552476 Centerline is valid? [True, True] Translation: X:128.08, Y:-18.31, Z:-5.47 [[ 9.81729030e-01 1.88222129e-01 2.79381660e-02 1.28077278e+02] [-1.88130109e-01 9.82126332e-01 -5.91020079e-03 -1.83051897e+01] [-2.85512391e-02 5.46205485e-04 9.99592181e-01 -5.47473129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.78264000000001 meters 0.03570908733706802 Centerline is valid? [True, True] Translation: X:128.11, Y:-18.31, Z:-5.48 [[ 9.81502783e-01 1.89533854e-01 2.70037933e-02 1.28105379e+02] [-1.89448396e-01 9.81874064e-01 -5.71209018e-03 -1.83119135e+01] [-2.75969587e-02 4.90607091e-04 9.99619011e-01 -5.47852540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.81264000000002 meters 0.019641515943632833 Centerline is valid? [True, True] Translation: X:128.13, Y:-18.31, Z:-5.48 [[ 9.80667061e-01 1.94015398e-01 2.54978473e-02 1.28134850e+02] [-1.93940737e-01 9.80998424e-01 -5.39288320e-03 -1.83114836e+01] [-2.60596504e-02 3.43551633e-04 9.99660331e-01 -5.47865313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84264000000002 meters 0.02695485827491023 Centerline is valid? [True, True] Translation: X:128.16, Y:-18.31, Z:-5.48 [[ 9.80085435e-01 1.96983094e-01 2.51038172e-02 1.28164176e+02] [-1.96911733e-01 9.80406851e-01 -5.30807223e-03 -1.83140976e+01] [-2.56575549e-02 2.59128117e-04 9.99670757e-01 -5.48256973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.87264000000002 meters 0.02927946190686247 Centerline is valid? [True, True] Translation: X:128.19, Y:-18.31, Z:-5.48 [[ 9.79058087e-01 2.02099692e-01 2.45148419e-02 1.28193161e+02] [-2.02033259e-01 9.79364947e-01 -5.18288650e-03 -1.83143092e+01] [-2.50564366e-02 1.21533528e-04 9.99686031e-01 -5.48495047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.90264000000002 meters 0.014555441163357653 Centerline is valid? [True, True] Translation: X:128.22, Y:-18.32, Z:-5.48 [[ 9.78645072e-01 2.04072380e-01 2.46634687e-02 1.28221936e+02] [-2.04005798e-01 9.78955800e-01 -5.21302156e-03 -1.83186605e+01] [-2.52082794e-02 7.02072495e-05 9.99682218e-01 -5.48366604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.93264000000002 meters 0.014417351450844561 Centerline is valid? [True, True] Translation: X:128.25, Y:-18.32, Z:-5.48 [[ 9.78290408e-01 2.05674043e-01 2.54178303e-02 1.28249094e+02] [-2.05603895e-01 9.78620553e-01 -5.37130991e-03 -1.83225701e+01] [-2.59791502e-02 2.86960422e-05 9.99662485e-01 -5.48468704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96264000000002 meters 0.014288936667437673 Centerline is valid? [True, True] Translation: X:128.28, Y:-18.33, Z:-5.48 [[ 9.77844888e-01 2.07622925e-01 2.66851438e-02 1.28276771e+02] [-2.07546384e-01 9.78208935e-01 -5.63723163e-03 -1.83259218e+01] [-2.72740646e-02 -2.60669536e-05 9.99627993e-01 -5.48437712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.99264000000002 meters 0.01401397888552836 Centerline is valid? [True, True] Translation: X:128.31, Y:-18.33, Z:-5.48 [[ 9.77748209e-01 2.08106518e-01 2.64597356e-02 1.28305555e+02] [-2.08031491e-01 9.78106168e-01 -5.58775785e-03 -1.83317274e+01] [-2.70432794e-02 -4.10380242e-05 9.99634263e-01 -5.48380418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02264000000002 meters 0.014055997647150577 Centerline is valid? [True, True] Translation: X:128.33, Y:-18.34, Z:-5.48 [[ 9.77723694e-01 2.08211438e-01 2.65400609e-02 1.28333260e+02] [-2.08136020e-01 9.78083838e-01 -5.60378492e-03 -1.83379297e+01] [-2.71251768e-02 -4.49893496e-05 9.99632044e-01 -5.48486085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.05264000000003 meters 0.026174884421165584 Centerline is valid? [True, True] Translation: X:128.36, Y:-18.35, Z:-5.49 [[ 9.77834830e-01 2.07574229e-01 2.74223222e-02 1.28360947e+02] [-2.07493534e-01 9.78219269e-01 -5.78746826e-03 -1.83453091e+01] [-2.80263733e-02 -3.07665083e-05 9.99607184e-01 -5.48609525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08264000000003 meters 0.013800696287637667 Centerline is valid? [True, True] Translation: X:128.39, Y:-18.35, Z:-5.49 [[ 9.78060324e-01 2.06420074e-01 2.80847776e-02 1.28387350e+02] [-2.06334994e-01 9.78463465e-01 -5.92598561e-03 -1.83538788e+01] [-2.87031712e-02 1.09899538e-06 9.99587979e-01 -5.48631680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.11264000000003 meters 0.01322609304686405 Centerline is valid? [True, True] Translation: X:128.41, Y:-18.36, Z:-5.48 [[ 9.78305036e-01 2.05224723e-01 2.83208135e-02 1.28414807e+02] [-2.05137764e-01 9.78714878e-01 -5.97379759e-03 -1.83625552e+01] [-2.89439725e-02 3.45279216e-05 9.99581035e-01 -5.48465627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14264000000003 meters 0.01784290144937782 Centerline is valid? [True, True] Translation: X:128.44, Y:-18.37, Z:-5.49 [[ 9.78530084e-01 2.04083731e-01 2.87872507e-02 1.28442271e+02] [-2.03993433e-01 9.78953434e-01 -6.07068052e-03 -1.83707535e+01] [-2.94203051e-02 6.79334277e-05 9.99567127e-01 -5.48648441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.17264000000003 meters 0.014495241644856084 Centerline is valid? [True, True] Translation: X:128.47, Y:-18.38, Z:-5.49 [[ 9.79070431e-01 2.01488632e-01 2.86953484e-02 1.28467810e+02] [-2.01397831e-01 9.79490842e-01 -6.05008567e-03 -1.83828076e+01] [-2.93258544e-02 1.44279063e-04 9.99569894e-01 -5.48806218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20264000000003 meters 0.01470568505663909 Centerline is valid? [True, True] Translation: X:128.50, Y:-18.39, Z:-5.49 [[ 9.79331511e-01 2.00277447e-01 2.82619058e-02 1.28495076e+02] [-2.00188929e-01 9.79739207e-01 -5.95642630e-03 -1.83913889e+01] [-2.88822350e-02 1.75595305e-04 9.99582806e-01 -5.48805998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.23264000000003 meters 0.015593967935060907 Centerline is valid? [True, True] Translation: X:128.52, Y:-18.40, Z:-5.49 [[ 9.79545844e-01 1.99370349e-01 2.72287079e-02 1.28521562e+02] [-1.99287868e-01 9.79924194e-01 -5.73753787e-03 -1.84003849e+01] [-2.78259645e-02 1.93830249e-04 9.99612764e-01 -5.49145840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26264000000003 meters 0.0165951180299973 Centerline is valid? [True, True] Translation: X:128.55, Y:-18.41, Z:-5.49 [[ 9.79794686e-01 1.98283112e-01 2.61950389e-02 1.28548644e+02] [-1.98206435e-01 9.80144766e-01 -5.51792728e-03 -1.84110920e+01] [-2.67690420e-02 2.14410557e-04 9.99641622e-01 -5.49417220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.29264000000003 meters 0.01718589170669894 Centerline is valid? [True, True] Translation: X:128.58, Y:-18.42, Z:-5.50 [[ 9.79796412e-01 1.98221249e-01 2.65956288e-02 1.28575638e+02] [-1.98142218e-01 9.80157278e-01 -5.60113158e-03 -1.84190684e+01] [-2.71781625e-02 2.18251728e-04 9.99630582e-01 -5.49659121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.32264000000004 meters 0.025985717166476387 Centerline is valid? [True, True] Translation: X:128.60, Y:-18.42, Z:-5.50 [[ 9.79557144e-01 1.99535205e-01 2.55637213e-02 1.28603668e+02] [-1.99462682e-01 9.79890643e-01 -5.38206826e-03 -1.84248734e+01] [-2.61235633e-02 1.73035014e-04 9.99658707e-01 -5.49811349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.35264000000004 meters 0.021301851593670564 Centerline is valid? [True, True] Translation: X:128.63, Y:-18.43, Z:-5.50 [[ 9.79316298e-01 2.00719536e-01 2.55197410e-02 1.28630650e+02] [-2.00647692e-01 9.79648737e-01 -5.37173905e-03 -1.84304061e+01] [-2.60785950e-02 1.40154470e-04 9.99659886e-01 -5.50013368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38264000000004 meters 0.015989808541347416 Centerline is valid? [True, True] Translation: X:128.66, Y:-18.44, Z:-5.50 [[ 9.78996377e-01 2.02247658e-01 2.57289536e-02 1.28658130e+02] [-2.02175201e-01 9.79334404e-01 -5.41413697e-03 -1.84359954e+01] [-2.62922459e-02 9.86641174e-05 9.99654294e-01 -5.50265866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.41264 meters 0.01409627589116853 Centerline is valid? [True, True] Translation: X:128.69, Y:-18.44, Z:-5.50 [[ 9.78150834e-01 2.06220379e-01 2.63458139e-02 1.28687357e+02] [-2.06145897e-01 9.78505572e-01 -5.54203580e-03 -1.84375209e+01] [-2.69224065e-02 -1.01344996e-05 9.99637526e-01 -5.49892562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.44264 meters 0.021952604441964098 Centerline is valid? [True, True] Translation: X:128.72, Y:-18.44, Z:-5.50 [[ 9.77718588e-01 2.08271094e-01 2.62585983e-02 1.28715873e+02] [-2.08197878e-01 9.78071136e-01 -5.52237237e-03 -1.84404065e+01] [-2.68329276e-02 -6.76583386e-05 9.99639930e-01 -5.50087882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.47264 meters 0.029002276798443246 Centerline is valid? [True, True] Translation: X:128.74, Y:-18.44, Z:-5.50 [[ 9.77323096e-01 2.10111250e-01 2.63216286e-02 1.28744508e+02] [-2.10038385e-01 9.77677477e-01 -5.53428352e-03 -1.84439549e+01] [-2.68968786e-02 -1.19769258e-04 9.99638206e-01 -5.50164331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.50264 meters 0.026265573436349818 Centerline is valid? [True, True] Translation: X:128.77, Y:-18.45, Z:-5.50 [[ 9.76823811e-01 2.12410895e-01 2.63979873e-02 1.28772252e+02] [-2.12338477e-01 9.77180422e-01 -5.54918411e-03 -1.84467247e+01] [-2.69743035e-02 -1.84733239e-04 9.99636110e-01 -5.50380926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.53264000000001 meters 0.017280501282273607 Centerline is valid? [True, True] Translation: X:128.80, Y:-18.45, Z:-5.51 [[ 9.76730223e-01 2.12887308e-01 2.60204855e-02 1.28799586e+02] [-2.12817155e-01 9.77076740e-01 -5.46838320e-03 -1.84515092e+01] [-2.65881605e-02 -1.96470559e-04 9.99646453e-01 -5.50623818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56264000000002 meters 0.01632683435212054 Centerline is valid? [True, True] Translation: X:128.83, Y:-18.46, Z:-5.51 [[ 9.76786953e-01 2.12630732e-01 2.59888538e-02 1.28826435e+02] [-2.12560708e-01 9.77132609e-01 -5.45986302e-03 -1.84582443e+01] [-2.65554912e-02 -1.91086194e-04 9.99647322e-01 -5.50526626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.59264000000002 meters 0.015611694563432274 Centerline is valid? [True, True] Translation: X:128.85, Y:-18.47, Z:-5.51 [[ 9.77002308e-01 2.11603501e-01 2.62764082e-02 1.28854013e+02] [-2.11531613e-01 9.77355580e-01 -5.51778928e-03 -1.84658474e+01] [-2.68489777e-02 -1.67398156e-04 9.99639487e-01 -5.50628271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62264000000002 meters 0.014133417850528381 Centerline is valid? [True, True] Translation: X:128.88, Y:-18.48, Z:-5.51 [[ 9.77811629e-01 2.07808525e-01 2.64581662e-02 1.28881124e+02] [-2.07734293e-01 9.78169521e-01 -5.55437039e-03 -1.84796854e+01] [-2.70348173e-02 -6.51404762e-05 9.99634490e-01 -5.50679722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.65264000000002 meters 0.01379031117155698 Centerline is valid? [True, True] Translation: X:128.91, Y:-18.49, Z:-5.51 [[ 9.78409671e-01 2.04927848e-01 2.68159083e-02 1.28907849e+02] [-2.04850535e-01 9.78777082e-01 -5.62861769e-03 -1.84904927e+01] [-2.74002570e-02 1.38408055e-05 9.99624542e-01 -5.50755099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68264000000002 meters 0.021002340728888253 Centerline is valid? [True, True] Translation: X:128.93, Y:-18.51, Z:-5.51 [[ 9.79553245e-01 1.99417520e-01 2.66100114e-02 1.28933756e+02] [-1.99339398e-01 9.79914601e-01 -5.58381870e-03 -1.85062535e+01] [-2.71890499e-02 1.65224073e-04 9.99630296e-01 -5.50980303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.71264000000002 meters 0.01689274810892392 Centerline is valid? [True, True] Translation: X:128.96, Y:-18.52, Z:-5.51 [[ 9.80090214e-01 1.96799867e-01 2.63246037e-02 1.28961363e+02] [-1.96722500e-01 9.80443654e-01 -5.52270766e-03 -1.85184598e+01] [-2.68966588e-02 2.34109880e-04 9.99638192e-01 -5.51051331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74264000000002 meters 0.032763723479255435 Centerline is valid? [True, True] Translation: X:128.99, Y:-18.53, Z:-5.51 [[ 9.80832178e-01 1.93129986e-01 2.58659522e-02 1.28990341e+02] [-1.93054057e-01 9.81173125e-01 -5.42495282e-03 -1.85342501e+01] [-2.64266982e-02 3.27441288e-04 9.99650700e-01 -5.51395715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.77264000000002 meters 0.027391159618682482 Centerline is valid? [True, True] Translation: X:129.02, Y:-18.55, Z:-5.52 [[ 9.81058369e-01 1.92120339e-01 2.47840972e-02 1.29018814e+02] [-1.92050286e-01 9.81371316e-01 -5.19888090e-03 -1.85450012e+01] [-2.53212128e-02 3.40612673e-04 9.99679309e-01 -5.51832035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80264000000003 meters 0.03034852290643366 Centerline is valid? [True, True] Translation: X:129.05, Y:-18.55, Z:-5.52 [[ 9.81158349e-01 1.91637545e-01 2.45630821e-02 1.29048619e+02] [-1.91568571e-01 9.81465704e-01 -5.15306517e-03 -1.85518165e+01] [-2.50953434e-02 3.50458361e-04 9.99685001e-01 -5.51832687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.83264000000003 meters 0.0266989866933337 Centerline is valid? [True, True] Translation: X:129.08, Y:-18.56, Z:-5.52 [[ 9.81142122e-01 1.91768650e-01 2.41851449e-02 1.29079084e+02] [-1.91701835e-01 9.81440099e-01 -5.07329416e-03 -1.85598386e+01] [-2.47091698e-02 3.41285956e-04 9.99694624e-01 -5.51908951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86264000000003 meters 0.032722192317376185 Centerline is valid? [True, True] Translation: X:129.11, Y:-18.57, Z:-5.52 [[ 9.80815919e-01 1.93476302e-01 2.38128808e-02 1.29108861e+02] [-1.93412004e-01 9.81104905e-01 -4.99628843e-03 -1.85676570e+01] [-2.43295975e-02 2.94742231e-04 9.99703948e-01 -5.52097451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.89264000000003 meters 0.0343611221661592 Centerline is valid? [True, True] Translation: X:129.14, Y:-18.57, Z:-5.52 [[ 9.80509459e-01 1.95005783e-01 2.39571456e-02 1.29138266e+02] [-1.94941154e-01 9.80802058e-01 -5.02680200e-03 -1.85725984e+01] [-2.44774732e-02 2.58593312e-04 9.99700348e-01 -5.52215687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92264000000003 meters 0.01794935608220804 Centerline is valid? [True, True] Translation: X:129.17, Y:-18.58, Z:-5.52 [[ 9.80093581e-01 1.96949430e-01 2.50498487e-02 1.29167087e+02] [-1.96879413e-01 9.80413624e-01 -5.25573265e-03 -1.85777768e+01] [-2.55943265e-02 2.19310315e-04 9.99672388e-01 -5.52140356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.95264000000003 meters 0.02825798235119815 Centerline is valid? [True, True] Translation: X:129.20, Y:-18.58, Z:-5.52 [[ 9.79663874e-01 1.98948292e-01 2.60436443e-02 1.29197518e+02] [-1.98873329e-01 9.80009973e-01 -5.46367303e-03 -1.85813997e+01] [-2.66100195e-02 1.73176850e-04 9.99645876e-01 -5.52107711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98264000000003 meters 0.026499657106529212 Centerline is valid? [True, True] Translation: X:129.23, Y:-18.59, Z:-5.52 [[ 9.78792555e-01 2.03052282e-01 2.71091217e-02 1.29226374e+02] [-2.02972620e-01 9.79167895e-01 -5.68760582e-03 -1.85853688e+01] [-2.76992629e-02 6.45767774e-05 9.99616300e-01 -5.52239547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.01264000000003 meters 0.02464469733783171 Centerline is valid? [True, True] Translation: X:129.26, Y:-18.59, Z:-5.52 [[ 9.78309762e-01 2.05363856e-01 2.71237392e-02 1.29255718e+02] [-2.05285015e-01 9.78685694e-01 -5.68998871e-03 -1.85891976e+01] [-2.77141335e-02 -1.52569956e-06 9.99615890e-01 -5.52087702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04264000000003 meters 0.014478213999134362 Centerline is valid? [True, True] Translation: X:129.28, Y:-18.59, Z:-5.52 [[ 9.77479036e-01 2.09236187e-01 2.74764073e-02 1.29283492e+02] [-2.09156814e-01 9.77865126e-01 -5.76385238e-03 -1.85914326e+01] [-2.80742270e-02 -1.12832954e-04 9.99605835e-01 -5.52157351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.07264000000004 meters 0.015143789763655968 Centerline is valid? [True, True] Translation: X:129.31, Y:-18.60, Z:-5.52 [[ 9.77100295e-01 2.11002477e-01 2.74402621e-02 1.29311970e+02] [-2.10924063e-01 9.77485513e-01 -5.75432629e-03 -1.85958635e+01] [-2.80366358e-02 -1.65257652e-04 9.99606883e-01 -5.52225401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10264000000004 meters 0.019065103728591215 Centerline is valid? [True, True] Translation: X:129.34, Y:-18.60, Z:-5.52 [[ 9.76730669e-01 2.12717960e-01 2.73545322e-02 1.29340095e+02] [-2.12640747e-01 9.77113618e-01 -5.73493678e-03 -1.85997954e+01] [-2.79484100e-02 -2.15199536e-04 9.99609344e-01 -5.52426067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.13264000000004 meters 0.017757167626300648 Centerline is valid? [True, True] Translation: X:129.37, Y:-18.60, Z:-5.53 [[ 9.76215655e-01 2.15091215e-01 2.71801994e-02 1.29368652e+02] [-2.15015941e-01 9.76593922e-01 -5.69699906e-03 -1.86032904e+01] [-2.77693920e-02 -2.82676487e-04 9.99614316e-01 -5.52538892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.16264 meters 0.026541242198759342 Centerline is valid? [True, True] Translation: X:129.40, Y:-18.61, Z:-5.53 [[ 9.75959071e-01 2.16274077e-01 2.70076892e-02 1.29397473e+02] [-2.16200246e-01 9.76332640e-01 -5.65946574e-03 -1.86072168e+01] [-2.75924842e-02 -3.15662125e-04 9.99619205e-01 -5.52798949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.19264 meters 0.02015635099599417 Centerline is valid? [True, True] Translation: X:129.42, Y:-18.61, Z:-5.53 [[ 9.75686729e-01 2.17481154e-01 2.71542617e-02 1.29424623e+02] [-2.17407028e-01 9.76064456e-01 -5.68869223e-03 -1.86108244e+01] [-2.77414930e-02 -3.53145801e-04 9.99615068e-01 -5.52936326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.22264 meters 0.021461114325137236 Centerline is valid? [True, True] Translation: X:129.45, Y:-18.61, Z:-5.53 [[ 9.75105699e-01 2.20127835e-01 2.66948100e-02 1.29453639e+02] [-2.20057216e-01 9.75470942e-01 -5.59139439e-03 -1.86138609e+01] [-2.72708329e-02 -4.22185038e-04 9.99627993e-01 -5.52932855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.25264 meters 0.030544336636738723 Centerline is valid? [True, True] Translation: X:129.48, Y:-18.62, Z:-5.53 [[ 9.74838097e-01 2.21225068e-01 2.73889290e-02 1.29481798e+02] [-2.21151197e-01 9.75222668e-01 -5.73551002e-03 -1.86164091e+01] [-2.79791430e-02 -4.65900758e-04 9.99608399e-01 -5.53155467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.28264000000001 meters 0.030544336636738723 Centerline is valid? [True, True] Translation: X:129.51, Y:-18.62, Z:-5.53 [[ 9.74848947e-01 2.21177206e-01 2.73893216e-02 1.29509525e+02] [-2.21103369e-01 9.75233524e-01 -5.73363465e-03 -1.86221234e+01] [-2.79791339e-02 -4.66443563e-04 9.99608399e-01 -5.53280456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.31264000000002 meters 0.02351351929936314 Centerline is valid? [True, True] Translation: X:129.54, Y:-18.63, Z:-5.53 [[ 9.74536452e-01 2.22501605e-01 2.77802069e-02 1.29538162e+02] [-2.22426223e-01 9.74932189e-01 -5.81401441e-03 -1.86263494e+01] [-2.83774455e-02 -5.13077520e-04 9.99597148e-01 -5.53142641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.34264000000002 meters 0.02433448331918284 Centerline is valid? [True, True] Translation: X:129.57, Y:-18.63, Z:-5.53 [[ 9.74300926e-01 2.23484790e-01 2.81469974e-02 1.29566813e+02] [-2.23407856e-01 9.74707262e-01 -5.88929370e-03 -1.86300419e+01] [-2.87512504e-02 -5.50316057e-04 9.99586446e-01 -5.53226949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.37264000000002 meters 0.025762177147956176 Centerline is valid? [True, True] Translation: X:129.60, Y:-18.63, Z:-5.53 [[ 9.74015279e-01 2.24742792e-01 2.80163245e-02 1.29596037e+02] [-2.24667132e-01 9.74417946e-01 -5.86051748e-03 -1.86315478e+01] [-2.86167185e-02 -5.86113721e-04 9.99590286e-01 -5.53392261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.40264000000002 meters 0.02821615361560928 Centerline is valid? [True, True] Translation: X:129.62, Y:-18.63, Z:-5.54 [[ 9.73981097e-01 2.24836725e-01 2.84476526e-02 1.29624162e+02] [-2.24758795e-01 9.74396269e-01 -5.94943912e-03 -1.86326990e+01] [-2.90569389e-02 -5.99218880e-04 9.99577578e-01 -5.53724539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.43264000000002 meters 0.026098362311645158 Centerline is valid? [True, True] Translation: X:129.65, Y:-18.64, Z:-5.54 [[ 9.73988092e-01 2.24907840e-01 2.76343868e-02 1.29651726e+02] [-2.24834379e-01 9.74379865e-01 -5.77767524e-03 -1.86394492e+01] [-2.82258346e-02 -5.85773314e-04 9.99601400e-01 -5.53729673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46264000000002 meters 0.0331802870875844 Centerline is valid? [True, True] Translation: X:129.68, Y:-18.65, Z:-5.54 [[ 9.74011282e-01 2.24857138e-01 2.72266562e-02 1.29679546e+02] [-2.24785862e-01 9.74391571e-01 -5.69056199e-03 -1.86454196e+01] [-2.78089878e-02 -5.77495795e-04 9.99613088e-01 -5.53782746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.49264000000002 meters 0.03576064127910456 Centerline is valid? [True, True] Translation: X:129.71, Y:-18.64, Z:-5.54 [[ 9.74066199e-01 2.24586934e-01 2.74908858e-02 1.29708119e+02] [-2.24514196e-01 9.74453886e-01 -5.74450544e-03 -1.86444323e+01] [-2.80787414e-02 -5.76565533e-04 9.99605548e-01 -5.54347774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52264000000002 meters 0.025349495779212763 Centerline is valid? [True, True] Translation: X:129.74, Y:-18.65, Z:-5.54 [[ 9.74176303e-01 2.24083827e-01 2.76942139e-02 1.29735972e+02] [-2.24009864e-01 9.74569708e-01 -5.78491267e-03 -1.86503160e+01] [-2.82862473e-02 -5.68252249e-04 9.99599703e-01 -5.54171498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.55264000000003 meters 0.026318229476026276 Centerline is valid? [True, True] Translation: X:129.76, Y:-18.65, Z:-5.54 [[ 9.74310803e-01 2.23450618e-01 2.80763443e-02 1.29764261e+02] [-2.23374370e-01 9.74715091e-01 -5.86357427e-03 -1.86526228e+01] [-2.86766558e-02 -5.58591949e-04 9.99588584e-01 -5.54421894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58264000000003 meters 0.024390025168231425 Centerline is valid? [True, True] Translation: X:129.79, Y:-18.66, Z:-5.54 [[ 9.74525742e-01 2.22521498e-01 2.79957423e-02 1.29792504e+02] [-2.22445371e-01 9.74927638e-01 -5.84439701e-03 -1.86593060e+01] [-2.85943269e-02 -5.32007953e-04 9.99590957e-01 -5.54463065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.61264000000003 meters 0.027434304825678137 Centerline is valid? [True, True] Translation: X:129.82, Y:-18.67, Z:-5.55 [[ 9.75149956e-01 2.19855599e-01 2.73144464e-02 1.29820370e+02] [-2.19782124e-01 9.75532326e-01 -5.70084270e-03 -1.86666110e+01] [-2.78994876e-02 -4.44050531e-04 9.99610635e-01 -5.54786914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64264000000003 meters 0.033536283607547866 Centerline is valid? [True, True] Translation: X:129.85, Y:-18.67, Z:-5.55 [[ 9.75470675e-01 2.18444532e-01 2.71836216e-02 1.29847617e+02] [-2.18371244e-01 9.75849284e-01 -5.67233287e-03 -1.86706000e+01] [-2.77662078e-02 -4.02926909e-04 9.99614363e-01 -5.55200015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.67264000000003 meters 0.020396947305881596 Centerline is valid? [True, True] Translation: X:129.88, Y:-18.68, Z:-5.55 [[ 9.75689480e-01 2.17528233e-01 2.66740948e-02 1.29875641e+02] [-2.17457377e-01 9.76053958e-01 -5.56412788e-03 -1.86782836e+01] [-2.72457107e-02 -3.71617651e-04 9.99628698e-01 -5.55134017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70264000000003 meters 0.01994763202025183 Centerline is valid? [True, True] Translation: X:129.90, Y:-18.68, Z:-5.55 [[ 9.75945454e-01 2.16432516e-01 2.62190197e-02 1.29902560e+02] [-2.16363692e-01 9.76297523e-01 -5.46810767e-03 -1.86832558e+01] [-2.67810402e-02 -3.36269057e-04 9.99641267e-01 -5.55352671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.73264000000003 meters 0.03194602079562251 Centerline is valid? [True, True] Translation: X:129.93, Y:-18.69, Z:-5.56 [[ 9.76320953e-01 2.14725297e-01 2.62762831e-02 1.29931217e+02] [-2.14655604e-01 9.76674440e-01 -5.47813868e-03 -1.86880001e+01] [-2.68396690e-02 -2.91929847e-04 9.99639709e-01 -5.55573010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76264000000003 meters 0.018387410638797664 Centerline is valid? [True, True] Translation: X:129.96, Y:-18.69, Z:-5.56 [[ 9.76454796e-01 2.14100853e-01 2.63980194e-02 1.29958371e+02] [-2.14030315e-01 9.76811521e-01 -5.50236577e-03 -1.86935477e+01] [-2.69639507e-02 -2.77164961e-04 9.99636368e-01 -5.55675350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.79264000000003 meters 0.01793497070677487 Centerline is valid? [True, True] Translation: X:129.99, Y:-18.70, Z:-5.56 [[ 9.76625184e-01 2.13261738e-01 2.68827269e-02 1.29985933e+02] [-2.13188317e-01 9.76995068e-01 -5.60161375e-03 -1.86964741e+01] [-2.74589015e-02 -2.60406248e-04 9.99622899e-01 -5.55828845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.82264000000004 meters 0.016911006569334554 Centerline is valid? [True, True] Translation: X:130.01, Y:-18.70, Z:-5.56 [[ 9.76718230e-01 2.12752088e-01 2.75326969e-02 1.30014286e+02] [-2.12674927e-01 9.77106179e-01 -5.73504891e-03 -1.87012198e+01] [-2.81225119e-02 -2.53987491e-04 9.99604452e-01 -5.55737296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.85264000000004 meters 0.016705576912954778 Centerline is valid? [True, True] Translation: X:130.04, Y:-18.71, Z:-5.56 [[ 9.76844736e-01 2.12125437e-01 2.78776016e-02 1.30041523e+02] [-2.12046112e-01 9.77242417e-01 -5.80561684e-03 -1.87050844e+01] [-2.84746938e-02 -2.40150790e-04 9.99594485e-01 -5.55864645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88264000000004 meters 0.015736895901901516 Centerline is valid? [True, True] Translation: X:130.07, Y:-18.71, Z:-5.56 [[ 9.77228700e-01 2.10271581e-01 2.84592910e-02 1.30068980e+02] [-2.10188176e-01 9.77642995e-01 -5.92496436e-03 -1.87109465e+01] [-2.90688781e-02 -1.91761248e-04 9.99577392e-01 -5.55955007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.91264 meters 0.0266209259506787 Centerline is valid? [True, True] Translation: X:130.10, Y:-18.72, Z:-5.56 [[ 9.77444693e-01 2.09199117e-01 2.89413604e-02 1.30096988e+02] [-2.09112462e-01 9.77873050e-01 -6.02292309e-03 -1.87173001e+01] [-2.95609666e-02 -1.64924929e-04 9.99562966e-01 -5.56098361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.94264 meters 0.026629466092084556 Centerline is valid? [True, True] Translation: X:130.12, Y:-18.72, Z:-5.56 [[ 9.77613553e-01 2.08377738e-01 2.91626347e-02 1.30124524e+02] [-2.08289427e-01 9.78048413e-01 -6.06764375e-03 -1.87227273e+01] [-2.97868304e-02 -1.42457716e-04 9.99556264e-01 -5.56349262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.97264 meters 0.014334805141025702 Centerline is valid? [True, True] Translation: X:130.15, Y:-18.73, Z:-5.56 [[ 9.77852743e-01 2.07221384e-01 2.93821556e-02 1.30152775e+02] [-2.07131279e-01 9.78294069e-01 -6.11124621e-03 -1.87296414e+01] [-3.00107694e-02 -1.10064589e-04 9.99549569e-01 -5.56240541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.00264 meters 0.014227341761081253 Centerline is valid? [True, True] Translation: X:130.18, Y:-18.74, Z:-5.56 [[ 9.77919097e-01 2.06859351e-01 2.97228707e-02 1.30180197e+02] [-2.06767017e-01 9.78370686e-01 -6.18077796e-03 -1.87359477e+01] [-3.03585371e-02 -1.01408497e-04 9.99539068e-01 -5.56329970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.03264000000001 meters 0.01341743415017927 Centerline is valid? [True, True] Translation: X:130.21, Y:-18.74, Z:-5.56 [[ 9.78041355e-01 2.06181159e-01 3.04045567e-02 1.30207930e+02] [-2.06084276e-01 9.78513834e-01 -6.32048289e-03 -1.87430304e+01] [-3.10544438e-02 -8.42073949e-05 9.99517691e-01 -5.56140211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06264000000002 meters 0.01760410296098926 Centerline is valid? [True, True] Translation: X:130.24, Y:-18.75, Z:-5.56 [[ 9.78223848e-01 2.05266613e-01 3.07200258e-02 1.30236198e+02] [-2.05167309e-01 9.78706092e-01 -6.38445565e-03 -1.87490518e+01] [-3.13763920e-02 -5.73182428e-05 9.99507638e-01 -5.56341522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.09264000000002 meters 0.013487266005814819 Centerline is valid? [True, True] Translation: X:130.26, Y:-18.75, Z:-5.57 [[ 9.78282273e-01 2.05028716e-01 3.04470156e-02 1.30263381e+02] [-2.04931097e-01 9.78755957e-01 -6.32631367e-03 -1.87548501e+01] [-3.10972738e-02 -5.06197930e-05 9.99516362e-01 -5.56588413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12264000000002 meters 0.013653366458390794 Centerline is valid? [True, True] Translation: X:130.29, Y:-18.76, Z:-5.57 [[ 9.78334948e-01 2.04844593e-01 2.99903786e-02 1.30290295e+02] [-2.04749854e-01 9.78794509e-01 -6.22950506e-03 -1.87607861e+01] [-3.06304983e-02 -4.59831299e-05 9.99530775e-01 -5.56840014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.15264000000002 meters 0.016418490276800472 Centerline is valid? [True, True] Translation: X:130.32, Y:-18.77, Z:-5.57 [[ 9.78365411e-01 2.04831630e-01 2.90710609e-02 1.30318280e+02] [-2.04742662e-01 9.78797222e-01 -6.03665725e-03 -1.87676549e+01] [-2.96911720e-02 -4.60297475e-05 9.99559119e-01 -5.57252379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18264000000002 meters 0.02350667201925225 Centerline is valid? [True, True] Translation: X:130.35, Y:-18.77, Z:-5.58 [[ 9.78348523e-01 2.04979151e-01 2.85957269e-02 1.30345107e+02] [-2.04893167e-01 9.78766338e-01 -5.93675994e-03 -1.87731160e+01] [-2.92054470e-02 -5.08487311e-05 9.99573429e-01 -5.57559716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.21264000000002 meters 0.014318588282655241 Centerline is valid? [True, True] Translation: X:130.37, Y:-18.78, Z:-5.58 [[ 9.78286565e-01 2.05274571e-01 2.85962708e-02 1.30373096e+02] [-2.05188766e-01 9.78704423e-01 -5.93494980e-03 -1.87793076e+01] [-2.92055909e-02 -6.15518553e-05 9.99573424e-01 -5.57616449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24264000000002 meters 0.02746933969365715 Centerline is valid? [True, True] Translation: X:130.40, Y:-18.79, Z:-5.58 [[ 9.77989990e-01 2.06658064e-01 2.87753937e-02 1.30400787e+02] [-2.06571819e-01 9.78413222e-01 -5.97074349e-03 -1.87856632e+01] [-2.93881279e-02 -1.04858063e-04 9.99568070e-01 -5.57621926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27264000000002 meters 0.030295484878627096 Centerline is valid? [True, True] Translation: X:130.43, Y:-18.79, Z:-5.58 [[ 9.77806549e-01 2.07548791e-01 2.85981132e-02 1.30428586e+02] [-2.07464024e-01 9.78224658e-01 -5.93268696e-03 -1.87904344e+01] [-2.92067015e-02 -1.32059473e-04 9.99573385e-01 -5.57902686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30264000000003 meters 0.015190641063299997 Centerline is valid? [True, True] Translation: X:130.46, Y:-18.79, Z:-5.58 [[ 9.77507380e-01 2.08996538e-01 2.82801767e-02 1.30457509e+02] [-2.08914307e-01 9.77916365e-01 -5.86477477e-03 -1.87946714e+01] [-2.88813652e-02 -1.75272909e-04 9.99582831e-01 -5.57798707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.33264000000003 meters 0.02118964824232189 Centerline is valid? [True, True] Translation: X:130.49, Y:-18.80, Z:-5.58 [[ 9.76813686e-01 2.12275131e-01 2.78260810e-02 1.30485716e+02] [-2.12196884e-01 9.77209904e-01 -5.76938695e-03 -1.87951662e+01] [-2.84166193e-02 -2.68991548e-04 9.99596130e-01 -5.58178216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36264000000003 meters 0.01858675159163941 Centerline is valid? [True, True] Translation: X:130.51, Y:-18.80, Z:-5.58 [[ 9.76447586e-01 2.13930724e-01 2.79956667e-02 1.30514563e+02] [-2.13852258e-01 9.76848782e-01 -5.80253536e-03 -1.87993628e+01] [-2.85888735e-02 -3.21064906e-04 9.99591203e-01 -5.58186912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.39264000000003 meters 0.022792401029063256 Centerline is valid? [True, True] Translation: X:130.54, Y:-18.80, Z:-5.58 [[ 9.75794131e-01 2.16656001e-01 2.97655905e-02 1.30542477e+02] [-2.16568601e-01 9.76247917e-01 -6.16817870e-03 -1.88008731e+01] [-3.03949686e-02 -4.27419720e-04 9.99537875e-01 -5.58153630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42264000000003 meters 0.02189403155589599 Centerline is valid? [True, True] Translation: X:130.57, Y:-18.80, Z:-5.58 [[ 9.75485618e-01 2.17852261e-01 3.11159382e-02 1.30570137e+02] [-2.17757452e-01 9.75981636e-01 -6.44501959e-03 -1.88042371e+01] [-3.17726463e-02 -4.88703500e-04 9.99495003e-01 -5.57963811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.45264000000003 meters 0.02510855669944264 Centerline is valid? [True, True] Translation: X:130.60, Y:-18.80, Z:-5.58 [[ 9.75174685e-01 2.19120215e-01 3.19478447e-02 1.30598888e+02] [-2.19021033e-01 9.75697716e-01 -6.61471263e-03 -1.88044052e+01] [-3.26208564e-02 -5.46749655e-04 9.99467649e-01 -5.58131228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48264000000003 meters 0.031140413092705037 Centerline is valid? [True, True] Translation: X:130.63, Y:-18.81, Z:-5.58 [[ 9.74587076e-01 2.21502127e-01 3.34191350e-02 1.30627909e+02] [-2.21395075e-01 9.75159667e-01 -6.91704447e-03 -1.88077977e+01] [-3.41211326e-02 -6.57569751e-04 9.99417488e-01 -5.57920910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.51264000000003 meters 0.02659617062237702 Centerline is valid? [True, True] Translation: X:130.66, Y:-18.81, Z:-5.58 [[ 9.74296506e-01 2.22701582e-01 3.39164233e-02 1.30656038e+02] [-2.22592102e-01 9.74886403e-01 -7.01833835e-03 -1.88093248e+01] [-3.46276550e-02 -7.11585435e-04 9.99400030e-01 -5.57837557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54264000000003 meters 0.02626336122156295 Centerline is valid? [True, True] Translation: X:130.68, Y:-18.81, Z:-5.58 [[ 9.74058291e-01 2.23737547e-01 3.39404750e-02 1.30684232e+02] [-2.23628617e-01 9.74649140e-01 -7.02109045e-03 -1.88135462e+01] [-3.46509363e-02 -7.51110127e-04 9.99399194e-01 -5.57925710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.57264000000004 meters 0.02838738672296403 Centerline is valid? [True, True] Translation: X:130.71, Y:-18.81, Z:-5.58 [[ 9.73635363e-01 2.25643974e-01 3.34511028e-02 1.30713101e+02] [-2.25539344e-01 9.74209496e-01 -6.91817761e-03 -1.88144577e+01] [-3.41494271e-02 -8.08757431e-04 9.99416411e-01 -5.58216322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60264000000004 meters 0.03475219213272012 Centerline is valid? [True, True] Translation: X:130.74, Y:-18.82, Z:-5.59 [[ 9.73547485e-01 2.26137364e-01 3.26678264e-02 1.30741462e+02] [-2.26037905e-01 9.74095088e-01 -6.75469791e-03 -1.88150631e+01] [-3.33490588e-02 -8.08147879e-04 9.99443439e-01 -5.58739724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.63264000000004 meters 0.029609306062244954 Centerline is valid? [True, True] Translation: X:130.77, Y:-18.82, Z:-5.59 [[ 9.73537014e-01 2.26263775e-01 3.20996331e-02 1.30769475e+02] [-2.26167886e-01 9.74065739e-01 -6.63507751e-03 -1.88225592e+01] [-3.27684305e-02 -8.00412606e-04 9.99462650e-01 -5.58707297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.66264 meters 0.02880163688392775 Centerline is valid? [True, True] Translation: X:130.80, Y:-18.83, Z:-5.59 [[ 9.73637602e-01 2.25956505e-01 3.12005921e-02 1.30797321e+02] [-2.25865798e-01 9.74137088e-01 -6.44788839e-03 -1.88274202e+01] [-3.18505962e-02 -7.69240027e-04 9.99492345e-01 -5.58939929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.69264 meters 0.04202216887542848 Centerline is valid? [True, True] Translation: X:130.83, Y:-18.83, Z:-5.60 [[ 9.74124199e-01 2.24004267e-01 3.00687937e-02 1.30826020e+02] [-2.23919149e-01 9.74587925e-01 -6.21216016e-03 -1.88256476e+01] [-3.06962337e-02 -6.81563160e-04 9.99528527e-01 -5.59901050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.72264 meters 0.02570070891468685 Centerline is valid? [True, True] Translation: X:130.85, Y:-18.84, Z:-5.60 [[ 9.74512276e-01 2.22320430e-01 2.99908384e-02 1.30852970e+02] [-2.22235019e-01 9.74973451e-01 -6.19398184e-03 -1.88379919e+01] [-3.06173200e-02 -6.28903203e-04 9.99530982e-01 -5.59529870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.75264 meters 0.02486030579344175 Centerline is valid? [True, True] Translation: X:130.88, Y:-18.84, Z:-5.60 [[ 9.74936936e-01 2.20452590e-01 2.99770930e-02 1.30880387e+02] [-2.20366416e-01 9.75397524e-01 -6.18977112e-03 -1.88441146e+01] [-3.06041333e-02 -5.71308060e-04 9.99531421e-01 -5.59756999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.78264000000001 meters 0.02027698893639102 Centerline is valid? [True, True] Translation: X:130.91, Y:-18.85, Z:-5.60 [[ 9.75724578e-01 2.16700750e-01 3.16596451e-02 1.30908505e+02] [-2.16602738e-01 9.76237959e-01 -6.53457048e-03 -1.88543241e+01] [-3.23233936e-02 -4.81624792e-04 9.99477347e-01 -5.59529037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.81264000000002 meters 0.01956345537077347 Centerline is valid? [True, True] Translation: X:130.94, Y:-18.86, Z:-5.60 [[ 9.76021007e-01 2.15294960e-01 3.21103571e-02 1.30935645e+02] [-2.15193391e-01 9.76548967e-01 -6.62717705e-03 -1.88599208e+01] [-3.27841339e-02 -4.41672607e-04 9.99462358e-01 -5.59676151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.84264000000002 meters 0.01864018854706833 Centerline is valid? [True, True] Translation: X:130.96, Y:-18.86, Z:-5.60 [[ 9.76390687e-01 2.13782319e-01 3.09571579e-02 1.30964130e+02] [-2.13687220e-01 9.76881250e-01 -6.38712842e-03 -1.88637221e+01] [-3.16069222e-02 -3.78816322e-04 9.99500305e-01 -5.59969419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.87264000000002 meters 0.0186542749618161 Centerline is valid? [True, True] Translation: X:130.99, Y:-18.87, Z:-5.60 [[ 9.76437006e-01 2.13596527e-01 3.07781837e-02 1.30991611e+02] [-2.13502471e-01 9.76921893e-01 -6.34896517e-03 -1.88662748e+01] [-3.14239984e-02 -3.71853731e-04 9.99506075e-01 -5.60176739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.90264000000002 meters 0.018005222913959944 Centerline is valid? [True, True] Translation: X:131.02, Y:-18.87, Z:-5.60 [[ 9.76440087e-01 2.13575170e-01 3.08286151e-02 1.31019499e+02] [-2.13480869e-01 9.76926562e-01 -6.35704943e-03 -1.88700350e+01] [-3.14750009e-02 -3.74041640e-04 9.99504469e-01 -5.60213730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.93264000000002 meters 0.025836019544667115 Centerline is valid? [True, True] Translation: X:131.05, Y:-18.87, Z:-5.61 [[ 9.76472557e-01 2.13508362e-01 3.02576245e-02 1.31047173e+02] [-2.13417567e-01 9.76941167e-01 -6.23683230e-03 -1.88720682e+01] [-3.08915348e-02 -3.67412996e-04 9.99522675e-01 -5.60904719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96264000000002 meters 0.018637322580219644 Centerline is valid? [True, True] Translation: X:131.08, Y:-18.88, Z:-5.61 [[ 9.76494814e-01 2.13451549e-01 2.99385157e-02 1.31075668e+02] [-2.13362696e-01 9.76953583e-01 -6.16896949e-03 -1.88793077e+01] [-3.05653163e-02 -3.63795701e-04 9.99532705e-01 -5.60738797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.99264000000002 meters 0.0188152241256802 Centerline is valid? [True, True] Translation: X:131.10, Y:-18.88, Z:-5.61 [[ 9.76554342e-01 2.13115758e-01 3.03857106e-02 1.31103296e+02] [-2.13024112e-01 9.77026890e-01 -6.25968914e-03 -1.88827829e+01] [-3.10216947e-02 -3.59962423e-04 9.99518647e-01 -5.60838602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02264000000002 meters 0.016999854971044046 Centerline is valid? [True, True] Translation: X:131.13, Y:-18.89, Z:-5.61 [[ 9.76719145e-01 2.12166677e-01 3.17019416e-02 1.31132085e+02] [-2.12066490e-01 9.77233432e-01 -6.52857924e-03 -1.88864097e+01] [-3.23653441e-02 -3.46331154e-04 9.99476045e-01 -5.60576645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.05264000000003 meters 0.01707341192285203 Centerline is valid? [True, True] Translation: X:131.16, Y:-18.89, Z:-5.61 [[ 9.76855625e-01 2.11568324e-01 3.14949546e-02 1.31160111e+02] [-2.11469183e-01 9.77363156e-01 -6.48433834e-03 -1.88903807e+01] [-3.21538888e-02 -3.25949946e-04 9.99482877e-01 -5.60788362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08264000000003 meters 0.017575616269847445 Centerline is valid? [True, True] Translation: X:131.19, Y:-18.89, Z:-5.61 [[ 9.76968322e-01 2.11121126e-01 3.09962445e-02 1.31186486e+02] [-2.11024892e-01 9.77459859e-01 -6.38114440e-03 -1.88935275e+01] [-3.16447791e-02 -3.06803185e-04 9.99499131e-01 -5.61084624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.11264000000003 meters 0.027360176390312525 Centerline is valid? [True, True] Translation: X:131.21, Y:-18.90, Z:-5.61 [[ 9.77030460e-01 2.10651717e-01 3.22076831e-02 1.31214867e+02] [-2.10547739e-01 9.77561128e-01 -6.62499397e-03 -1.88984880e+01] [-3.28805453e-02 -3.08433948e-04 9.99459241e-01 -5.61252156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14264000000003 meters 0.01634404509983847 Centerline is valid? [True, True] Translation: X:131.24, Y:-18.90, Z:-5.61 [[ 9.76940692e-01 2.11015311e-01 3.25487882e-02 1.31242359e+02] [-2.10909366e-01 9.77482702e-01 -6.69377631e-03 -1.89040620e+01] [-3.32283667e-02 -3.25421816e-04 9.99447732e-01 -5.61013128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.17264000000003 meters 0.017166080694418336 Centerline is valid? [True, True] Translation: X:131.27, Y:-18.91, Z:-5.61 [[ 9.76683089e-01 2.12147591e-01 3.29172277e-02 1.31270968e+02] [-2.12039972e-01 9.77237567e-01 -6.76671373e-03 -1.89072292e+01] [-3.36034936e-02 -3.70833164e-04 9.99435174e-01 -5.61088019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20264000000003 meters 0.017166080694418336 Centerline is valid? [True, True] Translation: X:131.30, Y:-18.91, Z:-5.61 [[ 9.76698699e-01 2.12075667e-01 3.29175089e-02 1.31297899e+02] [-2.11968053e-01 9.77253178e-01 -6.76534552e-03 -1.89126283e+01] [-3.36035054e-02 -3.69756096e-04 9.99435174e-01 -5.61209300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.23264000000003 meters 0.018980830860936552 Centerline is valid? [True, True] Translation: X:131.33, Y:-18.91, Z:-5.62 [[ 9.76495155e-01 2.13070795e-01 3.25276438e-02 1.31326110e+02] [-2.12966353e-01 9.77036680e-01 -6.68262123e-03 -1.89145968e+01] [-3.32045725e-02 -4.01746426e-04 9.99448495e-01 -5.61534528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26264000000003 meters 0.028235728995528103 Centerline is valid? [True, True] Translation: X:131.36, Y:-18.92, Z:-5.62 [[ 9.76367565e-01 2.13656010e-01 3.25190167e-02 1.31355192e+02] [-2.13552022e-01 9.76908865e-01 -6.67862877e-03 -1.89172231e+01] [-3.31950449e-02 -4.23705266e-04 9.99448803e-01 -5.61919267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.29264000000003 meters 0.019136357051211438 Centerline is valid? [True, True] Translation: X:131.38, Y:-18.92, Z:-5.62 [[ 9.76186572e-01 2.14512675e-01 3.23123522e-02 1.31383545e+02] [-2.14410525e-01 9.76721101e-01 -6.63463179e-03 -1.89217469e+01] [-3.29833688e-02 -4.51469945e-04 9.99455799e-01 -5.61723225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.32264000000004 meters 0.01974807469367158 Centerline is valid? [True, True] Translation: X:131.41, Y:-18.92, Z:-5.62 [[ 9.76099287e-01 2.14930466e-01 3.21726067e-02 1.31411702e+02] [-2.14829475e-01 9.76629243e-01 -6.60441109e-03 -1.89230624e+01] [-3.28401977e-02 -4.65063254e-04 9.99460507e-01 -5.61939364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.35264000000004 meters 0.023461207711574943 Centerline is valid? [True, True] Translation: X:131.44, Y:-18.93, Z:-5.62 [[ 9.76265457e-01 2.14138035e-01 3.24138654e-02 1.31439602e+02] [-2.14035161e-01 9.76803309e-01 -6.65168558e-03 -1.89307958e+01] [-3.30863498e-02 -4.43896020e-04 9.99452398e-01 -5.62199700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38264000000004 meters 0.02049606759965756 Centerline is valid? [True, True] Translation: X:131.47, Y:-18.93, Z:-5.62 [[ 9.76379579e-01 2.13660789e-01 3.21245253e-02 1.31466479e+02] [-2.13559527e-01 9.76907819e-01 -6.59104970e-03 -1.89345646e+01] [-3.27909488e-02 -4.25132104e-04 9.99462142e-01 -5.62456623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.41264 meters 0.02540104005484163 Centerline is valid? [True, True] Translation: X:131.49, Y:-18.94, Z:-5.63 [[ 9.76952412e-01 2.11036009e-01 3.20591410e-02 1.31493665e+02] [-2.10933858e-01 9.77478229e-01 -6.57420067e-03 -1.89449748e+01] [-3.27245055e-02 -3.39677090e-04 9.99464352e-01 -5.62620552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.44264 meters 0.017763271800702828 Centerline is valid? [True, True] Translation: X:131.52, Y:-18.95, Z:-5.63 [[ 9.77148132e-01 2.10184285e-01 3.16874669e-02 1.31520365e+02] [-2.10084061e-01 9.77661737e-01 -6.49738001e-03 -1.89492671e+01] [-3.23452711e-02 -3.08128978e-04 9.99476707e-01 -5.62696932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.47264 meters 0.031659815251812884 Centerline is valid? [True, True] Translation: X:131.55, Y:-18.96, Z:-5.63 [[ 9.77334610e-01 2.09252836e-01 3.20984509e-02 1.31548588e+02] [-2.09149672e-01 9.77861528e-01 -6.57618458e-03 -1.89560087e+01] [-3.27639255e-02 -2.86247672e-04 9.99463077e-01 -5.62830042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.50264 meters 0.016657008915689053 Centerline is valid? [True, True] Translation: X:131.58, Y:-18.96, Z:-5.63 [[ 9.77234827e-01 2.09906713e-01 3.08425702e-02 1.31577394e+02] [-2.09811838e-01 9.77721373e-01 -6.31740288e-03 -1.89609698e+01] [-3.14815053e-02 -2.97550212e-04 9.99504290e-01 -5.62827477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.53264000000001 meters 0.020797456403332346 Centerline is valid? [True, True] Translation: X:131.61, Y:-18.97, Z:-5.63 [[ 9.77142222e-01 2.10314120e-01 3.10007900e-02 1.31606061e+02] [-2.10218524e-01 9.77633813e-01 -6.34820693e-03 -1.89650664e+01] [-3.16425381e-02 -3.13839279e-04 9.99499200e-01 -5.63135487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56264000000002 meters 0.017781246713868354 Centerline is valid? [True, True] Translation: X:131.63, Y:-18.97, Z:-5.63 [[ 9.76887592e-01 2.11513713e-01 3.08639169e-02 1.31634178e+02] [-2.11419602e-01 9.77374966e-01 -6.31877493e-03 -1.89692304e+01] [-3.15021273e-02 -3.52504208e-04 9.99503623e-01 -5.63058945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.59264000000002 meters 0.020515594250254805 Centerline is valid? [True, True] Translation: X:131.66, Y:-18.97, Z:-5.63 [[ 9.76319986e-01 2.13969788e-01 3.18781279e-02 1.31662792e+02] [-2.13870767e-01 9.76840176e-01 -6.52425325e-03 -1.89670387e+01] [-3.25358292e-02 -4.48040844e-04 9.99470469e-01 -5.63129527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.62264000000002 meters 0.0214290288364726 Centerline is valid? [True, True] Translation: X:131.69, Y:-18.97, Z:-5.63 [[ 9.76050568e-01 2.15144101e-01 3.22227180e-02 1.31692171e+02] [-2.15043596e-01 9.76582189e-01 -6.59389058e-03 -1.89687070e+01] [-3.28867692e-02 -4.93318507e-04 9.99458962e-01 -5.63169452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.65264000000002 meters 0.02898477067702502 Centerline is valid? [True, True] Translation: X:131.72, Y:-18.97, Z:-5.63 [[ 9.75801984e-01 2.16129328e-01 3.31451494e-02 1.31721738e+02] [-2.16023802e-01 9.76364590e-01 -6.77530269e-03 -1.89690094e+01] [-3.38260918e-02 -5.48787377e-04 9.99427583e-01 -5.63481795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68264000000002 meters 0.023493774270898812 Centerline is valid? [True, True] Translation: X:131.75, Y:-18.97, Z:-5.64 [[ 9.75707965e-01 2.16623675e-01 3.26825819e-02 1.31749567e+02] [-2.16521401e-01 9.76255023e-01 -6.67925727e-03 -1.89726937e+01] [-3.33534200e-02 -5.59473921e-04 9.99443463e-01 -5.63531581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.71264000000002 meters 0.02260608648252458 Centerline is valid? [True, True] Translation: X:131.78, Y:-18.98, Z:-5.64 [[ 9.75862906e-01 2.15986936e-01 3.22681446e-02 1.31777230e+02] [-2.15886907e-01 9.76396109e-01 -6.59408378e-03 -1.89783819e+01] [-3.29307268e-02 -5.31348195e-04 9.99457495e-01 -5.63648457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74264000000002 meters 0.021718638978557706 Centerline is valid? [True, True] Translation: X:131.80, Y:-18.98, Z:-5.64 [[ 9.76276797e-01 2.14153721e-01 3.19656019e-02 1.31804622e+02] [-2.14054837e-01 9.76799857e-01 -6.52432169e-03 -1.89823576e+01] [-3.26212031e-02 -4.72847812e-04 9.99467675e-01 -5.63913939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77264000000002 meters 0.020912946868916583 Centerline is valid? [True, True] Translation: X:131.83, Y:-18.99, Z:-5.64 [[ 9.76512419e-01 2.13103160e-01 3.17889768e-02 1.31832516e+02] [-2.13004878e-01 9.77029606e-01 -6.48614608e-03 -1.89889980e+01] [-3.24409897e-02 -4.37404937e-04 9.99473557e-01 -5.64097687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80264000000003 meters 0.01788775955811207 Centerline is valid? [True, True] Translation: X:131.86, Y:-19.00, Z:-5.64 [[ 9.77021990e-01 2.10831232e-01 3.12765527e-02 1.31860496e+02] [-2.10734932e-01 9.77522411e-01 -6.38150702e-03 -1.89983355e+01] [-3.19189522e-02 -3.56189512e-04 9.99490397e-01 -5.64150343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.83264000000003 meters 0.01817543058822411 Centerline is valid? [True, True] Translation: X:131.89, Y:-19.00, Z:-5.64 [[ 9.77255180e-01 2.09726589e-01 3.14176802e-02 1.31887886e+02] [-2.09629057e-01 9.77760017e-01 -6.40376892e-03 -1.90023382e+01] [-3.20619921e-02 -3.27942327e-04 9.99485828e-01 -5.64382929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86264000000003 meters 0.02372791981463503 Centerline is valid? [True, True] Translation: X:131.92, Y:-19.01, Z:-5.65 [[ 9.77577659e-01 2.08133499e-01 3.19744850e-02 1.31915890e+02] [-2.08031699e-01 9.78100387e-01 -6.51500894e-03 -1.90084562e+01] [-3.26302478e-02 -2.82779267e-04 9.99467452e-01 -5.64692877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.89264000000003 meters 0.015881693696565252 Centerline is valid? [True, True] Translation: X:131.94, Y:-19.02, Z:-5.65 [[ 9.77745801e-01 2.07483484e-01 3.10443735e-02 1.31943886e+02] [-2.07387241e-01 9.78238488e-01 -6.32404906e-03 -1.90155940e+01] [-3.16809367e-02 -2.54894558e-04 9.99498001e-01 -5.64537305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92264000000003 meters 0.016149126947608484 Centerline is valid? [True, True] Translation: X:131.97, Y:-19.02, Z:-5.65 [[ 9.77880845e-01 2.06849257e-01 3.10231722e-02 1.31970451e+02] [-2.06752842e-01 9.78372797e-01 -6.31921185e-03 -1.90201786e+01] [-3.16593520e-02 -2.34692785e-04 9.99498690e-01 -5.64797073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.95264000000003 meters 0.016736368416649692 Centerline is valid? [True, True] Translation: X:132.00, Y:-19.02, Z:-5.65 [[ 9.77944829e-01 2.06731904e-01 2.97629309e-02 1.31997792e+02] [-2.06643258e-01 9.78397603e-01 -6.05765763e-03 -1.90230729e+01] [-3.03722914e-02 -2.26254064e-04 9.99538630e-01 -5.65152686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98264000000003 meters 0.016996014516785885 Centerline is valid? [True, True] Translation: X:132.03, Y:-19.03, Z:-5.65 [[ 9.77886841e-01 2.07011062e-01 2.97278821e-02 1.32025786e+02] [-2.06922754e-01 9.78338574e-01 -6.05051304e-03 -1.90270168e+01] [-3.03364570e-02 -2.34658157e-04 9.99539716e-01 -5.65249575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.01264000000003 meters 0.01777244648301791 Centerline is valid? [True, True] Translation: X:132.05, Y:-19.03, Z:-5.65 [[ 9.77541228e-01 2.08585885e-01 3.00844694e-02 1.32054924e+02] [-2.08496380e-01 9.78004009e-01 -6.11693129e-03 -1.90288125e+01] [-3.06986373e-02 -2.92950458e-04 9.99528643e-01 -5.65233123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04264000000003 meters 0.01998077994671565 Centerline is valid? [True, True] Translation: X:132.08, Y:-19.03, Z:-5.66 [[ 9.77217980e-01 2.10104506e-01 3.00185950e-02 1.32082727e+02] [-2.10016312e-01 9.77678872e-01 -6.09689739e-03 -1.90293934e+01] [-3.06295318e-02 -3.46396877e-04 9.99530746e-01 -5.65501297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.07264000000004 meters 0.019210598032755013 Centerline is valid? [True, True] Translation: X:132.11, Y:-19.03, Z:-5.65 [[ 9.76959222e-01 2.11353253e-01 2.96728865e-02 1.32111422e+02] [-2.11267660e-01 9.77409667e-01 -6.02651610e-03 -1.90338618e+01] [-3.02762899e-02 -3.81260806e-04 9.99541495e-01 -5.65355367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10264000000004 meters 0.027347998979574843 Centerline is valid? [True, True] Translation: X:132.14, Y:-19.03, Z:-5.66 [[ 9.76413005e-01 2.13690726e-01 3.08855459e-02 1.32140428e+02] [-2.13599392e-01 9.76901246e-01 -6.26544341e-03 -1.90318839e+01] [-3.15109954e-02 -4.79473399e-04 9.99503290e-01 -5.65688079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.13264000000004 meters 0.02527444215572144 Centerline is valid? [True, True] Translation: X:132.17, Y:-19.03, Z:-5.66 [[ 9.76196741e-01 2.14670216e-01 3.09292839e-02 1.32168798e+02] [-2.14579179e-01 9.76686457e-01 -6.27230050e-03 -1.90318443e+01] [-3.15546888e-02 -5.13781039e-04 9.99501895e-01 -5.65857874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.16264 meters 0.02991509973777039 Centerline is valid? [True, True] Translation: X:132.20, Y:-19.04, Z:-5.66 [[ 9.76122078e-01 2.14986211e-01 3.10904818e-02 1.32197353e+02] [-2.14894400e-01 9.76616942e-01 -6.30443381e-03 -1.90366830e+01] [-3.17188576e-02 -5.27273392e-04 9.99496691e-01 -5.65890467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.19264 meters 0.02288643341655642 Centerline is valid? [True, True] Translation: X:132.22, Y:-19.04, Z:-5.66 [[ 9.76139459e-01 2.14936606e-01 3.08870684e-02 1.32224626e+02] [-2.14846131e-01 9.76627860e-01 -6.25803093e-03 -1.90413021e+01] [-3.15102514e-02 -5.27256191e-04 9.99503290e-01 -5.65819820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.22264 meters 0.028196898954912668 Centerline is valid? [True, True] Translation: X:132.25, Y:-19.05, Z:-5.66 [[ 9.76263254e-01 2.14315093e-01 3.12905651e-02 1.32252350e+02] [-2.14222180e-01 9.76764439e-01 -6.33156343e-03 -1.90453514e+01] [-3.19204609e-02 -5.21860360e-04 9.99490276e-01 -5.66245619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.25264 meters 0.02212923966987686 Centerline is valid? [True, True] Translation: X:132.28, Y:-19.05, Z:-5.66 [[ 9.76356785e-01 2.14000795e-01 3.05137328e-02 1.32280704e+02] [-2.13912299e-01 9.76833359e-01 -6.17398243e-03 -1.90514404e+01] [-3.11280693e-02 -4.99253088e-04 9.99515280e-01 -5.66120040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.28264000000001 meters 0.02193277430795443 Centerline is valid? [True, True] Translation: X:132.31, Y:-19.05, Z:-5.66 [[ 9.76640441e-01 2.12670655e-01 3.07350206e-02 1.32308789e+02] [-2.12580420e-01 9.77123828e-01 -6.21211906e-03 -1.90523897e+01] [-3.13530564e-02 -4.66656894e-04 9.99508263e-01 -5.66316490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.31264000000002 meters 0.02202061705428567 Centerline is valid? [True, True] Translation: X:132.34, Y:-19.06, Z:-5.67 [[ 9.76837844e-01 2.11812952e-01 3.03825494e-02 1.32336010e+02] [-2.11724461e-01 9.77310126e-01 -6.13763617e-03 -1.90565891e+01] [-3.09932040e-02 -4.37253609e-04 9.99519500e-01 -5.66580161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.34264000000002 meters 0.02106917828457993 Centerline is valid? [True, True] Translation: X:132.36, Y:-19.06, Z:-5.67 [[ 9.77064570e-01 2.10860390e-01 2.97106544e-02 1.32362959e+02] [-2.10775328e-01 9.77516106e-01 -6.00195515e-03 -1.90634758e+01] [-3.03082178e-02 -3.97975203e-04 9.99540521e-01 -5.66785636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.37264000000002 meters 0.01857625691977462 Centerline is valid? [True, True] Translation: X:132.39, Y:-19.07, Z:-5.67 [[ 9.77456663e-01 2.09127924e-01 2.90513773e-02 1.32390914e+02] [-2.09046002e-01 9.77888232e-01 -5.86301603e-03 -1.90725669e+01] [-2.96351204e-02 -3.42230182e-04 9.99560725e-01 -5.66875264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.40264000000002 meters 0.029429452658379516 Centerline is valid? [True, True] Translation: X:132.42, Y:-19.08, Z:-5.67 [[ 9.77705307e-01 2.07884831e-01 2.96011675e-02 1.32418087e+02] [-2.07799411e-01 9.78153258e-01 -5.96727895e-03 -1.90774213e+01] [-3.01949852e-02 -3.16864858e-04 9.99543977e-01 -5.67316226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.43264000000002 meters 0.01664751804761181 Centerline is valid? [True, True] Translation: X:132.45, Y:-19.08, Z:-5.67 [[ 9.78147887e-01 2.05858533e-01 2.91371959e-02 1.32445244e+02] [-2.05774965e-01 9.78581729e-01 -5.87057510e-03 -1.90824178e+01] [-2.97216355e-02 -2.53414853e-04 9.99558182e-01 -5.67178078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46264000000002 meters 0.01582310753717902 Centerline is valid? [True, True] Translation: X:132.47, Y:-19.09, Z:-5.67 [[ 9.78501552e-01 2.04174329e-01 2.91128213e-02 1.32473869e+02] [-2.04090168e-01 9.78934524e-01 -5.86523326e-03 -1.90885630e+01] [-2.96970759e-02 -2.02500751e-04 9.99558924e-01 -5.67338007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.49264000000002 meters 0.020540954430603275 Centerline is valid? [True, True] Translation: X:132.50, Y:-19.10, Z:-5.68 [[ 9.78870262e-01 2.02295060e-01 2.98281452e-02 1.32502335e+02] [-2.02205992e-01 9.79324607e-01 -6.00432142e-03 -1.90950583e+01] [-3.04260812e-02 -1.53978001e-04 9.99537008e-01 -5.67571896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52264000000002 meters 0.014107912260848383 Centerline is valid? [True, True] Translation: X:132.53, Y:-19.10, Z:-5.67 [[ 9.79225747e-01 2.00564029e-01 2.98497174e-02 1.32530108e+02] [-2.00474161e-01 9.79680590e-01 -6.00430801e-03 -1.91016654e+01] [-3.04474370e-02 -1.04524035e-04 9.99536364e-01 -5.67406968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.55264000000003 meters 0.0228287850184472 Centerline is valid? [True, True] Translation: X:132.56, Y:-19.11, Z:-5.68 [[ 9.79977335e-01 1.96760240e-01 3.04931168e-02 1.32556153e+02] [-1.96664855e-01 9.80451635e-01 -6.12592004e-03 -1.91106283e+01] [-3.11023637e-02 6.33840125e-06 9.99516204e-01 -5.67764871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58264000000003 meters 0.01591697975983222 Centerline is valid? [True, True] Translation: X:132.58, Y:-19.12, Z:-5.68 [[ 9.80365148e-01 1.94882797e-01 3.00810785e-02 1.32583823e+02] [-1.94789192e-01 9.80826535e-01 -6.03977219e-03 -1.91199796e+01] [-3.06813677e-02 6.17131678e-05 9.99529214e-01 -5.67740644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.61264000000003 meters 0.0135859339239287 Centerline is valid? [True, True] Translation: X:132.61, Y:-19.13, Z:-5.68 [[ 9.80685682e-01 1.93136192e-01 3.08869783e-02 1.32611050e+02] [-1.93036687e-01 9.81171951e-01 -6.19997642e-03 -1.91291427e+01] [-3.15028766e-02 1.17908120e-04 9.99503654e-01 -5.67635269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64264000000003 meters 0.014824461413573204 Centerline is valid? [True, True] Translation: X:132.64, Y:-19.14, Z:-5.68 [[ 9.81208064e-01 1.90407377e-01 3.12372342e-02 1.32637229e+02] [-1.90304266e-01 9.81705143e-01 -6.26882853e-03 -1.91395108e+01] [-3.18593846e-02 2.06446180e-04 9.99492340e-01 -5.67733464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.67264000000003 meters 0.026651490166701184 Centerline is valid? [True, True] Translation: X:132.66, Y:-19.15, Z:-5.68 [[ 9.81320693e-01 1.89753528e-01 3.16748561e-02 1.32663550e+02] [-1.89647223e-01 9.81831730e-01 -6.35489639e-03 -1.91459131e+01] [-3.23052428e-02 2.29142835e-04 9.99478023e-01 -5.68139085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70264000000003 meters 0.014627415177182426 Centerline is valid? [True, True] Translation: X:132.69, Y:-19.15, Z:-5.68 [[ 9.81300092e-01 1.89858997e-01 3.16810795e-02 1.32691117e+02] [-1.89752797e-01 9.81811342e-01 -6.35330379e-03 -1.91499396e+01] [-3.23110751e-02 2.22924163e-04 9.99477836e-01 -5.67801397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.73264000000003 meters 0.029883138185885276 Centerline is valid? [True, True] Translation: X:132.72, Y:-19.16, Z:-5.68 [[ 9.81218756e-01 1.90200816e-01 3.21465648e-02 1.32718123e+02] [-1.90091742e-01 9.81745183e-01 -6.44399732e-03 -1.91555176e+01] [-3.27853887e-02 2.12174543e-04 9.99462392e-01 -5.68368271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76264000000003 meters 0.014719950488251539 Centerline is valid? [True, True] Translation: X:132.75, Y:-19.16, Z:-5.68 [[ 9.81181598e-01 1.90560717e-01 3.11333514e-02 1.32746859e+02] [-1.90458659e-01 9.81675393e-01 -6.23881497e-03 -1.91607523e+01] [-3.17517180e-02 1.91794088e-04 9.99495769e-01 -5.68319209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.79264000000003 meters 0.035011258166409334 Centerline is valid? [True, True] Translation: X:132.78, Y:-19.17, Z:-5.69 [[ 9.81142055e-01 1.90935966e-01 3.00620260e-02 1.32775234e+02] [-1.90841032e-01 9.81602479e-01 -6.02272574e-03 -1.91655686e+01] [-3.06589142e-02 1.72081449e-04 9.99529890e-01 -5.68961984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82264000000004 meters 0.014498951011662101 Centerline is valid? [True, True] Translation: X:132.80, Y:-19.17, Z:-5.69 [[ 9.81119006e-01 1.91046306e-01 3.01132106e-02 1.32802635e+02] [-1.90951135e-01 9.81581011e-01 -6.03185035e-03 -1.91713402e+01] [-3.07109184e-02 1.67811267e-04 9.99528294e-01 -5.68703222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.85264000000004 meters 0.02383677563184222 Centerline is valid? [True, True] Translation: X:132.83, Y:-19.18, Z:-5.69 [[ 9.81138550e-01 1.90848403e-01 3.07251057e-02 1.32829707e+02] [-1.90749307e-01 9.81619507e-01 -6.15186395e-03 -1.91777091e+01] [-3.13344365e-02 1.75038259e-04 9.99508941e-01 -5.69186577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88264000000004 meters 0.019436266317337695 Centerline is valid? [True, True] Translation: X:132.86, Y:-19.19, Z:-5.69 [[ 9.81347737e-01 1.89752475e-01 3.08320786e-02 1.32857454e+02] [-1.89652212e-01 9.81831938e-01 -6.17118703e-03 -1.91863466e+01] [-3.14429175e-02 2.08708505e-04 9.99505527e-01 -5.69213136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.91264000000004 meters 0.024135961124074675 Centerline is valid? [True, True] Translation: X:132.89, Y:-19.19, Z:-5.69 [[ 9.81559852e-01 1.88712642e-01 3.04597430e-02 1.32885630e+02] [-1.88614331e-01 9.82032322e-01 -6.09524111e-03 -1.91929338e+01] [-3.10627012e-02 2.37699938e-04 9.99517410e-01 -5.69228453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.94264 meters 0.015804091100924574 Centerline is valid? [True, True] Translation: X:132.91, Y:-19.20, Z:-5.69 [[ 9.81749617e-01 1.87757342e-01 3.02468296e-02 1.32913854e+02] [-1.87659995e-01 9.82215409e-01 -6.05110034e-03 -1.92011302e+01] [-3.08450407e-02 2.64545543e-04 9.99524144e-01 -5.69181906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.97264 meters 0.016631222363529354 Centerline is valid? [True, True] Translation: X:132.94, Y:-19.21, Z:-5.69 [[ 9.81991053e-01 1.86381985e-01 3.09083665e-02 1.32940638e+02] [-1.86279697e-01 9.82477306e-01 -6.18197351e-03 -1.92115993e+01] [-3.15189772e-02 3.13041522e-04 9.99503105e-01 -5.69208117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.00264 meters 0.017334072340876906 Centerline is valid? [True, True] Translation: X:132.97, Y:-19.22, Z:-5.69 [[ 9.82094346e-01 1.85684122e-01 3.18135609e-02 1.32967544e+02] [-1.85575456e-01 9.82609429e-01 -6.36090872e-03 -1.92203901e+01] [-3.24414246e-02 3.43196430e-04 9.99473580e-01 -5.69293381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.03264000000001 meters 0.018212926652423682 Centerline is valid? [True, True] Translation: X:132.99, Y:-19.23, Z:-5.69 [[ 9.82260436e-01 1.84754520e-01 3.20967705e-02 1.32993428e+02] [-1.84643476e-01 9.82784629e-01 -6.41562713e-03 -1.92302154e+01] [-3.27295288e-02 3.75357419e-04 9.99464175e-01 -5.69367330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06264000000002 meters 0.0292097085021573 Centerline is valid? [True, True] Translation: X:133.02, Y:-19.24, Z:-5.70 [[ 9.82319225e-01 1.84397496e-01 3.23497085e-02 1.33020466e+02] [-1.84284582e-01 9.82851674e-01 -6.46372019e-03 -1.92367764e+01] [-3.29868589e-02 3.87884100e-04 9.99455710e-01 -5.69686865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.09264000000002 meters 0.0292097085021573 Centerline is valid? [True, True] Translation: X:133.05, Y:-19.24, Z:-5.70 [[ 9.82332473e-01 1.84326828e-01 3.23501748e-02 1.33047425e+02] [-1.84213953e-01 9.82864930e-01 -6.46138497e-03 -1.92420301e+01] [-3.29868589e-02 3.87874697e-04 9.99455710e-01 -5.69808153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12264000000002 meters 0.018375889009329627 Centerline is valid? [True, True] Translation: X:133.07, Y:-19.25, Z:-5.70 [[ 9.82438103e-01 1.83907195e-01 3.15201168e-02 1.33074358e+02] [-1.83799901e-01 9.82943535e-01 -6.29317166e-03 -1.92511249e+01] [-3.21398545e-02 3.89257278e-04 9.99483306e-01 -5.69816149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.15264000000002 meters 0.019374293537007103 Centerline is valid? [True, True] Translation: X:133.10, Y:-19.26, Z:-5.70 [[ 9.82489422e-01 1.83581559e-01 3.18174090e-02 1.33100302e+02] [-1.83472117e-01 9.83004400e-01 -6.35080878e-03 -1.92607278e+01] [-3.24425444e-02 4.01995064e-04 9.99473521e-01 -5.70031894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18264000000002 meters 0.017938848064616937 Centerline is valid? [True, True] Translation: X:133.13, Y:-19.27, Z:-5.70 [[ 9.82381189e-01 1.84089021e-01 3.22247214e-02 1.33128390e+02] [-1.83977137e-01 9.82909499e-01 -6.42887727e-03 -1.92692463e+01] [-3.28574704e-02 3.86996127e-04 9.99459973e-01 -5.69979183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.21264000000002 meters 0.01932592318449896 Centerline is valid? [True, True] Translation: X:133.16, Y:-19.28, Z:-5.70 [[ 9.82227496e-01 1.84936176e-01 3.20586439e-02 1.33156212e+02] [-1.84825946e-01 9.82750469e-01 -6.39415516e-03 -1.92759399e+01] [-3.26881579e-02 3.55245828e-04 9.99465536e-01 -5.70216268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24264000000002 meters 0.017457409044988485 Centerline is valid? [True, True] Translation: X:133.18, Y:-19.28, Z:-5.70 [[ 9.82072684e-01 1.85774734e-01 3.19529654e-02 1.33183524e+02] [-1.85665720e-01 9.82592307e-01 -6.37163583e-03 -1.92829075e+01] [-3.25804269e-02 3.24839177e-04 9.99469064e-01 -5.70299998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27264000000002 meters 0.015569345255297186 Centerline is valid? [True, True] Translation: X:133.21, Y:-19.29, Z:-5.70 [[ 9.81564665e-01 1.88578476e-01 3.11282295e-02 1.33212476e+02] [-1.88476491e-01 9.82058098e-01 -6.20515411e-03 -1.92867412e+01] [-3.17398884e-02 2.23820536e-04 9.99496138e-01 -5.70483852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30264000000003 meters 0.014517782407617471 Centerline is valid? [True, True] Translation: X:133.24, Y:-19.29, Z:-5.71 [[ 9.81356004e-01 1.89691939e-01 3.09412647e-02 1.33241212e+02] [-1.89591775e-01 9.81843640e-01 -6.16642370e-03 -1.92913063e+01] [-3.15492048e-02 1.85247612e-04 9.99502183e-01 -5.70532143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.33264000000003 meters 0.013949644307965326 Centerline is valid? [True, True] Translation: X:133.27, Y:-19.30, Z:-5.71 [[ 9.80919904e-01 1.91765094e-01 3.19732727e-02 1.33268508e+02] [-1.91659292e-01 9.81440846e-01 -6.37038357e-03 -1.92991445e+01] [-3.26014930e-02 1.20861229e-04 9.99468423e-01 -5.70744049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36264000000003 meters 0.013325240554450841 Centerline is valid? [True, True] Translation: X:133.30, Y:-19.31, Z:-5.71 [[ 9.80768749e-01 1.92481887e-01 3.23014518e-02 1.33296725e+02] [-1.92374345e-01 9.81300522e-01 -6.43409230e-03 -1.93054246e+01] [-3.29358777e-02 9.63860214e-05 9.99457462e-01 -5.70696468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.39264000000003 meters 0.013336597346388774 Centerline is valid? [True, True] Translation: X:133.32, Y:-19.31, Z:-5.71 [[ 9.80661150e-01 1.93056700e-01 3.21375121e-02 1.33323849e+02] [-1.92950600e-01 9.81187599e-01 -6.40009080e-03 -1.93123451e+01] [-3.27685087e-02 7.53681695e-05 9.99462965e-01 -5.70869809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42264000000003 meters 0.022985141650853764 Centerline is valid? [True, True] Translation: X:133.35, Y:-19.32, Z:-5.71 [[ 9.80486520e-01 1.93996939e-01 3.18020841e-02 1.33349326e+02] [-1.93893610e-01 9.81002134e-01 -6.33105110e-03 -1.93214771e+01] [-3.24261168e-02 4.12893891e-05 9.99474134e-01 -5.71387531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.45264000000003 meters 0.026787753787921104 Centerline is valid? [True, True] Translation: X:133.38, Y:-19.33, Z:-5.72 [[ 9.80412149e-01 1.94346009e-01 3.19632094e-02 1.33375823e+02] [-1.94241908e-01 9.80933040e-01 -6.36028791e-03 -1.93276773e+01] [-3.25898648e-02 2.71087647e-05 9.99468809e-01 -5.71630650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48264000000003 meters 0.013477022407573175 Centerline is valid? [True, True] Translation: X:133.40, Y:-19.33, Z:-5.71 [[ 9.80300899e-01 1.94977464e-01 3.15267653e-02 1.33404460e+02] [-1.94876615e-01 9.80807723e-01 -6.27026307e-03 -1.93329444e+01] [-3.21442548e-02 2.91520809e-06 9.99483240e-01 -5.71479059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.51264000000003 meters 0.020200754338353468 Centerline is valid? [True, True] Translation: X:133.43, Y:-19.34, Z:-5.72 [[ 9.79764415e-01 1.97683664e-01 3.13506081e-02 1.33433544e+02] [-1.97585373e-01 9.80265863e-01 -6.23370730e-03 -1.93353504e+01] [-3.19642330e-02 -8.68569869e-05 9.99489010e-01 -5.71861422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54264000000003 meters 0.02186930275051593 Centerline is valid? [True, True] Translation: X:133.46, Y:-19.34, Z:-5.72 [[ 9.79454862e-01 1.99148258e-01 3.17513045e-02 1.33461370e+02] [-1.99048248e-01 9.79969363e-01 -6.31211156e-03 -1.93400314e+01] [-3.23723517e-02 -1.37613166e-04 9.99475869e-01 -5.71893420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.57264000000004 meters 0.016046851751142815 Centerline is valid? [True, True] Translation: X:133.49, Y:-19.34, Z:-5.72 [[ 9.78938617e-01 2.01807053e-01 3.08722863e-02 1.33488982e+02] [-2.01713902e-01 9.79425272e-01 -6.13494444e-03 -1.93426669e+01] [-3.14751725e-02 -2.21635313e-04 9.99504509e-01 -5.72032104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60264000000004 meters 0.01719634744001941 Centerline is valid? [True, True] Translation: X:133.52, Y:-19.35, Z:-5.72 [[ 9.78752732e-01 2.02775164e-01 3.04191060e-02 1.33516126e+02] [-2.02685242e-01 9.79225291e-01 -6.04336637e-03 -1.93462183e+01] [-3.10126026e-02 -2.50542533e-04 9.99518962e-01 -5.72330714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.63264000000004 meters 0.0177338212991701 Centerline is valid? [True, True] Translation: X:133.54, Y:-19.35, Z:-5.72 [[ 9.78560340e-01 2.03738184e-01 3.01730583e-02 1.33544647e+02] [-2.03650270e-01 9.79025369e-01 -5.99121825e-03 -1.93510894e+01] [-3.07608295e-02 -2.81982886e-04 9.99526734e-01 -5.72448272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66264000000004 meters 0.03144926307656987 Centerline is valid? [True, True] Translation: X:133.57, Y:-19.36, Z:-5.73 [[ 9.78376921e-01 2.04446699e-01 3.13073026e-02 1.33573293e+02] [-2.04352464e-01 9.78877646e-01 -6.21481276e-03 -1.93564452e+01] [-3.19166167e-02 -3.17295050e-04 9.99490485e-01 -5.72760253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.69264 meters 0.01834197406705782 Centerline is valid? [True, True] Translation: X:133.60, Y:-19.36, Z:-5.72 [[ 9.78230167e-01 2.05029126e-01 3.20748799e-02 1.33600947e+02] [-2.04930570e-01 9.78755811e-01 -6.36582864e-03 -1.93607967e+01] [-3.26986554e-02 -3.45877804e-04 9.99465196e-01 -5.72390239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.72264 meters 0.018323116159603747 Centerline is valid? [True, True] Translation: X:133.63, Y:-19.37, Z:-5.72 [[ 9.78251174e-01 2.04811303e-01 3.28172449e-02 1.33628120e+02] [-2.04708096e-01 9.78801414e-01 -6.51053433e-03 -1.93658257e+01] [-3.34549967e-02 -3.49017879e-04 9.99440164e-01 -5.72429906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.75264 meters 0.017392165641445533 Centerline is valid? [True, True] Translation: X:133.66, Y:-19.37, Z:-5.72 [[ 9.78334618e-01 2.04295789e-01 3.35351588e-02 1.33656500e+02] [-2.04187789e-01 9.78909145e-01 -6.65072814e-03 -1.93727093e+01] [-3.41865894e-02 -3.40832370e-04 9.99415410e-01 -5.72413973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.78264000000001 meters 0.016344969657129393 Centerline is valid? [True, True] Translation: X:133.68, Y:-19.38, Z:-5.73 [[ 9.78590730e-01 2.03109371e-01 3.32681134e-02 1.33684309e+02] [-2.03002455e-01 9.79156011e-01 -6.59613542e-03 -1.93820844e+01] [-3.39144102e-02 -2.98591743e-04 9.99424696e-01 -5.72617690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.81264000000002 meters 0.016976837432067553 Centerline is valid? [True, True] Translation: X:133.71, Y:-19.39, Z:-5.73 [[ 9.78633846e-01 2.03002546e-01 3.26460042e-02 1.33711913e+02] [-2.02899582e-01 9.79178167e-01 -6.47130045e-03 -1.93868903e+01] [-3.32799450e-02 -2.90826965e-04 9.99446027e-01 -5.72995065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84264000000002 meters 0.017380710891988768 Centerline is valid? [True, True] Translation: X:133.74, Y:-19.39, Z:-5.73 [[ 9.78641329e-01 2.03132888e-01 3.15939836e-02 1.33740301e+02] [-2.03036590e-01 9.79151136e-01 -6.26068384e-03 -1.93915286e+01] [-3.22070357e-02 -2.87770752e-04 9.99481177e-01 -5.73327567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.87264000000002 meters 0.01725902724337501 Centerline is valid? [True, True] Translation: X:133.77, Y:-19.40, Z:-5.74 [[ 9.78668832e-01 2.03263854e-01 2.98516909e-02 1.33768356e+02] [-2.03177987e-01 9.79123960e-01 -5.91410754e-03 -1.93962259e+01] [-3.04306301e-02 -2.77253752e-04 9.99536843e-01 -5.73706991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.90264000000002 meters 0.02290364679448536 Centerline is valid? [True, True] Translation: X:133.80, Y:-19.40, Z:-5.74 [[ 9.78618577e-01 2.03574517e-01 2.93785068e-02 1.33796418e+02] [-2.03491535e-01 9.79059414e-01 -5.81890342e-03 -1.94018110e+01] [-2.99478841e-02 -2.83790467e-04 9.99551421e-01 -5.74145390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.93264000000002 meters 0.030659856410524104 Centerline is valid? [True, True] Translation: X:133.82, Y:-19.41, Z:-5.75 [[ 9.78804898e-01 2.02713799e-01 2.91219275e-02 1.33823587e+02] [-2.02631923e-01 9.79237995e-01 -5.76661286e-03 -1.94095268e+01] [-2.96862699e-02 -2.56643251e-04 9.99559233e-01 -5.74607405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96264000000002 meters 0.01667219452083731 Centerline is valid? [True, True] Translation: X:133.85, Y:-19.42, Z:-5.74 [[ 9.79069111e-01 2.01463736e-01 2.89143294e-02 1.33851232e+02] [-2.01382522e-01 9.79495950e-01 -5.72404884e-03 -1.94183251e+01] [-2.94746568e-02 -2.18601168e-04 9.99565504e-01 -5.74302873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99264000000002 meters 0.015764171870453 Centerline is valid? [True, True] Translation: X:133.88, Y:-19.43, Z:-5.74 [[ 9.79241244e-01 2.00528002e-01 2.95821918e-02 1.33878833e+02] [-2.00442611e-01 9.79687951e-01 -5.85473768e-03 -1.94255077e+01] [-3.01553558e-02 -1.96331156e-04 9.99545205e-01 -5.74198787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02264000000002 meters 0.014795085289989754 Centerline is valid? [True, True] Translation: X:133.91, Y:-19.43, Z:-5.74 [[ 9.79590132e-01 1.98615645e-01 3.09030535e-02 1.33905675e+02] [-1.98521553e-01 9.80077448e-01 -6.11461746e-03 -1.94315287e+01] [-3.15018445e-02 -1.45103240e-04 9.99503683e-01 -5.74130964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.05264000000003 meters 0.01429897945582438 Centerline is valid? [True, True] Translation: X:133.93, Y:-19.44, Z:-5.74 [[ 9.79723122e-01 1.97882397e-01 3.13872672e-02 1.33933929e+02] [-1.97785027e-01 9.80225760e-01 -6.20822009e-03 -1.94385574e+01] [-3.19951053e-02 -1.25594708e-04 9.99488018e-01 -5.74128532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08264000000003 meters 0.013994554840075854 Centerline is valid? [True, True] Translation: X:133.96, Y:-19.45, Z:-5.74 [[ 9.79898128e-01 1.96943731e-01 3.18249140e-02 1.33961105e+02] [-1.96843180e-01 9.80414788e-01 -6.29325895e-03 -1.94462613e+01] [-3.24410342e-02 -9.77646056e-05 9.99473646e-01 -5.74223323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.11264000000003 meters 0.013691823301259108 Centerline is valid? [True, True] Translation: X:133.99, Y:-19.46, Z:-5.74 [[ 9.80155501e-01 1.95592822e-01 3.22279532e-02 1.33988220e+02] [-1.95489051e-01 9.80685192e-01 -6.37072023e-03 -1.94564882e+01] [-3.28515436e-02 -5.59155043e-05 9.99460241e-01 -5.74312408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14264000000003 meters 0.01589469338025794 Centerline is valid? [True, True] Translation: X:134.02, Y:-19.46, Z:-5.74 [[ 9.80258339e-01 1.94970011e-01 3.28676752e-02 1.34016430e+02] [-1.94861785e-01 9.80809203e-01 -6.49547794e-03 -1.94643657e+01] [-3.35033417e-02 -3.74074311e-05 9.99438605e-01 -5.74499485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.17264000000003 meters 0.013366345078030693 Centerline is valid? [True, True] Translation: X:134.04, Y:-19.47, Z:-5.74 [[ 9.80383801e-01 1.94281475e-01 3.32010842e-02 1.34044651e+02] [-1.94170704e-01 9.80945823e-01 -6.55966629e-03 -1.94718869e+01] [-3.38428865e-02 -1.56873351e-05 9.99427165e-01 -5.74450286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20264000000003 meters 0.013407851792543501 Centerline is valid? [True, True] Translation: X:134.07, Y:-19.48, Z:-5.75 [[ 9.80390058e-01 1.94313870e-01 3.28245895e-02 1.34072942e+02] [-1.94205671e-01 9.80939407e-01 -6.48365043e-03 -1.94780130e+01] [-3.34587966e-02 -1.82150243e-05 9.99440098e-01 -5.74553510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.23264000000003 meters 0.013883449518707014 Centerline is valid? [True, True] Translation: X:134.10, Y:-19.48, Z:-5.75 [[ 9.80381059e-01 1.94388329e-01 3.26520710e-02 1.34100325e+02] [-1.94281356e-01 9.80924654e-01 -6.44807066e-03 -1.94834717e+01] [-3.32826512e-02 -2.21222872e-05 9.99445979e-01 -5.74997036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26264000000003 meters 0.01363768009346519 Centerline is valid? [True, True] Translation: X:134.13, Y:-19.49, Z:-5.75 [[ 9.80348410e-01 1.94633254e-01 3.21697224e-02 1.34128041e+02] [-1.94529620e-01 9.80876086e-01 -6.35071155e-03 -1.94901018e+01] [-3.27905710e-02 -3.20538763e-05 9.99462244e-01 -5.75009564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.29264000000003 meters 0.014283591545921043 Centerline is valid? [True, True] Translation: X:134.15, Y:-19.50, Z:-5.75 [[ 9.80340235e-01 1.94913123e-01 3.06903572e-02 1.34154965e+02] [-1.94818986e-01 9.80820510e-01 -6.05722006e-03 -1.94982302e+01] [-3.12823635e-02 -4.09277197e-05 9.99510586e-01 -5.75434116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32264000000004 meters 0.014657732489483728 Centerline is valid? [True, True] Translation: X:134.18, Y:-19.50, Z:-5.76 [[ 9.80273757e-01 1.95270602e-01 3.05410024e-02 1.34182381e+02] [-1.95177595e-01 9.80749402e-01 -6.02637715e-03 -1.95039562e+01] [-3.11298441e-02 -5.34200403e-05 9.99515348e-01 -5.75735660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.35264000000004 meters 0.014513470205091267 Centerline is valid? [True, True] Translation: X:134.21, Y:-19.51, Z:-5.76 [[ 9.80187934e-01 1.95727157e-01 3.03725830e-02 1.34210919e+02] [-1.95635455e-01 9.80658389e-01 -5.99113289e-03 -1.95096825e+01] [-3.09577557e-02 -6.95179264e-05 9.99520691e-01 -5.75735633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38264000000004 meters 0.014641641631677856 Centerline is valid? [True, True] Translation: X:134.24, Y:-19.51, Z:-5.76 [[ 9.80023508e-01 1.96593208e-01 3.00837787e-02 1.34238954e+02] [-1.96503694e-01 9.80485136e-01 -5.93271135e-03 -1.95148256e+01] [-3.06630285e-02 -9.73770391e-05 9.99529774e-01 -5.75783476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.41264000000004 meters 0.014931400986354313 Centerline is valid? [True, True] Translation: X:134.27, Y:-19.52, Z:-5.76 [[ 9.79934857e-01 1.97008455e-01 3.02546509e-02 1.34265268e+02] [-1.96918152e-01 9.80401783e-01 -5.96534754e-03 -1.95193857e+01] [-3.08369376e-02 -1.12037959e-04 9.99524422e-01 -5.75937434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.44264 meters 0.02470962594758068 Centerline is valid? [True, True] Translation: X:134.29, Y:-19.53, Z:-5.76 [[ 9.79898813e-01 1.97076556e-01 3.09701092e-02 1.34293288e+02] [-1.96982068e-01 9.80388095e-01 -6.10313898e-03 -1.95267098e+01] [-3.15655120e-02 -1.20097524e-04 9.99501678e-01 -5.76175870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.47264 meters 0.01435445411077205 Centerline is valid? [True, True] Translation: X:134.32, Y:-19.53, Z:-5.76 [[ 9.80096647e-01 1.96164859e-01 3.04944271e-02 1.34320723e+02] [-1.96072858e-01 9.80570925e-01 -6.00788822e-03 -1.95348902e+01] [-3.10804852e-02 -9.08183760e-05 9.99516881e-01 -5.76045024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.50264 meters 0.014696702169787948 Centerline is valid? [True, True] Translation: X:134.35, Y:-19.54, Z:-5.76 [[ 9.80257223e-01 1.95353977e-01 3.05385020e-02 1.34347457e+02] [-1.95261358e-01 9.80732797e-01 -6.01521168e-03 -1.95424702e+01] [-3.11252060e-02 -6.65346880e-05 9.99515491e-01 -5.76427040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.53264000000001 meters 0.014195903865922581 Centerline is valid? [True, True] Translation: X:134.38, Y:-19.55, Z:-5.76 [[ 9.80439238e-01 1.94373444e-01 3.09493840e-02 1.34375091e+02] [-1.94277903e-01 9.80927603e-01 -6.09375230e-03 -1.95537606e+01] [-3.15435687e-02 -3.82275438e-05 9.99502377e-01 -5.76368855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56264000000002 meters 0.014150288171635064 Centerline is valid? [True, True] Translation: X:134.40, Y:-19.56, Z:-5.76 [[ 9.80476275e-01 1.94099297e-01 3.14918576e-02 1.34401954e+02] [-1.94000282e-01 9.80981887e-01 -6.19908446e-03 -1.95608103e+01] [-3.20961798e-02 -3.13740118e-05 9.99484784e-01 -5.76445849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.59264000000002 meters 0.01394125082961043 Centerline is valid? [True, True] Translation: X:134.43, Y:-19.57, Z:-5.76 [[ 9.80457438e-01 1.94137830e-01 3.18388976e-02 1.34430611e+02] [-1.94036716e-01 9.80974262e-01 -6.26508382e-03 -1.95672431e+01] [-3.24494288e-02 -3.52670817e-05 9.99473378e-01 -5.76454710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62264000000002 meters 0.014209823000882695 Centerline is valid? [True, True] Translation: X:134.46, Y:-19.57, Z:-5.77 [[ 9.80323135e-01 1.94790485e-01 3.19877669e-02 1.34457637e+02] [-1.94688800e-01 9.80844872e-01 -6.29344427e-03 -1.95733247e+01] [-3.26009402e-02 -5.80509286e-05 9.99468446e-01 -5.76598411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.65264000000002 meters 0.01411637239442252 Centerline is valid? [True, True] Translation: X:134.49, Y:-19.58, Z:-5.77 [[ 9.80212206e-01 1.95389492e-01 3.17329252e-02 1.34485563e+02] [-1.95289803e-01 9.80725721e-01 -6.24119981e-03 -1.95793440e+01] [-3.23407608e-02 -7.94164878e-05 9.99476898e-01 -5.76696164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68264000000002 meters 0.018823034066213294 Centerline is valid? [True, True] Translation: X:134.51, Y:-19.59, Z:-5.77 [[ 9.79856082e-01 1.97174597e-01 3.16896985e-02 1.34513515e+02] [-1.97076165e-01 9.80368379e-01 -6.23109305e-03 -1.95850267e+01] [-3.22961916e-02 -1.39709823e-04 9.99478332e-01 -5.77127216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.71264000000002 meters 0.014837685081391412 Centerline is valid? [True, True] Translation: X:134.54, Y:-19.59, Z:-5.77 [[ 9.79741910e-01 1.97716934e-01 3.18402882e-02 1.34541655e+02] [-1.97617903e-01 9.80259144e-01 -6.25905707e-03 -1.95914960e+01] [-3.24492552e-02 -1.59950467e-04 9.99473371e-01 -5.77011136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74264000000002 meters 0.014948300013625886 Centerline is valid? [True, True] Translation: X:134.57, Y:-19.60, Z:-5.77 [[ 9.79544117e-01 1.98619279e-01 3.23064273e-02 1.34569659e+02] [-1.98517873e-01 9.80076703e-01 -6.34901102e-03 -1.95976283e+01] [-3.29238128e-02 -1.94266843e-04 9.99457845e-01 -5.77006156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77264000000002 meters 0.01578269208571793 Centerline is valid? [True, True] Translation: X:134.60, Y:-19.60, Z:-5.77 [[ 9.79310019e-01 1.99671029e-01 3.29145474e-02 1.34596686e+02] [-1.99566416e-01 9.79862962e-01 -6.46689908e-03 -1.96019860e+01] [-3.35429983e-02 -2.35539188e-04 9.99437248e-01 -5.77164146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80264000000003 meters 0.017641299899191835 Centerline is valid? [True, True] Translation: X:134.62, Y:-19.61, Z:-5.78 [[ 9.78921817e-01 2.01640854e-01 3.24506211e-02 1.34624688e+02] [-2.01540321e-01 9.79459481e-01 -6.37366213e-03 -1.96050930e+01] [-3.30692592e-02 -3.00791678e-04 9.99453017e-01 -5.77534788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.83264000000003 meters 0.027965777188610232 Centerline is valid? [True, True] Translation: X:134.65, Y:-19.61, Z:-5.78 [[ 9.78659468e-01 2.02812531e-01 3.30563674e-02 1.34653001e+02] [-2.02708952e-01 9.79217522e-01 -6.49039782e-03 -1.96108022e+01] [-3.36857082e-02 -3.48932321e-04 9.99432415e-01 -5.77824228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86264000000003 meters 0.019587313419022354 Centerline is valid? [True, True] Translation: X:134.68, Y:-19.61, Z:-5.78 [[ 9.78304569e-01 2.04670887e-01 3.20935870e-02 1.34680541e+02] [-2.04574301e-01 9.78830765e-01 -6.29992099e-03 -1.96142971e+01] [-3.27036007e-02 -4.02281643e-04 9.99465013e-01 -5.77775917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.89264000000003 meters 0.020434014740142486 Centerline is valid? [True, True] Translation: X:134.71, Y:-19.62, Z:-5.78 [[ 9.78114152e-01 2.05682072e-01 3.14259629e-02 1.34708880e+02] [-2.05590053e-01 9.78618772e-01 -6.16676987e-03 -1.96186567e+01] [-3.20224312e-02 -4.29060476e-04 9.99487058e-01 -5.77978980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92264000000003 meters 0.022203548634917237 Centerline is valid? [True, True] Translation: X:134.74, Y:-19.62, Z:-5.78 [[ 9.77893370e-01 2.06798184e-01 3.09688342e-02 1.34736911e+02] [-2.06709421e-01 9.78383513e-01 -6.07584974e-03 -1.96215569e+01] [-3.15558715e-02 -4.60016608e-04 9.99501884e-01 -5.78308525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.95264000000003 meters 0.023972147130741396 Centerline is valid? [True, True] Translation: X:134.77, Y:-19.63, Z:-5.79 [[ 9.77512585e-01 2.08787253e-01 2.96146937e-02 1.34765190e+02] [-2.08707071e-01 9.77960955e-01 -5.80769653e-03 -1.96251369e+01] [-3.01745871e-02 -5.03699531e-04 9.99544517e-01 -5.78606039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98264000000003 meters 0.02406571635330824 Centerline is valid? [True, True] Translation: X:134.79, Y:-19.63, Z:-5.79 [[ 9.77329214e-01 2.09727292e-01 2.90184650e-02 1.34792987e+02] [-2.09650749e-01 9.77759781e-01 -5.68978528e-03 -1.96302328e+01] [-2.95663913e-02 -5.22949565e-04 9.99562682e-01 -5.78756048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.01264000000003 meters 0.02406571635330824 Centerline is valid? [True, True] Translation: X:134.82, Y:-19.64, Z:-5.79 [[ 9.77344641e-01 2.09655325e-01 2.90189016e-02 1.34819972e+02] [-2.09578817e-01 9.77775215e-01 -5.68755778e-03 -1.96353869e+01] [-2.95663895e-02 -5.23042949e-04 9.99562682e-01 -5.78877354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04264000000003 meters 0.02576063940581985 Centerline is valid? [True, True] Translation: X:134.85, Y:-19.64, Z:-5.79 [[ 9.77199349e-01 2.10325840e-01 2.90598248e-02 1.34848078e+02] [-2.10249474e-01 9.77631190e-01 -5.69348913e-03 -1.96376456e+01] [-2.96072790e-02 -5.46138992e-04 9.99561459e-01 -5.79160217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.07264000000004 meters 0.025341382180112348 Centerline is valid? [True, True] Translation: X:134.88, Y:-19.64, Z:-5.79 [[ 9.76970039e-01 2.11297436e-01 2.97142406e-02 1.34876419e+02] [-2.11218134e-01 9.77421630e-01 -5.81859239e-03 -1.96423072e+01] [-3.02727952e-02 -5.91596029e-04 9.99541499e-01 -5.79129697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10264000000004 meters 0.028616882480598918 Centerline is valid? [True, True] Translation: X:134.90, Y:-19.65, Z:-5.79 [[ 9.76864800e-01 2.11642470e-01 3.07022333e-02 1.34904330e+02] [-2.11558024e-01 9.77346958e-01 -6.01057158e-03 -1.96462033e+01] [-3.12788266e-02 -6.23788003e-04 9.99510503e-01 -5.79382847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.13264000000004 meters 0.027290580444077117 Centerline is valid? [True, True] Translation: X:134.93, Y:-19.65, Z:-5.79 [[ 9.76894820e-01 2.11419713e-01 3.12764300e-02 1.34931863e+02] [-2.11332029e-01 9.77395165e-01 -6.12093647e-03 -1.96488556e+01] [-3.18635181e-02 -6.30200272e-04 9.99492031e-01 -5.79251445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16264000000004 meters 0.024335423923365813 Centerline is valid? [True, True] Translation: X:134.96, Y:-19.66, Z:-5.79 [[ 9.77031829e-01 2.10611249e-01 3.24300389e-02 1.34959749e+02] [-2.10516606e-01 9.77569694e-01 -6.34443875e-03 -1.96570635e+01] [-3.30388334e-02 -6.28343109e-04 9.99453871e-01 -5.79084129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.19264 meters 0.026018423776480597 Centerline is valid? [True, True] Translation: X:134.99, Y:-19.66, Z:-5.79 [[ 9.77136200e-01 2.10032346e-01 3.30342364e-02 1.34987698e+02] [-2.09933862e-01 9.77694240e-01 -6.46112617e-03 -1.96598053e+01] [-3.36544282e-02 -6.21604564e-04 9.99433336e-01 -5.79305268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.22264 meters 0.022235427850918525 Centerline is valid? [True, True] Translation: X:135.02, Y:-19.67, Z:-5.79 [[ 9.77485823e-01 2.08334296e-01 3.34408102e-02 1.35015245e+02] [-2.08232471e-01 9.78057510e-01 -6.53795696e-03 -1.96699669e+01] [-3.40691162e-02 -5.72702302e-04 9.99419315e-01 -5.79211595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.25264 meters 0.03214252099660125 Centerline is valid? [True, True] Translation: X:135.04, Y:-19.67, Z:-5.80 [[ 9.77653509e-01 2.07394167e-01 3.43697079e-02 1.35043171e+02] [-2.07286084e-01 9.78257302e-01 -6.71784663e-03 -1.96722786e+01] [-3.50156599e-02 -5.56635840e-04 9.99386609e-01 -5.79764712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.28264000000001 meters 0.02006967564498915 Centerline is valid? [True, True] Translation: X:135.07, Y:-19.68, Z:-5.79 [[ 9.77990441e-01 2.05829854e-01 3.41872686e-02 1.35070966e+02] [-2.05722040e-01 9.78587666e-01 -6.67990967e-03 -1.96820117e+01] [-3.48301642e-02 -5.00186839e-04 9.99393121e-01 -5.79339461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.31264000000002 meters 0.018608506370511622 Centerline is valid? [True, True] Translation: X:135.10, Y:-19.69, Z:-5.80 [[ 9.78536493e-01 2.03368218e-01 3.32821296e-02 1.35098198e+02] [-2.03264671e-01 9.79102245e-01 -6.50139695e-03 -1.96881734e+01] [-3.39087853e-02 -4.03226958e-04 9.99424850e-01 -5.79659711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.34264000000002 meters 0.0194237675828123 Centerline is valid? [True, True] Translation: X:135.13, Y:-19.69, Z:-5.80 [[ 9.78761825e-01 2.02316149e-01 3.30675979e-02 1.35125914e+02] [-2.02213385e-01 9.79320194e-01 -6.45793740e-03 -1.96919216e+01] [-3.36903114e-02 -3.65928312e-04 9.99432253e-01 -5.80061365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.37264000000002 meters 0.018699305728546306 Centerline is valid? [True, True] Translation: X:135.15, Y:-19.70, Z:-5.80 [[ 9.78967257e-01 2.01295612e-01 3.32142486e-02 1.35153354e+02] [-2.01191422e-01 9.79530482e-01 -6.48439188e-03 -1.96980175e+01] [-3.38396486e-02 -3.34414556e-04 9.99427219e-01 -5.80151174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.40264000000002 meters 0.027589356616166877 Centerline is valid? [True, True] Translation: X:135.18, Y:-19.70, Z:-5.80 [[ 9.79135377e-01 2.00379831e-01 3.37910879e-02 1.35180989e+02] [-2.00271517e-01 9.79718239e-01 -6.59489696e-03 -1.97048345e+01] [-3.44272294e-02 -3.10095494e-04 9.99407159e-01 -5.80379696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.43264000000002 meters 0.01648870279055036 Centerline is valid? [True, True] Translation: X:135.21, Y:-19.71, Z:-5.80 [[ 9.79276302e-01 1.99737980e-01 3.35061890e-02 1.35209441e+02] [-1.99631165e-01 9.79849303e-01 -6.53764554e-03 -1.97095455e+01] [-3.41368321e-02 -2.86718199e-04 9.99417127e-01 -5.80234732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46264000000002 meters 0.016320323461403267 Centerline is valid? [True, True] Translation: X:135.24, Y:-19.71, Z:-5.81 [[ 9.79346230e-01 1.99530527e-01 3.26883858e-02 1.35238118e+02] [-1.99428800e-01 9.79891572e-01 -6.37652110e-03 -1.97118882e+01] [-3.33033844e-02 -2.74183668e-04 9.99445251e-01 -5.80523628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49264000000002 meters 0.016393429697017153 Centerline is valid? [True, True] Translation: X:135.27, Y:-19.71, Z:-5.81 [[ 9.79345697e-01 1.99556642e-01 3.25446307e-02 1.35266825e+02] [-1.99455877e-01 9.79886254e-01 -6.34686342e-03 -1.97147811e+01] [-3.31565951e-02 -2.75444479e-04 9.99450131e-01 -5.80697034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52264000000002 meters 0.030915574719853275 Centerline is valid? [True, True] Translation: X:135.29, Y:-19.72, Z:-5.81 [[ 9.79266952e-01 1.99921564e-01 3.26742195e-02 1.35294219e+02] [-1.99820247e-01 9.79811862e-01 -6.37062327e-03 -1.97170785e+01] [-3.32882128e-02 -2.90429774e-04 9.99445752e-01 -5.81227618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.55264000000003 meters 0.015621250534979255 Centerline is valid? [True, True] Translation: X:135.32, Y:-19.72, Z:-5.81 [[ 9.79458801e-01 1.98860305e-01 3.33921579e-02 1.35322476e+02] [-1.98753946e-01 9.80027811e-01 -6.50836037e-03 -1.97241542e+01] [-3.40194979e-02 -2.62152300e-04 9.99421135e-01 -5.80855575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58264000000003 meters 0.013907599520589349 Centerline is valid? [True, True] Translation: X:135.35, Y:-19.73, Z:-5.81 [[ 9.79940923e-01 1.96271039e-01 3.45465729e-02 1.35350511e+02] [-1.96155652e-01 9.80549666e-01 -6.73153517e-03 -1.97333360e+01] [-3.51958360e-02 -1.79998742e-04 9.99380418e-01 -5.80736531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.61264000000003 meters 0.013537262380853732 Centerline is valid? [True, True] Translation: X:135.38, Y:-19.74, Z:-5.81 [[ 9.80261984e-01 1.94644701e-01 3.46393214e-02 1.35377292e+02] [-1.94527737e-01 9.80873807e-01 -6.74791655e-03 -1.97392070e+01] [-3.52902493e-02 -1.23582755e-04 9.99377098e-01 -5.80903838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64264000000003 meters 0.019623730747680358 Centerline is valid? [True, True] Translation: X:135.41, Y:-19.75, Z:-5.81 [[ 9.80545333e-01 1.93189453e-01 3.47661457e-02 1.35405227e+02] [-1.93070799e-01 9.81161470e-01 -6.77026528e-03 -1.97453213e+01] [-3.54191465e-02 -7.37755143e-05 9.99372542e-01 -5.81243631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.67264000000003 meters 0.017396674327336117 Centerline is valid? [True, True] Translation: X:135.43, Y:-19.75, Z:-5.81 [[ 9.81242383e-01 1.89598428e-01 3.48686306e-02 1.35433409e+02] [-1.89476868e-01 9.81861718e-01 -6.78846561e-03 -1.97537762e+01] [-3.55232559e-02 5.43312430e-05 9.99368848e-01 -5.81304392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70264000000003 meters 0.013494291434020566 Centerline is valid? [True, True] Translation: X:135.46, Y:-19.76, Z:-5.81 [[ 9.81601331e-01 1.87761240e-01 3.47065416e-02 1.35460944e+02] [-1.87639725e-01 9.82214693e-01 -6.75504916e-03 -1.97624327e+01] [-3.53576115e-02 1.18439313e-04 9.99374717e-01 -5.81411121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.73264000000003 meters 0.02224447286968313 Centerline is valid? [True, True] Translation: X:135.49, Y:-19.77, Z:-5.82 [[ 9.82018341e-01 1.85615392e-01 3.44514820e-02 1.35488981e+02] [-1.85494386e-01 9.82622455e-01 -6.70401767e-03 -1.97724236e+01] [-3.50971686e-02 1.92911838e-04 9.99383886e-01 -5.81618296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76264000000003 meters 0.01450732559368183 Centerline is valid? [True, True] Translation: X:135.52, Y:-19.78, Z:-5.82 [[ 9.82197644e-01 1.84518291e-01 3.52248141e-02 1.35517777e+02] [-1.84391128e-01 9.82829052e-01 -6.85327335e-03 -1.97806119e+01] [-3.58845249e-02 2.36125745e-04 9.99355915e-01 -5.81550059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.79264000000003 meters 0.014831230966136866 Centerline is valid? [True, True] Translation: X:135.55, Y:-19.79, Z:-5.82 [[ 9.82349851e-01 1.83790186e-01 3.47841698e-02 1.35547592e+02] [-1.83665710e-01 9.82965462e-01 -6.76807885e-03 -1.97877459e+01] [-3.54355440e-02 2.59962010e-04 9.99371930e-01 -5.81708182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82264000000004 meters 0.01549181657933106 Centerline is valid? [True, True] Translation: X:135.58, Y:-19.79, Z:-5.82 [[ 9.82531861e-01 1.83011920e-01 3.37309933e-02 1.35575916e+02] [-1.82894408e-01 9.83110655e-01 -6.56327966e-03 -1.97947083e+01] [-3.43624573e-02 2.79421332e-04 9.99409397e-01 -5.81992489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.85264000000004 meters 0.029301206780548903 Centerline is valid? [True, True] Translation: X:135.61, Y:-19.80, Z:-5.82 [[ 9.82511598e-01 1.83208912e-01 3.32483889e-02 1.35605669e+02] [-1.83094870e-01 9.83073966e-01 -6.46883562e-03 -1.98007895e+01] [-3.38707739e-02 2.68096574e-04 9.99426185e-01 -5.82493721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88264000000004 meters 0.015170632878793848 Centerline is valid? [True, True] Translation: X:135.64, Y:-19.81, Z:-5.82 [[ 9.82466566e-01 1.83451143e-01 3.32434025e-02 1.35635375e+02] [-1.83337274e-01 9.83028794e-01 -6.46786546e-03 -1.98080656e+01] [-3.38657592e-02 2.59706767e-04 9.99426357e-01 -5.82411645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.91264000000004 meters 0.014786931089788081 Centerline is valid? [True, True] Translation: X:135.66, Y:-19.81, Z:-5.82 [[ 9.82327718e-01 1.84110959e-01 3.36958448e-02 1.35664664e+02] [-1.83994352e-01 9.82905437e-01 -6.55601392e-03 -1.98141497e+01] [-3.43268631e-02 2.40309061e-04 9.99410631e-01 -5.82481793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.94264 meters 0.014510166886147374 Centerline is valid? [True, True] Translation: X:135.69, Y:-19.82, Z:-5.83 [[ 9.82148802e-01 1.85004352e-01 3.40164667e-02 1.35692735e+02] [-1.84886057e-01 9.82737679e-01 -6.61819255e-03 -1.98196432e+01] [-3.46536580e-02 2.10879473e-04 9.99399359e-01 -5.82595004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.97264 meters 0.01309879069278548 Centerline is valid? [True, True] Translation: X:135.72, Y:-19.82, Z:-5.83 [[ 9.81673549e-01 1.87417040e-01 3.45238619e-02 1.35721522e+02] [-1.87296730e-01 9.82280427e-01 -6.71548344e-03 -1.98248395e+01] [-3.51707098e-02 1.26206008e-04 9.99381311e-01 -5.82609261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.00264 meters 0.012763788984460655 Centerline is valid? [True, True] Translation: X:135.75, Y:-19.83, Z:-5.83 [[ 9.81430445e-01 1.88656916e-01 3.46821354e-02 1.35749540e+02] [-1.88536301e-01 9.82043055e-01 -6.74550900e-03 -1.98299586e+01] [-3.53319371e-02 8.14063953e-05 9.99375629e-01 -5.82751142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.03264000000001 meters 0.012572914333749142 Centerline is valid? [True, True] Translation: X:135.78, Y:-19.83, Z:-5.83 [[ 9.81194713e-01 1.89879185e-01 3.46818527e-02 1.35777431e+02] [-1.89759381e-01 9.81807463e-01 -6.74415407e-03 -1.98344629e+01] [-3.53314763e-02 3.61214134e-05 9.99375648e-01 -5.82893493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06264000000002 meters 0.017379740050157872 Centerline is valid? [True, True] Translation: X:135.81, Y:-19.84, Z:-5.83 [[ 9.80791261e-01 1.92022023e-01 3.42935108e-02 1.35805926e+02] [-1.91906236e-01 9.81390616e-01 -6.66752185e-03 -1.98386672e+01] [-3.49356407e-02 -4.16914057e-05 9.99389563e-01 -5.83195263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.09264000000002 meters 0.012655479893561049 Centerline is valid? [True, True] Translation: X:135.83, Y:-19.84, Z:-5.83 [[ 9.80625257e-01 1.92734781e-01 3.50343896e-02 1.35834572e+02] [-1.92614452e-01 9.81250885e-01 -6.80983421e-03 -1.98441652e+01] [-3.56900178e-02 -7.02343311e-05 9.99362906e-01 -5.83098290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12264000000002 meters 0.012941210413148854 Centerline is valid? [True, True] Translation: X:135.86, Y:-19.85, Z:-5.83 [[ 9.80151494e-01 1.94908441e-01 3.62456772e-02 1.35863471e+02] [-1.94781196e-01 9.80821429e-01 -7.04347477e-03 -1.98483060e+01] [-3.69233696e-02 -1.56304035e-04 9.99318088e-01 -5.82857717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.15264000000002 meters 0.013296424008632911 Centerline is valid? [True, True] Translation: X:135.89, Y:-19.85, Z:-5.83 [[ 9.79881719e-01 1.96228179e-01 3.64186484e-02 1.35892618e+02] [-1.96100701e-01 9.80558238e-01 -7.07508045e-03 -1.98529515e+01] [-3.70989358e-02 -2.08980487e-04 9.99311576e-01 -5.82871419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18264000000002 meters 0.014598192297294865 Centerline is valid? [True, True] Translation: X:135.92, Y:-19.86, Z:-5.83 [[ 9.79582315e-01 1.97701200e-01 3.65064725e-02 1.35920444e+02] [-1.97574155e-01 9.80262294e-01 -7.09146026e-03 -1.98556940e+01] [-3.71879087e-02 -2.66066394e-04 9.99308255e-01 -5.83070691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.21264000000002 meters 0.016416328666057422 Centerline is valid? [True, True] Translation: X:135.95, Y:-19.86, Z:-5.83 [[ 9.78974282e-01 2.00772215e-01 3.60537395e-02 1.35949711e+02] [-2.00650469e-01 9.79637879e-01 -7.00115987e-03 -1.98574626e+01] [-3.67252472e-02 -3.80244276e-04 9.99325328e-01 -5.83298134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24264000000002 meters 0.018847489874361648 Centerline is valid? [True, True] Translation: X:135.98, Y:-19.86, Z:-5.84 [[ 9.78665379e-01 2.02382058e-01 3.54341556e-02 1.35977732e+02] [-2.02265576e-01 9.79306547e-01 -6.87917680e-03 -1.98595339e+01] [-3.60931225e-02 -4.34697736e-04 9.99348336e-01 -5.83680533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27264000000002 meters 0.021267988149044396 Centerline is valid? [True, True] Translation: X:136.01, Y:-19.86, Z:-5.84 [[ 9.78363728e-01 2.03899402e-01 3.50635058e-02 1.36005463e+02] [-2.03786394e-01 9.78991724e-01 -6.80509513e-03 -1.98613647e+01] [-3.57144368e-02 -4.87607169e-04 9.99361917e-01 -5.83970322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30264000000003 meters 0.02167149490298073 Centerline is valid? [True, True] Translation: X:136.03, Y:-19.86, Z:-5.84 [[ 9.77841254e-01 2.06288865e-01 3.56565146e-02 1.36034301e+02] [-2.06173691e-01 9.78490960e-01 -6.91735928e-03 -1.98644481e+01] [-3.63165514e-02 -5.87355962e-04 9.99340164e-01 -5.83813062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.33264000000003 meters 0.02176601227993249 Centerline is valid? [True, True] Translation: X:136.06, Y:-19.87, Z:-5.84 [[ 9.77738614e-01 2.06697979e-01 3.60991333e-02 1.36063002e+02] [-2.06580273e-01 9.78404605e-01 -7.00138366e-03 -1.98690345e+01] [-3.67667301e-02 -6.11845660e-04 9.99323688e-01 -5.83831669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36264000000003 meters 0.02894925157717249 Centerline is valid? [True, True] Translation: X:136.09, Y:-19.87, Z:-5.84 [[ 9.77954086e-01 2.06002682e-01 3.41862754e-02 1.36090158e+02] [-2.05896751e-01 9.78551269e-01 -6.62887844e-03 -1.98739624e+01] [-3.48185899e-02 -5.56104267e-04 9.99393494e-01 -5.84390833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.39264000000003 meters 0.0290515698435625 Centerline is valid? [True, True] Translation: X:136.12, Y:-19.88, Z:-5.84 [[ 9.78085709e-01 2.05390279e-01 3.41054196e-02 1.36118075e+02] [-2.05284555e-01 9.78680002e-01 -6.61095093e-03 -1.98801198e+01] [-3.47361172e-02 -5.35239259e-04 9.99396376e-01 -5.84494758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42264000000003 meters 0.02005814642953255 Centerline is valid? [True, True] Translation: X:136.15, Y:-19.89, Z:-5.84 [[ 9.78223487e-01 2.04603902e-01 3.48719575e-02 1.36146802e+02] [-2.04492939e-01 9.78844713e-01 -6.75760993e-03 -1.98860414e+01] [-3.55168646e-02 -5.20616341e-04 9.99368942e-01 -5.84437305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.45264000000003 meters 0.018767065229767906 Centerline is valid? [True, True] Translation: X:136.17, Y:-19.89, Z:-5.85 [[ 9.78552501e-01 2.03004992e-01 3.49853669e-02 1.36173366e+02] [-2.02892325e-01 9.79177592e-01 -6.77847066e-03 -1.98937418e+01] [-3.56329507e-02 -4.65173019e-04 9.99364837e-01 -5.84559298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48264000000003 meters 0.016191842769094217 Centerline is valid? [True, True] Translation: X:136.20, Y:-19.91, Z:-5.85 [[ 9.79231993e-01 1.99670217e-01 3.51640288e-02 1.36200531e+02] [-1.99554332e-01 9.79863094e-01 -6.81065899e-03 -1.99051775e+01] [-3.58158198e-02 -3.47919093e-04 9.99358347e-01 -5.84624722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.51264000000003 meters 0.03000957521895998 Centerline is valid? [True, True] Translation: X:136.23, Y:-19.91, Z:-5.85 [[ 9.79562088e-01 1.98225535e-01 3.41284739e-02 1.36227570e+02] [-1.98115554e-01 9.80156393e-01 -6.60854558e-03 -1.99118481e+01] [-3.47612244e-02 -2.87900808e-04 9.99395605e-01 -5.85029063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54264000000003 meters 0.014913979193090789 Centerline is valid? [True, True] Translation: X:136.25, Y:-19.92, Z:-5.85 [[ 9.79748568e-01 1.97239494e-01 3.44865872e-02 1.36254848e+02] [-1.97126659e-01 9.80355301e-01 -6.67568168e-03 -1.99179695e+01] [-3.51258166e-02 -2.57736161e-04 9.99382865e-01 -5.85020460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.57264000000004 meters 0.014336091158864632 Centerline is valid? [True, True] Translation: X:136.28, Y:-19.93, Z:-5.85 [[ 9.79854178e-01 1.96693274e-01 3.46055827e-02 1.36282770e+02] [-1.96579399e-01 9.80465042e-01 -6.69644055e-03 -1.99256210e+01] [-3.52467089e-02 -2.41209395e-04 9.99378613e-01 -5.85038197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60264000000004 meters 0.014449846542673603 Centerline is valid? [True, True] Translation: X:136.31, Y:-19.93, Z:-5.85 [[ 9.79704739e-01 1.97349521e-01 3.50968896e-02 1.36310944e+02] [-1.97232874e-01 9.80333154e-01 -6.78972017e-03 -1.99306522e+01] [-3.57465926e-02 -2.70339375e-04 9.99360850e-01 -5.85044436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.63264000000004 meters 0.018738791257221724 Centerline is valid? [True, True] Translation: X:136.34, Y:-19.93, Z:-5.85 [[ 9.79025655e-01 2.00615094e-01 3.55295918e-02 1.36340013e+02] [-2.00497762e-01 9.79670060e-01 -6.87168431e-03 -1.99280808e+01] [-3.61858409e-02 -3.96048412e-04 9.99345000e-01 -5.85304787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66264000000004 meters 0.019267990577502867 Centerline is valid? [True, True] Translation: X:136.37, Y:-19.93, Z:-5.85 [[ 9.78625211e-01 2.02583169e-01 3.53942954e-02 1.36368268e+02] [-2.02468100e-01 9.79264949e-01 -6.84317445e-03 -1.99322157e+01] [-3.60467049e-02 -4.69312702e-04 9.99349996e-01 -5.85281770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.69264 meters 0.021787268467916388 Centerline is valid? [True, True] Translation: X:136.40, Y:-19.93, Z:-5.85 [[ 9.78154827e-01 2.04886293e-01 3.51388782e-02 1.36395847e+02] [-2.04774418e-01 9.78785627e-01 -6.79227590e-03 -1.99332409e+01] [-3.57850732e-02 -5.51645873e-04 9.99359357e-01 -5.85457224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.72264 meters 0.026136317901505304 Centerline is valid? [True, True] Translation: X:136.43, Y:-19.93, Z:-5.86 [[ 9.77304438e-01 2.09083252e-01 3.40621389e-02 1.36426072e+02] [-2.08980770e-01 9.77897603e-01 -6.58141502e-03 -1.99305648e+01] [-3.46853477e-02 -6.86285926e-04 9.99398047e-01 -5.85834982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.75264 meters 0.027948304152921166 Centerline is valid? [True, True] Translation: X:136.45, Y:-19.93, Z:-5.86 [[ 9.77058218e-01 2.10243566e-01 3.39835501e-02 1.36453618e+02] [-2.10142292e-01 9.77648769e-01 -6.56521573e-03 -1.99321901e+01] [-3.46042703e-02 -7.26783131e-04 9.99400829e-01 -5.86072866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.78264000000001 meters 0.028217571084330706 Centerline is valid? [True, True] Translation: X:136.48, Y:-19.94, Z:-5.86 [[ 9.76971789e-01 2.10731665e-01 3.34408334e-02 1.36481665e+02] [-2.10633958e-01 9.77543670e-01 -6.45826367e-03 -1.99370186e+01] [-3.40508357e-02 -7.34233708e-04 9.99419832e-01 -5.86233905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.81264000000002 meters 0.03206494669013323 Centerline is valid? [True, True] Translation: X:136.51, Y:-19.94, Z:-5.87 [[ 9.77196924e-01 2.09870934e-01 3.22546679e-02 1.36509793e+02] [-2.09779618e-01 9.77728862e-01 -6.22769536e-03 -1.99439890e+01] [-3.28433320e-02 -6.80687160e-04 9.99460280e-01 -5.86642590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84264000000002 meters 0.025681453278914027 Centerline is valid? [True, True] Translation: X:136.54, Y:-19.95, Z:-5.86 [[ 9.77265646e-01 2.09404306e-01 3.31917866e-02 1.36538156e+02] [-2.09307392e-01 9.77828904e-01 -6.40698174e-03 -1.99514955e+01] [-3.37975379e-02 -6.85963153e-04 9.99428465e-01 -5.86475294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.87264000000002 meters 0.026051591547839443 Centerline is valid? [True, True] Translation: X:136.57, Y:-19.95, Z:-5.87 [[ 9.77346370e-01 2.09395634e-01 3.07821549e-02 1.36565755e+02] [-2.09163894e-01 9.77823135e-01 -1.06010373e-02 -1.99536833e+01] [-3.23193141e-02 3.92236994e-03 9.99469898e-01 -5.86691923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.90264000000002 meters 0.026051591547839443 Centerline is valid? [True, True] Translation: X:136.59, Y:-19.96, Z:-5.87 [[ 9.77372748e-01 2.09149421e-01 3.16074505e-02 1.36592256e+02] [-2.09057620e-01 9.77883551e-01 -6.21872832e-03 -1.99613704e+01] [-3.22090493e-02 -5.29762767e-04 9.99481014e-01 -5.86833372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.93264000000002 meters 0.025325093880427297 Centerline is valid? [True, True] Translation: X:136.62, Y:-19.97, Z:-5.87 [[ 9.77711458e-01 2.07297354e-01 3.32883009e-02 1.36619762e+02] [-2.07357176e-01 9.78263855e-01 -1.68292001e-03 -1.99702862e+01] [-3.29136064e-02 -5.25715791e-03 9.99444374e-01 -5.87071743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96264000000002 meters 0.022944181571227965 Centerline is valid? [True, True] Translation: X:136.65, Y:-19.98, Z:-5.87 [[ 9.77780662e-01 2.07093564e-01 3.25151110e-02 1.36647788e+02] [-2.06999508e-01 9.78320957e-01 -6.26962315e-03 -1.99761841e+01] [-3.31086131e-02 -6.00295708e-04 9.99451579e-01 -5.86960123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99264000000002 meters 0.022075692860841697 Centerline is valid? [True, True] Translation: X:136.68, Y:-19.98, Z:-5.87 [[ 9.77886673e-01 2.06484996e-01 3.31903711e-02 1.36676005e+02] [-2.06386705e-01 9.78449587e-01 -6.39796377e-03 -1.99816639e+01] [-3.37961884e-02 -5.93567821e-04 9.99428569e-01 -5.86912607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02264000000002 meters 0.0238704290221928 Centerline is valid? [True, True] Translation: X:136.70, Y:-19.99, Z:-5.87 [[ 9.78031668e-01 2.05834186e-01 3.29597359e-02 1.36703318e+02] [-2.05736920e-01 9.78586718e-01 -6.35251019e-03 -1.99867191e+01] [-3.35615236e-02 -5.68078417e-04 9.99436492e-01 -5.87128354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.05264000000003 meters 0.02045431213091521 Centerline is valid? [True, True] Translation: X:136.73, Y:-19.99, Z:-5.87 [[ 9.78164551e-01 2.05160127e-01 3.32179752e-02 1.36731598e+02] [-2.05061020e-01 9.78728266e-01 -6.40000184e-03 -1.99948628e+01] [-3.38243964e-02 -5.51456933e-04 9.99427639e-01 -5.87032676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08264000000003 meters 0.02102758461738407 Centerline is valid? [True, True] Translation: X:136.76, Y:-20.00, Z:-5.87 [[ 9.78275433e-01 2.04665424e-01 3.30036538e-02 1.36759488e+02] [-2.04567368e-01 9.78831845e-01 -6.35698504e-03 -1.99994651e+01] [-3.36060824e-02 -5.32588298e-04 9.99435014e-01 -5.87261971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.11264000000003 meters 0.020295339722442005 Centerline is valid? [True, True] Translation: X:136.79, Y:-20.01, Z:-5.87 [[ 9.78434479e-01 2.03894933e-01 3.30579309e-02 1.36787911e+02] [-2.03796173e-01 9.78992644e-01 -6.36570346e-03 -2.00054139e+01] [-3.36614059e-02 -5.08656064e-04 9.99433165e-01 -5.87321152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14264000000003 meters 0.01992892408229611 Centerline is valid? [True, True] Translation: X:136.82, Y:-20.01, Z:-5.87 [[ 9.78473074e-01 2.03668358e-01 3.33113175e-02 1.36815789e+02] [-2.03568005e-01 9.79039807e-01 -6.41278412e-03 -2.00110515e+01] [-3.39191870e-02 -5.06381837e-04 9.99424451e-01 -5.87378437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.17264000000003 meters 0.031783767489562846 Centerline is valid? [True, True] Translation: X:136.84, Y:-20.02, Z:-5.88 [[ 9.78551499e-01 2.03353444e-01 3.29293303e-02 1.36843586e+02] [-2.03255251e-01 9.79105273e-01 -6.33775769e-03 -2.00158086e+01] [-3.35300858e-02 -4.91237021e-04 9.99437588e-01 -5.87626369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20264000000003 meters 0.019855739821213296 Centerline is valid? [True, True] Translation: X:136.87, Y:-20.02, Z:-5.87 [[ 9.78502955e-01 2.03303008e-01 3.46389112e-02 1.36871113e+02] [-2.03194414e-01 9.79115733e-01 -6.66416781e-03 -2.00211450e+01] [-3.52703483e-02 -5.17525371e-04 9.99377674e-01 -5.87445283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.23264000000003 meters 0.019676913540379475 Centerline is valid? [True, True] Translation: X:136.90, Y:-20.03, Z:-5.88 [[ 9.78552344e-01 2.03111661e-01 3.43651290e-02 1.36899550e+02] [-2.03004739e-01 9.79155449e-01 -6.60921257e-03 -2.00273164e+01] [-3.49912114e-02 -5.08823601e-04 9.99387491e-01 -5.87519032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26264000000003 meters 0.02095884498863191 Centerline is valid? [True, True] Translation: X:136.93, Y:-20.03, Z:-5.88 [[ 9.78660657e-01 2.02697945e-01 3.37173850e-02 1.36927403e+02] [-2.02594825e-01 9.79241189e-01 -6.48307894e-03 -2.00310015e+01] [-3.43315590e-02 -4.86233415e-04 9.99410380e-01 -5.87885863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.29264000000003 meters 0.020187409679426806 Centerline is valid? [True, True] Translation: X:136.96, Y:-20.04, Z:-5.88 [[ 9.78703516e-01 2.02621507e-01 3.29234481e-02 1.36955715e+02] [-2.02523216e-01 9.79257014e-01 -6.32824823e-03 -2.00370929e+01] [-3.35227566e-02 -4.74283805e-04 9.99437842e-01 -5.88033859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32264000000004 meters 0.019679647451375175 Centerline is valid? [True, True] Translation: X:136.98, Y:-20.04, Z:-5.88 [[ 9.78769235e-01 2.02426799e-01 3.21586069e-02 1.36983880e+02] [-2.02332969e-01 9.79297289e-01 -6.17969279e-03 -2.00429911e+01] [-3.27437720e-02 -4.58253246e-04 9.99463674e-01 -5.88150274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.35264000000004 meters 0.019446144059382574 Centerline is valid? [True, True] Translation: X:137.01, Y:-20.05, Z:-5.88 [[ 9.78941823e-01 2.01603041e-01 3.20799139e-02 1.37011176e+02] [-2.01509276e-01 9.79467216e-01 -6.16308954e-03 -2.00490826e+01] [-3.26637215e-02 -4.31094109e-04 9.99466305e-01 -5.88312925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38264000000004 meters 0.023980389659720477 Centerline is valid? [True, True] Translation: X:137.04, Y:-20.06, Z:-5.89 [[ 9.79132378e-01 2.00825670e-01 3.11261453e-02 1.37039531e+02] [-2.00737070e-01 9.79626916e-01 -5.97781250e-03 -2.00555115e+01] [-3.16925079e-02 -3.95101452e-04 9.99497588e-01 -5.88643505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.41264000000004 meters 0.018953865616266274 Centerline is valid? [True, True] Translation: X:137.07, Y:-20.06, Z:-5.89 [[ 9.79313606e-01 1.99969002e-01 3.09396144e-02 1.37066330e+02] [-1.99881079e-01 9.79802155e-01 -5.94059359e-03 -2.00611972e+01] [-3.15026355e-02 -3.66539380e-04 9.99503602e-01 -5.88764677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.44264 meters 0.018335338598256708 Centerline is valid? [True, True] Translation: X:137.09, Y:-20.07, Z:-5.89 [[ 9.79436703e-01 1.99394691e-01 3.07490092e-02 1.37094165e+02] [-1.99307630e-01 9.79919199e-01 -5.90190886e-03 -2.00677494e+01] [-3.13083537e-02 -3.47965988e-04 9.99509713e-01 -5.88850706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.47264 meters 0.01800137605046504 Centerline is valid? [True, True] Translation: X:137.12, Y:-20.07, Z:-5.89 [[ 9.79597458e-01 1.98570874e-01 3.09585033e-02 1.37120872e+02] [-1.98482255e-01 9.80086477e-01 -5.94072165e-03 -2.00742546e+01] [-3.15216647e-02 -3.25197701e-04 9.99503016e-01 -5.88974070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.50264 meters 0.01632802308922402 Centerline is valid? [True, True] Translation: X:137.15, Y:-20.08, Z:-5.89 [[ 9.79803835e-01 1.97480713e-01 3.13976497e-02 1.37148893e+02] [-1.97389070e-01 9.80306728e-01 -6.02288473e-03 -2.00835208e+01] [-3.19687308e-02 -2.96307307e-04 9.99488826e-01 -5.88822134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.53264000000001 meters 0.016038082081507556 Centerline is valid? [True, True] Translation: X:137.18, Y:-20.09, Z:-5.89 [[ 9.79858112e-01 1.97150183e-01 3.17786911e-02 1.37177362e+02] [-1.97056180e-01 9.80373256e-01 -6.09433856e-03 -2.00891891e+01] [-3.23564788e-02 -2.90600387e-04 9.99476350e-01 -5.88888336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56264000000002 meters 0.016613272514483857 Centerline is valid? [True, True] Translation: X:137.20, Y:-20.09, Z:-5.89 [[ 9.79888820e-01 1.96945077e-01 3.21019908e-02 1.37204478e+02] [-1.96849091e-01 9.80414480e-01 -6.15483251e-03 -2.00938757e+01] [-3.26854206e-02 -2.88196155e-04 9.99465647e-01 -5.89127382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.59264000000002 meters 0.02375140616224862 Centerline is valid? [True, True] Translation: X:137.23, Y:-20.10, Z:-5.89 [[ 9.80007939e-01 1.96457990e-01 3.14435671e-02 1.37231351e+02] [-1.96365711e-01 9.80512206e-01 -6.02670446e-03 -2.00989421e+01] [-3.20147956e-02 -2.68220203e-04 9.99487359e-01 -5.89426342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62264000000002 meters 0.01665765612956103 Centerline is valid? [True, True] Translation: X:137.26, Y:-20.10, Z:-5.89 [[ 9.79888762e-01 1.96939888e-01 3.21355606e-02 1.37259405e+02] [-1.96843839e-01 9.80415522e-01 -6.15695583e-03 -2.01038680e+01] [-3.27187526e-02 -2.92555281e-04 9.99464555e-01 -5.89226279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.65264000000002 meters 0.019428081676651648 Centerline is valid? [True, True] Translation: X:137.29, Y:-20.11, Z:-5.90 [[ 9.79805643e-01 1.97456787e-01 3.14915754e-02 1.37286705e+02] [-1.97364860e-01 9.80311545e-01 -6.03222250e-03 -2.01072480e+01] [-3.20626582e-02 -3.04924712e-04 9.99485814e-01 -5.89504574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68264000000002 meters 0.01745756769381403 Centerline is valid? [True, True] Translation: X:137.32, Y:-20.11, Z:-5.90 [[ 9.79714076e-01 1.97888401e-01 3.16308360e-02 1.37315121e+02] [-1.97795950e-01 9.80224503e-01 -6.05684731e-03 -2.01132792e+01] [-3.22039003e-02 -3.22472672e-04 9.99481268e-01 -5.89507001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.71264000000002 meters 0.021466951956676777 Centerline is valid? [True, True] Translation: X:137.34, Y:-20.12, Z:-5.90 [[ 9.79712912e-01 1.97959878e-01 3.12169294e-02 1.37343126e+02] [-1.97869915e-01 9.80210071e-01 -5.97608537e-03 -2.01188904e+01] [-3.17821737e-02 -3.22043172e-04 9.99494767e-01 -5.89790698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74264000000002 meters 0.017123907897369447 Centerline is valid? [True, True] Translation: X:137.37, Y:-20.13, Z:-5.90 [[ 9.79604015e-01 1.98517063e-01 3.10958063e-02 1.37371262e+02] [-1.98428125e-01 9.80097373e-01 -5.95140425e-03 -2.01257412e+01] [-3.16583733e-02 -3.40263034e-04 9.99498690e-01 -5.89639402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77264000000002 meters 0.01902476844518206 Centerline is valid? [True, True] Translation: X:137.40, Y:-20.13, Z:-5.90 [[ 9.79386003e-01 1.99514874e-01 3.15732932e-02 1.37399481e+02] [-1.99423750e-01 9.79894724e-01 -6.04128126e-03 -2.01279674e+01] [-3.21438289e-02 -3.79718229e-04 9.99483181e-01 -5.89856402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80264000000003 meters 0.02044082976248311 Centerline is valid? [True, True] Translation: X:137.43, Y:-20.13, Z:-5.90 [[ 9.79139726e-01 2.00665886e-01 3.19154992e-02 1.37427316e+02] [-2.00573456e-01 9.79659646e-01 -6.10465245e-03 -2.01307464e+01] [-3.24913221e-02 -4.24094224e-04 9.99471928e-01 -5.89935462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.83264000000003 meters 0.021836703333877563 Centerline is valid? [True, True] Translation: X:137.46, Y:-20.13, Z:-5.90 [[ 9.78847188e-01 2.02093285e-01 3.18823804e-02 1.37456589e+02] [-2.02001870e-01 9.79366163e-01 -6.09624722e-03 -2.01332175e+01] [-3.24565352e-02 -4.73006011e-04 9.99473036e-01 -5.90019505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86264000000003 meters 0.024642471464785893 Centerline is valid? [True, True] Translation: X:137.49, Y:-20.13, Z:-5.90 [[ 9.78237898e-01 2.05176859e-01 3.08718570e-02 1.37486401e+02] [-2.05092730e-01 9.78724754e-01 -5.90146867e-03 -2.01326893e+01] [-3.14258955e-02 -5.58553129e-04 9.99505929e-01 -5.90178931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.89264000000003 meters 0.02417286841811438 Centerline is valid? [True, True] Translation: X:137.51, Y:-20.14, Z:-5.90 [[ 9.78017530e-01 2.06362501e-01 2.99370759e-02 1.37514981e+02] [-2.06283972e-01 9.78475438e-01 -5.72192591e-03 -2.01372241e+01] [-3.04734844e-02 -5.79395100e-04 9.99535408e-01 -5.90226043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92264000000003 meters 0.026450144781825686 Centerline is valid? [True, True] Translation: X:137.54, Y:-20.14, Z:-5.91 [[ 9.77589840e-01 2.08494993e-01 2.91194530e-02 1.37543063e+02] [-2.08421673e-01 9.78023232e-01 -5.56457475e-03 -2.01356996e+01] [-2.96396875e-02 -6.29253362e-04 9.99560450e-01 -5.90558493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.95264000000003 meters 0.033148119048101464 Centerline is valid? [True, True] Translation: X:137.57, Y:-20.14, Z:-5.91 [[ 9.77516383e-01 2.08909030e-01 2.86136158e-02 1.37570858e+02] [-2.08838480e-01 9.77934873e-01 -5.46559383e-03 -2.01371473e+01] [-2.91240647e-02 -6.32916525e-04 9.99575604e-01 -5.90894689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98264000000003 meters 0.02739604697378312 Centerline is valid? [True, True] Translation: X:137.60, Y:-20.14, Z:-5.91 [[ 9.77476067e-01 2.08987937e-01 2.94037564e-02 1.37599160e+02] [-2.08913535e-01 9.77917999e-01 -5.61441063e-03 -2.01409995e+01] [-2.99278067e-02 -6.54890682e-04 9.99551848e-01 -5.90734864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.01264000000003 meters 0.025903742219243124 Centerline is valid? [True, True] Translation: X:137.63, Y:-20.15, Z:-5.91 [[ 9.77802764e-01 2.07274544e-01 3.06434098e-02 1.37627411e+02] [-2.07192945e-01 9.78282611e-01 -5.84947029e-03 -2.01453854e+01] [-3.11903613e-02 -6.29470128e-04 9.99513264e-01 -5.90638789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04264000000003 meters 0.03061671370309956 Centerline is valid? [True, True] Translation: X:137.66, Y:-20.15, Z:-5.91 [[ 9.78154950e-01 2.05564477e-01 3.09215155e-02 1.37655895e+02] [-2.05480586e-01 9.78643402e-01 -5.90098176e-03 -2.01511348e+01] [-3.14741693e-02 -5.81696594e-04 9.99504396e-01 -5.90886451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.07264000000004 meters 0.02360925831788644 Centerline is valid? [True, True] Translation: X:137.68, Y:-20.16, Z:-5.91 [[ 9.78522334e-01 2.03766232e-01 3.11987997e-02 1.37683385e+02] [-2.03679961e-01 9.79019429e-01 -5.95245308e-03 -2.01560858e+01] [-3.17571400e-02 -5.29962027e-04 9.99495474e-01 -5.90847002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10264000000004 meters 0.018953368312159925 Centerline is valid? [True, True] Translation: X:137.71, Y:-20.17, Z:-5.91 [[ 9.79489101e-01 1.98901582e-01 3.22375960e-02 1.37711617e+02] [-1.98806915e-01 9.80019393e-01 -6.14812892e-03 -2.01656593e+01] [-3.28163418e-02 -3.87031744e-04 9.99461324e-01 -5.90763013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.13264000000004 meters 0.015933423404701906 Centerline is valid? [True, True] Translation: X:137.74, Y:-20.18, Z:-5.91 [[ 9.79972721e-01 1.96391141e-01 3.29239514e-02 1.37739162e+02] [-1.96291001e-01 9.80525585e-01 -6.27847270e-03 -2.01753725e+01] [-3.35158131e-02 -3.09943407e-04 9.99438139e-01 -5.90652535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16264000000004 meters 0.014337150792255332 Centerline is valid? [True, True] Translation: X:137.77, Y:-20.18, Z:-5.91 [[ 9.80516194e-01 1.93607175e-01 3.32303294e-02 1.37765994e+02] [-1.93503617e-01 9.81079107e-01 -6.33530961e-03 -2.01838099e+01] [-3.38281433e-02 -2.18315272e-04 9.99427641e-01 -5.90751876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.19264 meters 0.012420501036526853 Centerline is valid? [True, True] Translation: X:137.79, Y:-20.20, Z:-5.91 [[ 9.81486927e-01 1.88639920e-01 3.31419966e-02 1.37792620e+02] [-1.88534153e-01 9.82046322e-01 -6.31624989e-03 -2.01962872e+01] [-3.37384728e-02 -4.90815678e-05 9.99430694e-01 -5.90866484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.22264 meters 0.012491309823176306 Centerline is valid? [True, True] Translation: X:137.82, Y:-20.21, Z:-5.91 [[ 9.81944672e-01 1.86375420e-01 3.23861798e-02 1.37819244e+02] [-1.86273237e-01 9.82478601e-01 -6.17082510e-03 -2.02053810e+01] [-3.29688188e-02 2.67302693e-05 9.99456380e-01 -5.91067237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.25264 meters 0.018020783821596224 Centerline is valid? [True, True] Translation: X:137.85, Y:-20.22, Z:-5.91 [[ 9.82677679e-01 1.82636444e-01 3.14405561e-02 1.37847402e+02] [-1.82538310e-01 9.83180506e-01 -5.98810072e-03 -2.02172828e+01] [-3.20053873e-02 1.45266943e-04 9.99487686e-01 -5.91310175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.28264000000001 meters 0.01423515728217049 Centerline is valid? [True, True] Translation: X:137.88, Y:-20.22, Z:-5.92 [[ 9.82876049e-01 1.81697233e-01 3.06722706e-02 1.37875142e+02] [-1.81603403e-01 9.83354507e-01 -5.84105267e-03 -2.02248330e+01] [-3.12230187e-02 1.70842054e-04 9.99512428e-01 -5.91530773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.31264000000002 meters 0.015151685984510855 Centerline is valid? [True, True] Translation: X:137.90, Y:-20.23, Z:-5.92 [[ 9.83044331e-01 1.80856965e-01 3.02423799e-02 1.37902897e+02] [-1.80765371e-01 9.83509390e-01 -5.75847289e-03 -2.02318893e+01] [-3.07851245e-02 1.94059102e-04 9.99526007e-01 -5.91825753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34264000000002 meters 0.0227546896121542 Centerline is valid? [True, True] Translation: X:137.93, Y:-20.24, Z:-5.92 [[ 9.83252822e-01 1.79807253e-01 2.97193349e-02 1.37931464e+02] [-1.79718358e-01 9.83701836e-01 -5.65766124e-03 -2.02395697e+01] [-3.02522528e-02 2.21801309e-04 9.99542271e-01 -5.91986840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.37264000000002 meters 0.015023010770959558 Centerline is valid? [True, True] Translation: X:137.96, Y:-20.25, Z:-5.92 [[ 9.83258762e-01 1.79763277e-01 2.97887791e-02 1.37960640e+02] [-1.79673969e-01 9.83709873e-01 -5.67012913e-03 -2.02467820e+01] [-3.03227971e-02 2.22935990e-04 9.99540133e-01 -5.91923680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.40264000000002 meters 0.015039668388589163 Centerline is valid? [True, True] Translation: X:137.99, Y:-20.25, Z:-5.92 [[ 9.83257858e-01 1.79786648e-01 2.96773649e-02 1.37989848e+02] [-1.79698040e-01 9.83705603e-01 -5.64817565e-03 -2.02535640e+01] [-3.02092567e-02 2.20648784e-04 9.99543572e-01 -5.92089388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.43264000000002 meters 0.014999511110418444 Centerline is valid? [True, True] Translation: X:138.02, Y:-20.26, Z:-5.92 [[ 9.83223925e-01 1.80031845e-01 2.93129459e-02 1.38018828e+02] [-1.79945531e-01 9.83660760e-01 -5.57809567e-03 -2.02605613e+01] [-2.98382295e-02 2.09783489e-04 9.99554719e-01 -5.92277134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46264000000002 meters 0.014784354465935314 Centerline is valid? [True, True] Translation: X:138.05, Y:-20.27, Z:-5.93 [[ 9.83074776e-01 1.80958241e-01 2.86024614e-02 1.38046667e+02] [-1.80876468e-01 9.83490764e-01 -5.44238292e-03 -2.02687910e+01] [-2.91151006e-02 1.76757178e-04 9.99576050e-01 -5.92567503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49264000000002 meters 0.01478423612955989 Centerline is valid? [True, True] Translation: X:138.07, Y:-20.27, Z:-5.93 [[ 9.82914718e-01 1.81774982e-01 2.89225243e-02 1.38074444e+02] [-1.81691755e-01 9.83340141e-01 -5.50216673e-03 -2.02738030e+01] [-2.94408353e-02 1.53176476e-04 9.99566513e-01 -5.92733365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52264000000002 meters 0.013858781314642936 Centerline is valid? [True, True] Translation: X:138.10, Y:-20.28, Z:-5.93 [[ 9.82524197e-01 1.83902959e-01 2.87385326e-02 1.38103712e+02] [-1.83821723e-01 9.82944400e-01 -5.46628042e-03 -2.02764210e+01] [-2.92536449e-02 8.79861966e-05 9.99572017e-01 -5.92791642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.55264000000003 meters 0.013684714146817059 Centerline is valid? [True, True] Translation: X:138.13, Y:-20.28, Z:-5.93 [[ 9.82385060e-01 1.84728885e-01 2.81927872e-02 1.38131560e+02] [-1.84651085e-01 9.82789517e-01 -5.36111583e-03 -2.02820013e+01] [-2.86979286e-02 6.08513703e-05 9.99588128e-01 -5.92997333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58264000000003 meters 0.013745922533074871 Centerline is valid? [True, True] Translation: X:138.16, Y:-20.29, Z:-5.93 [[ 9.82201557e-01 1.85599674e-01 2.88593573e-02 1.38158513e+02] [-1.85518563e-01 9.82625442e-01 -5.48660386e-03 -2.02878487e+01] [-2.93762506e-02 3.50043520e-05 9.99568424e-01 -5.93193184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.61264000000003 meters 0.013230523236232873 Centerline is valid? [True, True] Translation: X:138.19, Y:-20.29, Z:-5.93 [[ 9.81705630e-01 1.88169619e-01 2.90903944e-02 1.38187233e+02] [-1.88088399e-01 9.82136545e-01 -5.52823513e-03 -2.02932868e+01] [-2.96109853e-02 -4.44661574e-05 9.99561498e-01 -5.93039738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64264000000003 meters 0.013785750996653995 Centerline is valid? [True, True] Translation: X:138.21, Y:-20.30, Z:-5.93 [[ 9.81432322e-01 1.89499303e-01 2.96750925e-02 1.38214553e+02] [-1.89415418e-01 9.81880851e-01 -5.63852608e-03 -2.02974645e+01] [-3.02059018e-02 -8.70883067e-05 9.99543694e-01 -5.93302533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.67264000000003 meters 0.013946579555446873 Centerline is valid? [True, True] Translation: X:138.24, Y:-20.30, Z:-5.93 [[ 9.81167862e-01 1.90859152e-01 2.97053975e-02 1.38243389e+02] [-1.90775781e-01 9.81617424e-01 -5.64219763e-03 -2.03020860e+01] [-3.02362008e-02 -1.31127422e-04 9.99542773e-01 -5.93249445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70264000000003 meters 0.023981644595860628 Centerline is valid? [True, True] Translation: X:138.27, Y:-20.32, Z:-5.94 [[ 9.80386129e-01 1.91059023e-01 4.83682517e-02 1.38268902e+02] [-1.92473205e-01 9.80945578e-01 2.64544683e-02 -2.03241454e+01] [-4.23922578e-02 -3.52451862e-02 9.98479180e-01 -5.93614921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.73264000000003 meters 0.02164340149331092 Centerline is valid? [True, True] Translation: X:138.31, Y:-20.29, Z:-5.93 [[ 9.80203848e-01 1.96594681e-01 2.34722945e-02 1.38306705e+02] [-1.95566469e-01 9.79868921e-01 -4.01329525e-02 -2.02893486e+01] [-3.08896969e-02 3.47480807e-02 9.98918614e-01 -5.93361089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76264000000003 meters 0.01844308958030038 Centerline is valid? [True, True] Translation: X:138.33, Y:-20.31, Z:-5.94 [[ 9.79889537e-01 1.97189658e-01 3.05406971e-02 1.38330506e+02] [-1.97104669e-01 9.80365302e-01 -5.79868290e-03 -2.03128097e+01] [-3.10844800e-02 -3.37645290e-04 9.99516704e-01 -5.93667519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.79264000000003 meters 0.018895729560124003 Centerline is valid? [True, True] Translation: X:138.36, Y:-20.32, Z:-5.94 [[ 9.79802808e-01 1.97709065e-01 2.99596936e-02 1.38359048e+02] [-1.97627585e-01 9.80260681e-01 -5.68631001e-03 -2.03181654e+01] [-3.04925447e-02 -3.49399384e-04 9.99534933e-01 -5.93853346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82264000000004 meters 0.018895729560124003 Centerline is valid? [True, True] Translation: X:138.39, Y:-20.32, Z:-5.94 [[ 9.79812145e-01 1.97662747e-01 2.99599621e-02 1.38386874e+02] [-1.97581289e-01 9.80270022e-01 -5.68489481e-03 -2.03233525e+01] [-3.04925447e-02 -3.49398943e-04 9.99534933e-01 -5.93978275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.85264000000004 meters 0.019292023457542894 Centerline is valid? [True, True] Translation: X:138.42, Y:-20.33, Z:-5.94 [[ 9.79765067e-01 1.97904873e-01 2.99010949e-02 1.38415224e+02] [-1.97823891e-01 9.80221166e-01 -5.67226295e-03 -2.03286290e+01] [-3.04322546e-02 -3.57665872e-04 9.99536768e-01 -5.94170381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88264000000004 meters 0.018373021769495346 Centerline is valid? [True, True] Translation: X:138.44, Y:-20.34, Z:-5.94 [[ 9.79735969e-01 1.98113658e-01 2.94687997e-02 1.38442787e+02] [-1.98035132e-01 9.80178988e-01 -5.58906118e-03 -2.03355396e+01] [-2.99919676e-02 -3.60053380e-04 9.99550075e-01 -5.94176373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.91264000000004 meters 0.019052252228741472 Centerline is valid? [True, True] Translation: X:138.47, Y:-20.34, Z:-5.94 [[ 9.79597792e-01 1.98764998e-01 2.96755909e-02 1.38469799e+02] [-1.98685723e-01 9.80047105e-01 -5.62635317e-03 -2.03399015e+01] [-3.02017990e-02 -3.84553075e-04 9.99543748e-01 -5.94368510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.94264 meters 0.024162621984381388 Centerline is valid? [True, True] Translation: X:138.50, Y:-20.34, Z:-5.95 [[ 9.79544216e-01 1.99113521e-01 2.91021408e-02 1.38497415e+02] [-1.99037488e-01 9.79976354e-01 -5.51582788e-03 -2.03423738e+01] [-2.96176857e-02 -3.89419706e-04 9.99561224e-01 -5.94862068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.97264 meters 0.022164437625016475 Centerline is valid? [True, True] Translation: X:138.53, Y:-20.35, Z:-5.95 [[ 9.79272303e-01 2.00490578e-01 2.87973220e-02 1.38526066e+02] [-2.00416783e-01 9.79695537e-01 -5.45605442e-03 -2.03456679e+01] [-2.93064954e-02 -4.28503662e-04 9.99570381e-01 -5.94997085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.00264 meters 0.021999242442965194 Centerline is valid? [True, True] Translation: X:138.55, Y:-20.35, Z:-5.95 [[ 9.79146841e-01 2.01131550e-01 2.85930528e-02 1.38554272e+02] [-2.01059111e-01 9.79564138e-01 -5.41599082e-03 -2.03508292e+01] [-2.90980558e-02 -4.45843475e-04 9.99576462e-01 -5.95060487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.03264000000001 meters 0.02922789865938691 Centerline is valid? [True, True] Translation: X:138.58, Y:-20.35, Z:-5.95 [[ 9.79020456e-01 2.01746862e-01 2.85858457e-02 1.38581580e+02] [-2.01674753e-01 9.79437587e-01 -5.41355211e-03 -2.03529592e+01] [-2.90902189e-02 -4.65065129e-04 9.99576682e-01 -5.95432683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.06264000000002 meters 0.022196032261684213 Centerline is valid? [True, True] Translation: X:138.61, Y:-20.36, Z:-5.95 [[ 9.78949266e-01 2.02002749e-01 2.92100055e-02 1.38609703e+02] [-2.01927646e-01 9.79384834e-01 -5.52919262e-03 -2.03596523e+01] [-2.97247485e-02 -4.85508591e-04 9.99558004e-01 -5.95201700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.09264000000002 meters 0.028626468087580195 Centerline is valid? [True, True] Translation: X:138.64, Y:-20.36, Z:-5.96 [[ 9.79019520e-01 2.01688330e-01 2.90275293e-02 1.38637260e+02] [-2.01614063e-01 9.79449638e-01 -5.49337047e-03 -2.03619398e+01] [-2.95389518e-02 -4.74241201e-04 9.99563517e-01 -5.95582622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12264000000002 meters 0.023408078458528377 Centerline is valid? [True, True] Translation: X:138.66, Y:-20.37, Z:-5.96 [[ 9.79047550e-01 2.01502657e-01 2.93696046e-02 1.38664890e+02] [-2.01426602e-01 9.79487852e-01 -5.55619903e-03 -2.03668873e+01] [-2.98867598e-02 -4.76036619e-04 9.99553178e-01 -5.95641004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.15264000000002 meters 0.022225521397432592 Centerline is valid? [True, True] Translation: X:138.69, Y:-20.37, Z:-5.96 [[ 9.79250445e-01 2.00343803e-01 3.05110824e-02 1.38693038e+02] [-2.00261223e-01 9.79725548e-01 -5.77003121e-03 -2.03731560e+01] [-3.10484769e-02 -4.59881056e-04 9.99517774e-01 -5.95606991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18264000000002 meters 0.020306736988838683 Centerline is valid? [True, True] Translation: X:138.72, Y:-20.38, Z:-5.96 [[ 9.79392595e-01 1.99643717e-01 3.05373726e-02 1.38720606e+02] [-1.99560700e-01 9.79868457e-01 -5.77354655e-03 -2.03806769e+01] [-3.10752605e-02 -4.39490723e-04 9.99516951e-01 -5.95548793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.21264000000002 meters 0.01908065142344018 Centerline is valid? [True, True] Translation: X:138.75, Y:-20.39, Z:-5.96 [[ 9.79690057e-01 1.98267527e-01 2.99562956e-02 1.38749170e+02] [-1.98187047e-01 9.80147864e-01 -5.66204711e-03 -2.03871558e+01] [-3.04841993e-02 -3.89898498e-04 9.99535173e-01 -5.95700655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24264000000002 meters 0.02006861391914287 Centerline is valid? [True, True] Translation: X:138.78, Y:-20.39, Z:-5.96 [[ 9.79835307e-01 1.97499070e-01 3.02801757e-02 1.38776977e+02] [-1.97416499e-01 9.80303004e-01 -5.72242025e-03 -2.03907543e+01] [-3.08139199e-02 -3.70776856e-04 9.99525070e-01 -5.96082813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27264000000002 meters 0.018077081822208324 Centerline is valid? [True, True] Translation: X:138.81, Y:-20.40, Z:-5.96 [[ 9.80023623e-01 1.96620610e-01 2.99004158e-02 1.38805309e+02] [-1.96539751e-01 9.80479586e-01 -5.64862660e-03 -2.03983683e+01] [-3.04273837e-02 -3.40832760e-04 9.99536922e-01 -5.96057023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30264000000003 meters 0.017510702156563192 Centerline is valid? [True, True] Translation: X:138.83, Y:-20.40, Z:-5.96 [[ 9.80426366e-01 1.94726180e-01 2.90836040e-02 1.38832541e+02] [-1.94648880e-01 9.80857604e-01 -5.49312902e-03 -2.04040674e+01] [-2.95965301e-02 -2.75482424e-04 9.99561889e-01 -5.96482865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.33264000000003 meters 0.01720329619919002 Centerline is valid? [True, True] Translation: X:138.86, Y:-20.41, Z:-5.97 [[ 9.80634717e-01 1.93652984e-01 2.92245444e-02 1.38859691e+02] [-1.93574517e-01 9.81070059e-01 -5.51774181e-03 -2.04098705e+01] [-2.97398527e-02 -2.46237885e-04 9.99557642e-01 -5.96762346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36264000000003 meters 0.016092287658187425 Centerline is valid? [True, True] Translation: X:138.89, Y:-20.42, Z:-5.97 [[ 9.80851999e-01 1.92557119e-01 2.91738391e-02 1.38887587e+02] [-1.92478501e-01 9.81285743e-01 -5.50606780e-03 -2.04172720e+01] [-2.96881050e-02 -2.14699210e-04 9.99559188e-01 -5.96830544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.39264000000003 meters 0.015536478867002577 Centerline is valid? [True, True] Translation: X:138.91, Y:-20.42, Z:-5.97 [[ 9.81052315e-01 1.91491851e-01 2.94487142e-02 1.38914919e+02] [-1.91411304e-01 9.81494186e-01 -5.55663095e-03 -2.04238730e+01] [-2.99677913e-02 -1.85471114e-04 9.99550848e-01 -5.96942330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42264000000003 meters 0.014394666520985847 Centerline is valid? [True, True] Translation: X:138.94, Y:-20.43, Z:-5.97 [[ 9.81230539e-01 1.90494437e-01 2.99749820e-02 1.38942802e+02] [-1.90410581e-01 9.81688262e-01 -5.65389131e-03 -2.04310936e+01] [-3.05031228e-02 -1.59782925e-04 9.99534659e-01 -5.96762694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.45264000000003 meters 0.014976198986210528 Centerline is valid? [True, True] Translation: X:138.97, Y:-20.44, Z:-5.97 [[ 9.81236776e-01 1.90486817e-01 2.98188257e-02 1.38970309e+02] [-1.90403871e-01 9.81689741e-01 -5.62308470e-03 -2.04352622e+01] [-3.03439588e-02 -1.60042333e-04 9.99539503e-01 -5.97103986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48264000000003 meters 0.014936304761835478 Centerline is valid? [True, True] Translation: X:139.00, Y:-20.44, Z:-5.97 [[ 9.81026762e-01 1.91526255e-01 3.00696921e-02 1.38998867e+02] [-1.91442460e-01 9.81487471e-01 -5.66827659e-03 -2.04393030e+01] [-3.05986499e-02 -1.95884792e-04 9.99531732e-01 -5.97079206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.51264000000003 meters 0.015843099181936982 Centerline is valid? [True, True] Translation: X:139.03, Y:-20.44, Z:-5.97 [[ 9.80810459e-01 1.92494098e-01 3.09332441e-02 1.39026245e+02] [-1.92405945e-01 9.81298103e-01 -5.82963569e-03 -2.04416053e+01] [-3.14769043e-02 -2.33972429e-04 9.99504452e-01 -5.97191917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54264000000003 meters 0.01704743862158528 Centerline is valid? [True, True] Translation: X:139.05, Y:-20.44, Z:-5.97 [[ 9.80493154e-01 1.94050012e-01 3.12692881e-02 1.39054215e+02] [-1.93960795e-01 9.80991595e-01 -5.89074415e-03 -2.04431463e+01] [-3.18180078e-02 -2.89181680e-04 9.99493637e-01 -5.97277703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.57264000000004 meters 0.018985850608476504 Centerline is valid? [True, True] Translation: X:139.08, Y:-20.44, Z:-5.97 [[ 9.79882158e-01 1.97121020e-01 3.12131486e-02 1.39083889e+02] [-1.97033744e-01 9.80379086e-01 -5.87813048e-03 -2.04431666e+01] [-3.17594211e-02 -3.90168340e-04 9.99495466e-01 -5.97437937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60264000000004 meters 0.020647494986512638 Centerline is valid? [True, True] Translation: X:139.11, Y:-20.45, Z:-5.98 [[ 9.79708173e-01 1.98053247e-01 3.07702282e-02 1.39111995e+02] [-1.97968933e-01 9.80191174e-01 -5.79336634e-03 -2.04452470e+01] [-3.13081011e-02 -4.15740901e-04 9.99509695e-01 -5.97758651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.63264000000004 meters 0.02466274683031171 Centerline is valid? [True, True] Translation: X:139.14, Y:-20.45, Z:-5.98 [[ 9.79594682e-01 1.98728617e-01 3.00199068e-02 1.39139959e+02] [-1.98648742e-01 9.80054464e-01 -5.65014682e-03 -2.04500767e+01] [-3.05439896e-02 -4.28562959e-04 9.99533332e-01 -5.97903290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66264000000004 meters 0.026407109367515995 Centerline is valid? [True, True] Translation: X:139.17, Y:-20.45, Z:-5.98 [[ 9.79640846e-01 1.98533921e-01 2.98009302e-02 1.39167649e+02] [-1.98455153e-01 9.80093927e-01 -5.60776952e-03 -2.04533014e+01] [-3.03210431e-02 -4.20548076e-04 9.99540123e-01 -5.98181927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.69264 meters 0.031687278116954216 Centerline is valid? [True, True] Translation: X:139.20, Y:-20.46, Z:-5.99 [[ 9.79705932e-01 1.98176287e-01 3.00407530e-02 1.39195957e+02] [-1.98096159e-01 9.80166306e-01 -5.65023415e-03 -2.04554665e+01] [-3.05646763e-02 -4.15389851e-04 9.99532705e-01 -5.98507377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.72264 meters 0.01995359569211088 Centerline is valid? [True, True] Translation: X:139.22, Y:-20.46, Z:-5.98 [[ 9.79730494e-01 1.98005369e-01 3.03650085e-02 1.39223885e+02] [-1.97923467e-01 9.80200847e-01 -5.70967101e-03 -2.04613450e+01] [-3.08943526e-02 -4.16008964e-04 9.99522569e-01 -5.98324211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.75264 meters 0.020857486336213635 Centerline is valid? [True, True] Translation: X:139.25, Y:-20.46, Z:-5.99 [[ 9.79809911e-01 1.97599306e-01 3.04475298e-02 1.39251519e+02] [-1.97516805e-01 9.80282791e-01 -5.72379694e-03 -2.04637476e+01] [-3.09782078e-02 -4.05665838e-04 9.99519978e-01 -5.98640365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.78264000000001 meters 0.020278248376302654 Centerline is valid? [True, True] Translation: X:139.28, Y:-20.47, Z:-5.99 [[ 9.79948711e-01 1.96887658e-01 3.05904286e-02 1.39279846e+02] [-1.96804101e-01 9.80425979e-01 -5.74853128e-03 -2.04693454e+01] [-3.11234657e-02 -3.87055972e-04 9.99515473e-01 -5.98797882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.81264000000002 meters 0.02498168591333254 Centerline is valid? [True, True] Translation: X:139.31, Y:-20.48, Z:-5.99 [[ 9.80172762e-01 1.95779527e-01 3.05243198e-02 1.39307684e+02] [-1.95695838e-01 9.80647874e-01 -5.73465744e-03 -2.04759136e+01] [-3.10563379e-02 -3.52527341e-04 9.99517573e-01 -5.98897500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84264000000002 meters 0.01601451723279003 Centerline is valid? [True, True] Translation: X:139.33, Y:-20.48, Z:-5.99 [[ 9.80842350e-01 1.92213386e-01 3.16591051e-02 1.39334733e+02] [-1.92121548e-01 9.81353123e-01 -5.94633943e-03 -2.04841525e+01] [-3.22117277e-02 -2.49974748e-04 9.99481036e-01 -5.98797708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.87264000000002 meters 0.014383136259269578 Centerline is valid? [True, True] Translation: X:139.36, Y:-20.49, Z:-5.99 [[ 9.81214091e-01 1.90170103e-01 3.24690584e-02 1.39362761e+02] [-1.90072459e-01 9.81751137e-01 -6.09626093e-03 -2.04925940e+01] [-3.30358615e-02 -1.89736645e-04 9.99454149e-01 -5.98751328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.90264000000002 meters 0.012602921181710306 Centerline is valid? [True, True] Translation: X:139.39, Y:-20.50, Z:-5.99 [[ 9.82094532e-01 1.85408202e-01 3.33785592e-02 1.39388901e+02] [-1.85302312e-01 9.82661589e-01 -6.26543179e-03 -2.05035125e+01] [-3.39614904e-02 -3.18778747e-05 9.99423142e-01 -5.98755540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.93264000000002 meters 0.012256163115358392 Centerline is valid? [True, True] Translation: X:139.42, Y:-20.51, Z:-5.99 [[ 9.82517540e-01 1.82993552e-01 3.42438768e-02 1.39418032e+02] [-1.82880718e-01 9.83114112e-01 -6.42537815e-03 -2.05119851e+01] [-3.48414413e-02 5.05019616e-05 9.99392851e-01 -5.98606431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96264000000002 meters 0.012893121446926744 Centerline is valid? [True, True] Translation: X:139.45, Y:-20.52, Z:-5.99 [[ 9.82876610e-01 1.80967093e-01 3.47056258e-02 1.39446317e+02] [-1.80849975e-01 9.83489144e-01 -6.51078841e-03 -2.05212799e+01] [-3.53108447e-02 1.22790065e-04 9.99376370e-01 -5.98798896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99264000000002 meters 0.023029421471193637 Centerline is valid? [True, True] Translation: X:139.47, Y:-20.53, Z:-5.99 [[ 9.83101308e-01 1.79779168e-01 3.45147546e-02 1.39474918e+02] [-1.79662580e-01 9.83706981e-01 -6.47562180e-03 -2.05304581e+01] [-3.51165870e-02 1.65182379e-04 9.99383209e-01 -5.99108793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02264000000002 meters 0.013857526228698904 Centerline is valid? [True, True] Translation: X:139.50, Y:-20.54, Z:-5.99 [[ 9.83289170e-01 1.78967347e-01 3.33630985e-02 1.39504623e+02] [-1.78857962e-01 9.83854996e-01 -6.25904205e-03 -2.05397376e+01] [-3.39446153e-02 1.87192443e-04 9.99423698e-01 -5.99194148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.05264000000003 meters 0.034021987499052456 Centerline is valid? [True, True] Translation: X:139.53, Y:-20.54, Z:-6.00 [[ 9.83198866e-01 1.79540784e-01 3.29407953e-02 1.39534126e+02] [-1.79434478e-01 9.83750517e-01 -6.17969200e-03 -2.05441073e+01] [-3.35150312e-02 1.65151768e-04 9.99438200e-01 -5.99637648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08264000000003 meters 0.02136840645093218 Centerline is valid? [True, True] Translation: X:139.56, Y:-20.55, Z:-6.00 [[ 9.82959201e-01 1.80907152e-01 3.26161156e-02 1.39563882e+02] [-1.80803658e-01 9.83500172e-01 -6.11956154e-03 -2.05471020e+01] [-3.31850277e-02 1.18166331e-04 9.99449218e-01 -5.99688745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.11264000000003 meters 0.02406242612798917 Centerline is valid? [True, True] Translation: X:139.59, Y:-20.55, Z:-6.00 [[ 9.82863479e-01 1.81345520e-01 3.30633402e-02 1.39593597e+02] [-1.81239443e-01 9.83419438e-01 -6.20263923e-03 -2.05518973e+01] [-3.36399523e-02 1.03966192e-04 9.99434011e-01 -5.99696634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14264000000003 meters 0.013157367513156878 Centerline is valid? [True, True] Translation: X:139.62, Y:-20.56, Z:-6.00 [[ 9.82847795e-01 1.81292642e-01 3.38110918e-02 1.39622617e+02] [-1.81181714e-01 9.83429187e-01 -6.34192452e-03 -2.05583284e+01] [-3.44005588e-02 1.07194966e-04 9.99408120e-01 -5.99689773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.17264000000003 meters 0.013194281741032154 Centerline is valid? [True, True] Translation: X:139.65, Y:-20.56, Z:-6.00 [[ 9.82884672e-01 1.81041751e-01 3.40823305e-02 1.39650937e+02] [-1.80928892e-01 9.83475404e-01 -6.39258642e-03 -2.05644510e+01] [-3.46764588e-02 1.16696897e-04 9.99398584e-01 -5.99825227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20264000000003 meters 0.013048715094009424 Centerline is valid? [True, True] Translation: X:139.68, Y:-20.57, Z:-6.00 [[ 9.82915825e-01 1.80775203e-01 3.45949037e-02 1.39679834e+02] [-1.80658806e-01 9.83524433e-01 -6.48736293e-03 -2.05703951e+01] [-3.51976873e-02 1.26657695e-04 9.99380361e-01 -5.99798699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.23264000000003 meters 0.013068531128867147 Centerline is valid? [True, True] Translation: X:139.71, Y:-20.58, Z:-6.00 [[ 9.82927764e-01 1.80555582e-01 3.53933927e-02 1.39707590e+02] [-1.80433634e-01 9.83564773e-01 -6.63630988e-03 -2.05758425e+01] [-3.60099170e-02 1.36854777e-04 9.99351423e-01 -5.99821370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26264000000003 meters 0.012680695601022555 Centerline is valid? [True, True] Translation: X:139.74, Y:-20.58, Z:-6.00 [[ 9.82870767e-01 1.80537531e-01 3.70304579e-02 1.39737651e+02] [-1.80404085e-01 9.83568086e-01 -6.94162417e-03 -2.05810356e+01] [-3.76752003e-02 1.42273579e-04 9.99290027e-01 -5.99653033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.29264000000003 meters 0.012667276212802558 Centerline is valid? [True, True] Translation: X:139.77, Y:-20.59, Z:-6.00 [[ 9.82895677e-01 1.80269717e-01 3.76685103e-02 1.39766467e+02] [-1.80131438e-01 9.83617205e-01 -7.06115821e-03 -2.05875077e+01] [-3.83243078e-02 1.55098949e-04 9.99265342e-01 -5.99721040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32264000000004 meters 0.013084903844969591 Centerline is valid? [True, True] Translation: X:139.80, Y:-20.60, Z:-6.00 [[ 9.83117279e-01 1.79225487e-01 3.68597462e-02 1.39797588e+02] [-1.79092374e-01 9.83808004e-01 -6.90892816e-03 -2.05963751e+01] [-3.75011694e-02 1.90987182e-04 9.99296565e-01 -5.99920155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.35264000000004 meters 0.013838856980327045 Centerline is valid? [True, True] Translation: X:139.83, Y:-20.61, Z:-6.00 [[ 9.83328841e-01 1.78208280e-01 3.61413756e-02 1.39827231e+02] [-1.78079381e-01 9.83992762e-01 -6.78076842e-03 -2.06050009e+01] [-3.67712411e-02 2.31691352e-04 9.99323682e-01 -6.00263298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38264000000004 meters 0.015370932155897625 Centerline is valid? [True, True] Translation: X:139.86, Y:-20.61, Z:-6.01 [[ 9.83591137e-01 1.76831325e-01 3.57653173e-02 1.39856563e+02] [-1.76703932e-01 9.84241129e-01 -6.71719179e-03 -2.06144475e+01] [-3.63895062e-02 2.87098123e-04 9.99337641e-01 -6.00550771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.41264000000004 meters 0.018715772814920068 Centerline is valid? [True, True] Translation: X:139.89, Y:-20.63, Z:-6.01 [[ 9.84136709e-01 1.73977966e-01 3.47362269e-02 1.39885148e+02] [-1.73856032e-01 9.84749472e-01 -6.52364064e-03 -2.06289755e+01] [-3.53414508e-02 3.81051653e-04 9.99375223e-01 -6.00962513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.44264 meters 0.0193311861728668 Centerline is valid? [True, True] Translation: X:139.92, Y:-20.64, Z:-6.01 [[ 9.84359557e-01 1.72892919e-01 3.38275267e-02 1.39916141e+02] [-1.72776472e-01 9.84940540e-01 -6.35795189e-03 -2.06378656e+01] [-3.44173472e-02 4.13909982e-04 9.99407462e-01 -6.01111011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.47264 meters 0.019520458031174408 Centerline is valid? [True, True] Translation: X:139.95, Y:-20.65, Z:-6.01 [[ 9.84480170e-01 1.72277058e-01 3.34575736e-02 1.39947613e+02] [-1.72162603e-01 9.85048438e-01 -6.29387388e-03 -2.06454810e+01] [-3.40416207e-02 4.36051056e-04 9.99420321e-01 -6.01274490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.50264 meters 0.028065066182087067 Centerline is valid? [True, True] Translation: X:139.98, Y:-20.65, Z:-6.02 [[ 9.84450509e-01 1.72539139e-01 3.29763698e-02 1.39978792e+02] [-1.72427899e-01 9.85002570e-01 -6.20937066e-03 -2.06539080e+01] [-3.35531684e-02 4.26771942e-04 9.99436843e-01 -6.01640394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.53264000000001 meters 0.018312423670008994 Centerline is valid? [True, True] Translation: X:140.01, Y:-20.66, Z:-6.02 [[ 9.84268082e-01 1.73659946e-01 3.25356052e-02 1.40009976e+02] [-1.73552163e-01 9.84805602e-01 -6.12967613e-03 -2.06604696e+01] [-3.31057255e-02 3.86619903e-04 9.99451780e-01 -6.01601243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56264000000002 meters 0.01562894873130561 Centerline is valid? [True, True] Translation: X:140.04, Y:-20.66, Z:-6.02 [[ 9.83522307e-01 1.77747559e-01 3.30102570e-02 1.40041299e+02] [-1.77638707e-01 9.84076084e-01 -6.22504769e-03 -2.06644323e+01] [-3.35910914e-02 2.58573893e-04 9.99435627e-01 -6.01708604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.59264000000002 meters 0.021354964827249603 Centerline is valid? [True, True] Translation: X:140.07, Y:-20.67, Z:-6.02 [[ 9.83009788e-01 1.80455016e-01 3.35819081e-02 1.40073427e+02] [-1.80343715e-01 9.83583223e-01 -6.33939834e-03 -2.06659755e+01] [-3.41745777e-02 1.75404548e-04 9.99415863e-01 -6.01729298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62264000000002 meters 0.012799616135839237 Centerline is valid? [True, True] Translation: X:140.10, Y:-20.67, Z:-6.02 [[ 9.82447645e-01 1.83464907e-01 3.37231786e-02 1.40104285e+02] [-1.83354369e-01 9.83026257e-01 -6.36809084e-03 -2.06686302e+01] [-3.43190913e-02 7.30237056e-05 9.99410924e-01 -6.01815426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.65264000000002 meters 0.012983879047262793 Centerline is valid? [True, True] Translation: X:140.13, Y:-20.67, Z:-6.02 [[ 9.81394302e-01 1.88982138e-01 3.39260439e-02 1.40134452e+02] [-1.88873512e-01 9.81980518e-01 -6.40773193e-03 -2.06675399e+01] [-3.45256611e-02 -1.19219485e-04 9.99403805e-01 -6.01869941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68264000000002 meters 0.014518829608346811 Centerline is valid? [True, True] Translation: X:140.16, Y:-20.67, Z:-6.02 [[ 9.80785148e-01 1.92013217e-01 3.45169129e-02 1.40163232e+02] [-1.91902676e-01 9.81392313e-01 -6.51856719e-03 -2.06677270e+01] [-3.51262841e-02 -2.30574068e-04 9.99382855e-01 -6.01936284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.71264000000002 meters 0.014518829608346811 Centerline is valid? [True, True] Translation: X:140.19, Y:-20.67, Z:-6.02 [[ 9.80789674e-01 1.91990055e-01 3.45171668e-02 1.40191872e+02] [-1.91879547e-01 9.81396844e-01 -6.51722267e-03 -2.06730890e+01] [-3.51262805e-02 -2.31113632e-04 9.99382855e-01 -6.02064883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74264000000002 meters 0.03194760326505061 Centerline is valid? [True, True] Translation: X:140.22, Y:-20.67, Z:-6.02 [[ 9.80172424e-01 1.94933658e-01 3.55371238e-02 1.40221586e+02] [-1.94818479e-01 9.80816368e-01 -6.70909965e-03 -2.06732044e+01] [-3.61632221e-02 -3.47213938e-04 9.99345836e-01 -6.02182242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77264000000002 meters 0.019974193715435615 Centerline is valid? [True, True] Translation: X:140.25, Y:-20.67, Z:-6.02 [[ 9.79172346e-01 1.99777199e-01 3.62020371e-02 1.40252129e+02] [-1.99661048e-01 9.79841202e-01 -6.83261569e-03 -2.06727587e+01] [-3.68372483e-02 -5.37828322e-04 9.99321134e-01 -6.02087000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80264000000003 meters 0.023230653979559288 Centerline is valid? [True, True] Translation: X:140.28, Y:-20.67, Z:-6.02 [[ 9.78786878e-01 2.01560706e-01 3.67359277e-02 1.40279848e+02] [-2.01442385e-01 9.79475831e-01 -6.93265221e-03 -2.06733867e+01] [-3.73793036e-02 -6.14583861e-04 9.99300961e-01 -6.02238875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.83264000000003 meters 0.02522020964925301 Centerline is valid? [True, True] Translation: X:140.31, Y:-20.67, Z:-6.02 [[ 9.78318479e-01 2.03707944e-01 3.73634521e-02 1.40309167e+02] [-2.03587194e-01 9.79031444e-01 -7.04883791e-03 -2.06737251e+01] [-3.80158988e-02 -7.10712001e-04 9.99276882e-01 -6.02220796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86264000000003 meters 0.024128226064347523 Centerline is valid? [True, True] Translation: X:140.34, Y:-20.68, Z:-6.02 [[ 9.78211460e-01 2.04230739e-01 3.73114554e-02 1.40336987e+02] [-2.04110773e-01 9.78922504e-01 -7.03724955e-03 -2.06792227e+01] [-3.79622460e-02 -7.31751827e-04 9.99278906e-01 -6.02301418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.89264000000003 meters 0.02628964360146804 Centerline is valid? [True, True] Translation: X:140.36, Y:-20.68, Z:-6.03 [[ 9.78149963e-01 2.04535993e-01 3.72515454e-02 1.40364608e+02] [-2.04416700e-01 9.78858761e-01 -7.02415292e-03 -2.06804582e+01] [-3.79006937e-02 -7.44163086e-04 9.99281234e-01 -6.02524424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92264000000003 meters 0.028587748839366628 Centerline is valid? [True, True] Translation: X:140.39, Y:-20.68, Z:-6.03 [[ 9.78170115e-01 2.04527487e-01 3.67659283e-02 1.40392734e+02] [-2.04411368e-01 9.78860544e-01 -6.93022969e-03 -2.06845458e+01] [-3.74061390e-02 -7.36430116e-04 9.99299874e-01 -6.02942370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.95264000000003 meters 0.02566021214520325 Centerline is valid? [True, True] Translation: X:140.42, Y:-20.69, Z:-6.03 [[ 9.78293419e-01 2.04072466e-01 3.60057740e-02 1.40420914e+02] [-2.03960854e-01 9.78955530e-01 -6.78524498e-03 -2.06892147e+01] [-3.66327333e-02 -7.05807906e-04 9.99328547e-01 -6.03063574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98264000000003 meters 0.023224047808754575 Centerline is valid? [True, True] Translation: X:140.45, Y:-20.70, Z:-6.03 [[ 9.78417023e-01 2.03577142e-01 3.54468190e-02 1.40449086e+02] [-2.03468705e-01 9.79058674e-01 -6.67825003e-03 -2.06968465e+01] [-3.60640546e-02 -6.78204834e-04 9.99349250e-01 -6.03177589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.01264000000003 meters 0.02993024032612241 Centerline is valid? [True, True] Translation: X:140.48, Y:-20.70, Z:-6.04 [[ 9.78583552e-01 2.02803930e-01 3.52816819e-02 1.40477118e+02] [-2.02696063e-01 9.79219151e-01 -6.64534469e-03 -2.07001816e+01] [-3.58962006e-02 -6.48433004e-04 9.99355313e-01 -6.03603096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04264000000003 meters 0.02202790646032124 Centerline is valid? [True, True] Translation: X:140.51, Y:-20.71, Z:-6.04 [[ 9.78799990e-01 2.01842418e-01 3.47881770e-02 1.40505445e+02] [-2.01737003e-01 9.79417822e-01 -6.55065963e-03 -2.07061686e+01] [-3.53943615e-02 -6.06276965e-04 9.99373239e-01 -6.03545504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.07264000000004 meters 0.020919086158361883 Centerline is valid? [True, True] Translation: X:140.53, Y:-20.71, Z:-6.04 [[ 9.79160152e-01 2.00046632e-01 3.50248662e-02 1.40533069e+02] [-1.99938689e-01 9.79786225e-01 -6.59353313e-03 -2.07095019e+01] [-3.56358955e-02 -5.46700916e-04 9.99364690e-01 -6.03767543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10264000000004 meters 0.019741254713335883 Centerline is valid? [True, True] Translation: X:140.56, Y:-20.72, Z:-6.04 [[ 9.79381838e-01 1.98941354e-01 3.51219699e-02 1.40561494e+02] [-1.98832184e-01 9.80011264e-01 -6.60947507e-03 -2.07152937e+01] [-3.57348240e-02 -5.10178153e-04 9.99361177e-01 -6.03828186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.13264000000004 meters 0.019311478130542074 Centerline is valid? [True, True] Translation: X:140.59, Y:-20.72, Z:-6.04 [[ 9.79630178e-01 1.97643333e-01 3.55222115e-02 1.40588922e+02] [-1.97530870e-01 9.80273886e-01 -6.68306558e-03 -2.07192560e+01] [-3.61423597e-02 -4.69800621e-04 9.99346541e-01 -6.03971814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16264000000004 meters 0.026154847238593022 Centerline is valid? [True, True] Translation: X:140.62, Y:-20.72, Z:-6.04 [[ 9.79859638e-01 1.96377941e-01 3.62048946e-02 1.40616290e+02] [-1.96260335e-01 9.80528182e-01 -6.80915412e-03 -2.07238013e+01] [-3.68370871e-02 -4.33569434e-04 9.99321190e-01 -6.04211388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.19264 meters 0.016569547997471498 Centerline is valid? [True, True] Translation: X:140.64, Y:-20.73, Z:-6.04 [[ 9.80287646e-01 1.94125025e-01 3.67642061e-02 1.40643936e+02] [-1.94002258e-01 9.80976731e-01 -6.91204495e-03 -2.07285939e+01] [-3.74066316e-02 -3.56546709e-04 9.99300063e-01 -6.04055901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.22264 meters 0.015200025389764884 Centerline is valid? [True, True] Translation: X:140.67, Y:-20.73, Z:-6.04 [[ 9.80397895e-01 1.93450466e-01 3.73749097e-02 1.40672527e+02] [-1.93323186e-01 9.81109985e-01 -7.02448206e-03 -2.07345633e+01] [-3.80277864e-02 -3.38649188e-04 9.99276625e-01 -6.03975916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.25264 meters 0.015725775584175226 Centerline is valid? [True, True] Translation: X:140.70, Y:-20.74, Z:-6.04 [[ 9.80411728e-01 1.93277025e-01 3.79056214e-02 1.40700898e+02] [-1.93146049e-01 9.81144167e-01 -7.12226106e-03 -2.07368408e+01] [-3.85674488e-02 -3.38572745e-04 9.99255942e-01 -6.04066429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.28264000000001 meters 0.016134328446817017 Centerline is valid? [True, True] Translation: X:140.73, Y:-20.74, Z:-6.04 [[ 9.80265996e-01 1.93956806e-01 3.82012424e-02 1.40730617e+02] [-1.93824371e-01 9.81010000e-01 -7.17584922e-03 -2.07365335e+01] [-3.88676056e-02 -3.70090801e-04 9.99244301e-01 -6.04125085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.31264000000002 meters 0.01671620459443965 Centerline is valid? [True, True] Translation: X:140.76, Y:-20.74, Z:-6.04 [[ 9.80145223e-01 1.94555510e-01 3.82556584e-02 1.40759966e+02] [-1.94423226e-01 9.80891429e-01 -7.18419858e-03 -2.07384498e+01] [-3.89223728e-02 -3.96230603e-04 9.99242159e-01 -6.04256512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34264000000002 meters 0.01767478088272313 Centerline is valid? [True, True] Translation: X:140.79, Y:-20.74, Z:-6.05 [[ 9.79978498e-01 1.95473697e-01 3.78441183e-02 1.40789167e+02] [-1.95344999e-01 9.80708850e-01 -7.10510184e-03 -2.07375690e+01] [-3.85029223e-02 -4.29812223e-04 9.99258395e-01 -6.04546863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.37264000000002 meters 0.017636275595579565 Centerline is valid? [True, True] Translation: X:140.82, Y:-20.74, Z:-6.05 [[ 9.80000491e-01 1.95439099e-01 3.74512419e-02 1.40817530e+02] [-1.95313103e-01 9.80715748e-01 -7.02954762e-03 -2.07405268e+01] [-3.81028711e-02 -4.25758125e-04 9.99273731e-01 -6.04787891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.40264000000002 meters 0.017386035566483268 Centerline is valid? [True, True] Translation: X:140.85, Y:-20.74, Z:-6.05 [[ 9.80148810e-01 1.94759003e-01 3.71112043e-02 1.40845455e+02] [-1.94634860e-01 9.80851045e-01 -6.96406289e-03 -2.07439417e+01] [-3.77568775e-02 -3.97316120e-04 9.99286876e-01 -6.04982400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.43264000000002 meters 0.014752880931244456 Centerline is valid? [True, True] Translation: X:140.87, Y:-20.75, Z:-6.05 [[ 9.80596653e-01 1.92312718e-01 3.80265901e-02 1.40873577e+02] [-1.92180646e-01 9.81333644e-01 -7.13296099e-03 -2.07499373e+01] [-3.86885313e-02 -3.13416983e-04 9.99251269e-01 -6.04938180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46264000000002 meters 0.02534678234119273 Centerline is valid? [True, True] Translation: X:140.90, Y:-20.76, Z:-6.05 [[ 9.80825101e-01 1.91038816e-01 3.85524607e-02 1.40902166e+02] [-1.90902157e-01 9.81582446e-01 -7.22965264e-03 -2.07554521e+01] [-3.92235630e-02 -2.68723143e-04 9.99230424e-01 -6.05202636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49264000000002 meters 0.013049934509214819 Centerline is valid? [True, True] Translation: X:140.93, Y:-20.76, Z:-6.05 [[ 9.81210917e-01 1.89173678e-01 3.79269924e-02 1.40929861e+02] [-1.89040095e-01 9.81943625e-01 -7.11054206e-03 -2.07610799e+01] [-3.85872958e-02 -1.92780780e-04 9.99255214e-01 -6.05182480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52264000000002 meters 0.011878497765540452 Centerline is valid? [True, True] Translation: X:140.96, Y:-20.77, Z:-6.05 [[ 9.81868011e-01 1.85688456e-01 3.81445523e-02 1.40958025e+02] [-1.85550803e-01 9.82608668e-01 -7.14883962e-03 -2.07681271e+01] [-3.88086247e-02 -5.85353579e-05 9.99246660e-01 -6.05345155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.55264000000003 meters 0.011682744418594671 Centerline is valid? [True, True] Translation: X:140.98, Y:-20.77, Z:-6.06 [[ 9.82202078e-01 1.83944642e-01 3.79927189e-02 1.40984825e+02] [-1.83806848e-01 9.82936604e-01 -7.11858725e-03 -2.07742833e+01] [-3.86538601e-02 8.56930170e-06 9.99252660e-01 -6.05518832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58264000000003 meters 0.012164994000444693 Centerline is valid? [True, True] Translation: X:141.01, Y:-20.78, Z:-6.06 [[ 9.82785509e-01 1.80941335e-01 3.73212553e-02 1.41013315e+02] [-1.80806296e-01 9.83493883e-01 -6.99033646e-03 -2.07826944e+01] [-3.79700671e-02 1.22083440e-04 9.99278870e-01 -6.05786465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.61264000000003 meters 0.012534526150386001 Centerline is valid? [True, True] Translation: X:141.04, Y:-20.79, Z:-6.06 [[ 9.82986889e-01 1.79907670e-01 3.70135982e-02 1.41041336e+02] [-1.79774146e-01 9.83683488e-01 -6.93194066e-03 -2.07888454e+01] [-3.76567746e-02 1.59918784e-04 9.99290719e-01 -6.05988126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64264000000003 meters 0.013021044333815455 Centerline is valid? [True, True] Translation: X:141.07, Y:-20.80, Z:-6.06 [[ 9.83136323e-01 1.79149971e-01 3.67186451e-02 1.41069034e+02] [-1.79018111e-01 9.83821759e-01 -6.87476461e-03 -2.07956151e+01] [-3.73562159e-02 1.85528322e-04 9.99301996e-01 -6.06257257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.67264000000003 meters 0.012912257186470426 Centerline is valid? [True, True] Translation: X:141.10, Y:-20.80, Z:-6.06 [[ 9.83167021e-01 1.79033517e-01 3.64638104e-02 1.41097081e+02] [-1.78903449e-01 9.83842957e-01 -6.82576205e-03 -2.08003091e+01] [-3.70967032e-02 1.87362694e-04 9.99311663e-01 -6.06380355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70264000000003 meters 0.01916003606318587 Centerline is valid? [True, True] Translation: X:141.13, Y:-20.80, Z:-6.07 [[ 9.82909772e-01 1.80440019e-01 3.64661498e-02 1.41125026e+02] [-1.80310967e-01 9.83585981e-01 -6.82446457e-03 -2.08014783e+01] [-3.70990002e-02 1.32586184e-04 9.99311586e-01 -6.06948401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.73264000000003 meters 0.012272870642123953 Centerline is valid? [True, True] Translation: X:141.15, Y:-20.80, Z:-6.07 [[ 9.82810352e-01 1.81085453e-01 3.59426040e-02 1.41153588e+02] [-1.80960604e-01 9.83467360e-01 -6.72398600e-03 -2.08040342e+01] [-3.65659939e-02 1.04207706e-04 9.99331235e-01 -6.06903061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76264000000003 meters 0.01209296550075296 Centerline is valid? [True, True] Translation: X:141.18, Y:-20.80, Z:-6.07 [[ 9.82531442e-01 1.82714465e-01 3.53184163e-02 1.41182343e+02] [-1.82595029e-01 9.83166020e-01 -6.60549516e-03 -2.08046899e+01] [-3.59307863e-02 4.11394241e-05 9.99354280e-01 -6.07171121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.79264000000003 meters 0.01203901732812276 Centerline is valid? [True, True] Translation: X:141.21, Y:-20.81, Z:-6.07 [[ 9.82396413e-01 1.83454829e-01 3.52365447e-02 1.41211011e+02] [-1.83336486e-01 9.83028141e-01 -6.58842242e-03 -2.08076198e+01] [-3.58471929e-02 1.22982669e-05 9.99357283e-01 -6.07285128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82264000000004 meters 0.02352493551877974 Centerline is valid? [True, True] Translation: X:141.24, Y:-20.81, Z:-6.08 [[ 9.82114068e-01 1.84765115e-01 3.62465231e-02 1.41238779e+02] [-1.84640847e-01 9.82782708e-01 -6.77544595e-03 -2.08092790e+01] [-3.68743221e-02 -3.83279584e-05 9.99319910e-01 -6.07512338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.85264000000004 meters 0.011681132871703727 Centerline is valid? [True, True] Translation: X:141.27, Y:-20.82, Z:-6.07 [[ 9.82203249e-01 1.84246087e-01 3.64713206e-02 1.41267434e+02] [-1.84120005e-01 9.82880145e-01 -6.81505448e-03 -2.08150584e+01] [-3.71025839e-02 -2.13310621e-05 9.99311462e-01 -6.07383883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88264000000004 meters 0.02195410813465287 Centerline is valid? [True, True] Translation: X:141.29, Y:-20.82, Z:-6.08 [[ 9.82178944e-01 1.84248852e-01 3.71063655e-02 1.41294615e+02] [-1.84118410e-01 9.82879626e-01 -6.93187575e-03 -2.08195917e+01] [-3.77482808e-02 -2.36226264e-05 9.99287279e-01 -6.07719745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.91264000000004 meters 0.011712400449289307 Centerline is valid? [True, True] Translation: X:141.32, Y:-20.83, Z:-6.08 [[ 9.82533225e-01 1.82349263e-01 3.71107595e-02 1.41321639e+02] [-1.82217525e-01 9.83233820e-01 -6.93034579e-03 -2.08255917e+01] [-3.77522972e-02 4.70642602e-05 9.99287127e-01 -6.07624745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.94264 meters 0.011789797635435036 Centerline is valid? [True, True] Translation: X:141.35, Y:-20.83, Z:-6.08 [[ 9.82749740e-01 1.81164251e-01 3.71814925e-02 1.41349506e+02] [-1.81031251e-01 9.83452849e-01 -6.94120983e-03 -2.08323638e+01] [-3.78237438e-02 9.04600614e-05 9.99284422e-01 -6.07742770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.97264 meters 0.01281553096578381 Centerline is valid? [True, True] Translation: X:141.38, Y:-20.84, Z:-6.08 [[ 9.83288583e-01 1.78440675e-01 3.60899885e-02 1.41376404e+02] [-1.78313599e-01 9.83950654e-01 -6.73573461e-03 -2.08427195e+01] [-3.67126968e-02 1.87835205e-04 9.99325844e-01 -6.08051355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.00264 meters 0.013787860788504615 Centerline is valid? [True, True] Translation: X:141.40, Y:-20.85, Z:-6.08 [[ 9.83534945e-01 1.77069481e-01 3.61304618e-02 1.41403044e+02] [-1.76941257e-01 9.84198325e-01 -6.74159892e-03 -2.08501103e+01] [-3.67532714e-02 2.37628784e-04 9.99324342e-01 -6.08283207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.03264000000001 meters 0.02323718189486614 Centerline is valid? [True, True] Translation: X:141.43, Y:-20.86, Z:-6.09 [[ 9.83724406e-01 1.75918405e-01 3.65924417e-02 1.41431619e+02] [-1.75786183e-01 9.84404711e-01 -6.82512941e-03 -2.08560666e+01] [-3.72224379e-02 2.81600719e-04 9.99306965e-01 -6.08509479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06264000000002 meters 0.014983033076206341 Centerline is valid? [True, True] Translation: X:141.46, Y:-20.86, Z:-6.08 [[ 9.83952403e-01 1.74638505e-01 3.65931886e-02 1.41459109e+02] [-1.74505465e-01 9.84632563e-01 -6.82334389e-03 -2.08634164e+01] [-3.72224637e-02 3.28134237e-04 9.99306950e-01 -6.08415479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.09264000000002 meters 0.015749561490049985 Centerline is valid? [True, True] Translation: X:141.49, Y:-20.87, Z:-6.08 [[ 9.84195745e-01 1.73128445e-01 3.72193146e-02 1.41487933e+02] [-1.72989789e-01 9.84899177e-01 -6.93858909e-03 -2.08706729e+01] [-3.78585395e-02 3.90368494e-04 9.99283032e-01 -6.08426303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12264000000002 meters 0.016631465275581396 Centerline is valid? [True, True] Translation: X:141.52, Y:-20.88, Z:-6.09 [[ 9.84217951e-01 1.72890923e-01 3.77326555e-02 1.41515296e+02] [-1.72748276e-01 9.84940894e-01 -7.03332156e-03 -2.08774487e+01] [-3.83804329e-02 4.04070130e-04 9.99263118e-01 -6.08561981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.15264000000002 meters 0.016642641402739248 Centerline is valid? [True, True] Translation: X:141.54, Y:-20.88, Z:-6.09 [[ 9.84217067e-01 1.72849121e-01 3.79466316e-02 1.41543195e+02] [-1.72704855e-01 9.84948230e-01 -7.07231272e-03 -2.08834873e+01] [-3.85979106e-02 4.07123382e-04 9.99254740e-01 -6.08721583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18264000000002 meters 0.019643652779710467 Centerline is valid? [True, True] Translation: X:141.57, Y:-20.89, Z:-6.09 [[ 9.84094149e-01 1.73704833e-01 3.72201207e-02 1.41572698e+02] [-1.73566704e-01 9.84797694e-01 -6.93552746e-03 -2.08885808e+01] [-3.78590236e-02 3.65038330e-04 9.99283024e-01 -6.09052366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.21264000000002 meters 0.015450079292335482 Centerline is valid? [True, True] Translation: X:141.60, Y:-20.89, Z:-6.09 [[ 9.84002553e-01 1.74291529e-01 3.68976719e-02 1.41601140e+02] [-1.74156227e-01 9.84694038e-01 -6.87463442e-03 -2.08943031e+01] [-3.75311080e-02 3.38698519e-04 9.99295402e-01 -6.09173847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24264000000002 meters 0.014901909403448675 Centerline is valid? [True, True] Translation: X:141.63, Y:-20.90, Z:-6.10 [[ 9.83851071e-01 1.75426149e-01 3.55349917e-02 1.41629225e+02] [-1.75301447e-01 9.84492553e-01 -6.61942237e-03 -2.09002710e+01] [-3.61451544e-02 2.83190333e-04 9.99346510e-01 -6.09547812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27264000000002 meters 0.014150695022417236 Centerline is valid? [True, True] Translation: X:141.66, Y:-20.90, Z:-6.10 [[ 9.83797243e-01 1.75956364e-01 3.43851947e-02 1.41658131e+02] [-1.75839948e-01 9.84397934e-01 -6.40466952e-03 -2.09044688e+01] [-3.49756570e-02 2.54605375e-04 9.99388132e-01 -6.09783339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30264000000003 meters 0.021572098216795416 Centerline is valid? [True, True] Translation: X:141.69, Y:-20.91, Z:-6.10 [[ 9.83696827e-01 1.76690432e-01 3.34819824e-02 1.41687031e+02] [-1.76580532e-01 9.84266449e-01 -6.23483283e-03 -2.09083839e+01] [-3.40568273e-02 2.20919001e-04 9.99419874e-01 -6.10240303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.33264000000003 meters 0.01342852806939658 Centerline is valid? [True, True] Translation: X:141.72, Y:-20.91, Z:-6.10 [[ 9.83516530e-01 1.77839274e-01 3.26868169e-02 1.41715206e+02] [-1.77735221e-01 9.84059532e-01 -6.08517502e-03 -2.09128519e+01] [-3.32479568e-02 1.75271608e-04 9.99447118e-01 -6.10383137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36264000000003 meters 0.013363398296394992 Centerline is valid? [True, True] Translation: X:141.74, Y:-20.92, Z:-6.11 [[ 9.83415178e-01 1.78328126e-01 3.30706371e-02 1.41742265e+02] [-1.78221943e-01 9.83971064e-01 -6.15506723e-03 -2.09184364e+01] [-3.36381716e-02 1.59073339e-04 9.99434064e-01 -6.10595268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.39264000000003 meters 0.012878741881740936 Centerline is valid? [True, True] Translation: X:141.77, Y:-20.92, Z:-6.11 [[ 9.83324424e-01 1.78792751e-01 3.32600432e-02 1.41770173e+02] [-1.78685688e-01 9.83886748e-01 -6.18809581e-03 -2.09235149e+01] [-3.38305024e-02 1.41812029e-04 9.99427575e-01 -6.10618391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42264000000003 meters 0.012270543434815574 Centerline is valid? [True, True] Translation: X:141.80, Y:-20.93, Z:-6.11 [[ 9.83047772e-01 1.80189543e-01 3.38940622e-02 1.41799027e+02] [-1.80079249e-01 9.83631903e-01 -6.30430860e-03 -2.09277908e+01] [-3.44752514e-02 9.38192482e-05 9.99405547e-01 -6.10661364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.45264000000003 meters 0.018699246958862655 Centerline is valid? [True, True] Translation: X:141.83, Y:-20.93, Z:-6.11 [[ 9.82881641e-01 1.81110182e-01 3.38050645e-02 1.41826782e+02] [-1.81001065e-01 9.83462810e-01 -6.28618202e-03 -2.09326392e+01] [-3.43845153e-02 5.98202374e-05 9.99408676e-01 -6.11056220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48264000000003 meters 0.012225532436121641 Centerline is valid? [True, True] Translation: X:141.86, Y:-20.94, Z:-6.11 [[ 9.82623172e-01 1.82654143e-01 3.30025203e-02 1.41855249e+02] [-1.82551089e-01 9.83177229e-01 -6.13482184e-03 -2.09376505e+01] [-3.35678771e-02 3.57208886e-06 9.99436440e-01 -6.11148072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.51264000000003 meters 0.012183335826948779 Centerline is valid? [True, True] Translation: X:141.88, Y:-20.94, Z:-6.11 [[ 9.82501677e-01 1.83312763e-01 3.29679609e-02 1.41883743e+02] [-1.83210350e-01 9.83054643e-01 -6.12676847e-03 -2.09420832e+01] [-3.35324219e-02 -2.05113482e-05 9.99437630e-01 -6.11285575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54264000000003 meters 0.02678716826166902 Centerline is valid? [True, True] Translation: X:141.91, Y:-20.95, Z:-6.11 [[ 9.82415946e-01 1.83785998e-01 3.28879295e-02 1.41911831e+02] [-1.83684401e-01 9.82966279e-01 -6.11026068e-03 -2.09466779e+01] [-3.34507060e-02 -3.81821035e-05 9.99440368e-01 -6.11498253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.57264000000004 meters 0.011937124714094347 Centerline is valid? [True, True] Translation: X:141.94, Y:-20.95, Z:-6.11 [[ 9.82342379e-01 1.83973783e-01 3.40161385e-02 1.41938388e+02] [-1.83865265e-01 9.82931150e-01 -6.31817496e-03 -2.09544257e+01] [-3.45979006e-02 -4.77753074e-05 9.99401312e-01 -6.11480248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60264000000004 meters 0.011974637847512033 Centerline is valid? [True, True] Translation: X:141.97, Y:-20.96, Z:-6.12 [[ 9.82277894e-01 1.84322549e-01 3.39902555e-02 1.41966298e+02] [-1.84214483e-01 9.82865807e-01 -6.31109440e-03 -2.09610975e+01] [-3.45711369e-02 -6.22488478e-05 9.99402238e-01 -6.11566318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.63264000000004 meters 0.011974637847512033 Centerline is valid? [True, True] Translation: X:141.99, Y:-20.97, Z:-6.12 [[ 9.82286904e-01 1.84274470e-01 3.39905642e-02 1.41994139e+02] [-1.84166434e-01 9.82874822e-01 -6.30943124e-03 -2.09661765e+01] [-3.45711369e-02 -6.22493204e-05 9.99402238e-01 -6.11691233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66264000000004 meters 0.01210393124498355 Centerline is valid? [True, True] Translation: X:142.02, Y:-20.97, Z:-6.12 [[ 9.82183168e-01 1.84820600e-01 3.40230728e-02 1.42022630e+02] [-1.84712744e-01 9.82772272e-01 -6.31374199e-03 -2.09716147e+01] [-3.46038421e-02 -8.32440137e-05 9.99401104e-01 -6.11853193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.69264 meters 0.012796271582462892 Centerline is valid? [True, True] Translation: X:142.05, Y:-20.97, Z:-6.12 [[ 9.81895393e-01 1.86327873e-01 3.41080832e-02 1.42049863e+02] [-1.86220438e-01 9.82487610e-01 -6.32801523e-03 -2.09742289e+01] [-3.46898548e-02 -1.38173201e-04 9.99398116e-01 -6.12098922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.72264 meters 0.01320286037789436 Centerline is valid? [True, True] Translation: X:142.08, Y:-20.98, Z:-6.12 [[ 9.81734176e-01 1.87217682e-01 3.38754649e-02 1.42078346e+02] [-1.87112333e-01 9.82318436e-01 -6.28207254e-03 -2.09790146e+01] [-3.44526087e-02 -1.71191954e-04 9.99406318e-01 -6.12254610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.75264 meters 0.025817252463347467 Centerline is valid? [True, True] Translation: X:142.11, Y:-20.98, Z:-6.12 [[ 9.81376643e-01 1.89076979e-01 3.39084231e-02 1.42107249e+02] [-1.88972591e-01 9.81962239e-01 -6.28654171e-03 -2.09828176e+01] [-3.44854314e-02 -2.38297368e-04 9.99405172e-01 -6.12492030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.78264000000001 meters 0.015084325994959914 Centerline is valid? [True, True] Translation: X:142.14, Y:-20.99, Z:-6.12 [[ 9.81194580e-01 1.89952416e-01 3.42822977e-02 1.42135133e+02] [-1.89846304e-01 9.81793260e-01 -6.35422605e-03 -2.09853660e+01] [-3.48651294e-02 -2.73635352e-04 9.99391989e-01 -6.12435409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.81264000000002 meters 0.016172360122227995 Centerline is valid? [True, True] Translation: X:142.16, Y:-20.99, Z:-6.13 [[ 9.80968584e-01 1.91149614e-01 3.40948953e-02 1.42164058e+02] [-1.91045459e-01 9.81560862e-01 -6.31724392e-03 -2.09881883e+01] [-3.46737535e-02 -3.16657100e-04 9.99398634e-01 -6.12644604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84264000000002 meters 0.0273977862909411 Centerline is valid? [True, True] Translation: X:142.19, Y:-20.99, Z:-6.13 [[ 9.80817458e-01 1.92127699e-01 3.29250899e-02 1.42192257e+02] [-1.92031172e-01 9.81369875e-01 -6.09899275e-03 -2.09926189e+01] [-3.34834768e-02 -3.40645063e-04 9.99439213e-01 -6.13016920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.87264000000002 meters 0.017522831936745142 Centerline is valid? [True, True] Translation: X:142.22, Y:-21.00, Z:-6.13 [[ 9.80572501e-01 1.93387829e-01 3.28438526e-02 1.42220544e+02] [-1.93292535e-01 9.81122317e-01 -6.08241964e-03 -2.09957662e+01] [-3.34001027e-02 -3.84218111e-04 9.99441987e-01 -6.12970102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.90264000000002 meters 0.01844383345728656 Centerline is valid? [True, True] Translation: X:142.25, Y:-21.00, Z:-6.13 [[ 9.80539605e-01 1.93536377e-01 3.29507661e-02 1.42247879e+02] [-1.93440607e-01 9.81093022e-01 -6.10038219e-03 -2.09981506e+01] [-3.35084126e-02 -3.92349856e-04 9.99438358e-01 -6.13212893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.93264000000002 meters 0.019508605238826218 Centerline is valid? [True, True] Translation: X:142.28, Y:-21.00, Z:-6.14 [[ 9.80671344e-01 1.92926774e-01 3.26032855e-02 1.42275209e+02] [-1.92832772e-01 9.81213087e-01 -6.03319569e-03 -2.10005374e+01] [-3.31547354e-02 -3.70399790e-04 9.99450162e-01 -6.13615422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96264000000002 meters 0.02472953358631196 Centerline is valid? [True, True] Translation: X:142.30, Y:-21.01, Z:-6.14 [[ 9.81178491e-01 1.90302890e-01 3.27655096e-02 1.42302854e+02] [-1.90206591e-01 9.81725383e-01 -6.06006704e-03 -2.10115790e+01] [-3.33199807e-02 -2.86208457e-04 9.99444694e-01 -6.13614610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99264000000002 meters 0.013908730038515628 Centerline is valid? [True, True] Translation: X:142.33, Y:-21.02, Z:-6.14 [[ 9.81604137e-01 1.87973231e-01 3.34571888e-02 1.42330178e+02] [-1.87871525e-01 9.82174129e-01 -6.18637786e-03 -2.10193438e+01] [-3.40236587e-02 -2.13078979e-04 9.99421005e-01 -6.13544051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02264000000002 meters 0.011682495293842856 Centerline is valid? [True, True] Translation: X:142.36, Y:-21.03, Z:-6.14 [[ 9.82768633e-01 1.81648703e-01 3.41988648e-02 1.42357370e+02] [-1.81538675e-01 9.83363488e-01 -6.32143983e-03 -2.10337744e+01] [-3.47781963e-02 4.09616626e-06 9.99395056e-01 -6.13581807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.05264000000003 meters 0.01672910927831639 Centerline is valid? [True, True] Translation: X:142.39, Y:-21.04, Z:-6.14 [[ 9.83427682e-01 1.77991931e-01 3.44799471e-02 1.42385390e+02] [-1.77877948e-01 9.84031938e-01 -6.37026847e-03 -2.10439400e+01] [-3.50632255e-02 1.31476120e-04 9.99385087e-01 -6.13710014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08264000000003 meters 0.01396931319998842 Centerline is valid? [True, True] Translation: X:142.41, Y:-21.05, Z:-6.14 [[ 9.84023408e-01 1.74563900e-01 3.50053801e-02 1.42413055e+02] [-1.74444283e-01 9.84645814e-01 -6.46632256e-03 -2.10549955e+01] [-3.55966874e-02 2.56524346e-04 9.99366204e-01 -6.13726293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.11264000000003 meters 0.03129150717000718 Centerline is valid? [True, True] Translation: X:142.44, Y:-21.07, Z:-6.14 [[ 9.85129702e-01 1.68181217e-01 3.51361279e-02 1.42440287e+02] [-1.68056665e-01 9.85755974e-01 -6.48982044e-03 -2.10722972e+01] [-3.57271138e-02 4.88454408e-04 9.99361464e-01 -6.14167133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14264000000003 meters 0.021318497915748965 Centerline is valid? [True, True] Translation: X:142.47, Y:-21.08, Z:-6.14 [[ 9.85675261e-01 1.64942396e-01 3.51892851e-02 1.42470784e+02] [-1.64815434e-01 9.86303016e-01 -6.49876823e-03 -2.10825865e+01] [-3.57792204e-02 6.05937778e-04 9.99359535e-01 -6.13937333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.17264000000003 meters 0.025173942436830764 Centerline is valid? [True, True] Translation: X:142.50, Y:-21.09, Z:-6.14 [[ 9.86104512e-01 1.62314726e-01 3.53810744e-02 1.42499615e+02] [-1.62184440e-01 9.86738782e-01 -6.54098296e-03 -2.10949233e+01] [-3.59735761e-02 7.11833065e-04 9.99352488e-01 -6.14143209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20264000000003 meters 0.03082642024684159 Centerline is valid? [True, True] Translation: X:142.53, Y:-21.11, Z:-6.14 [[ 9.86757660e-01 1.58366239e-01 3.50635711e-02 1.42526591e+02] [-1.58235670e-01 9.87380073e-01 -6.48560816e-03 -2.11121440e+01] [-3.56481728e-02 8.51415855e-04 9.99364039e-01 -6.14416323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.23264000000003 meters 0.031606935886670386 Centerline is valid? [True, True] Translation: X:142.56, Y:-21.12, Z:-6.15 [[ 9.86953291e-01 1.57228382e-01 3.46761698e-02 1.42558031e+02] [-1.57099946e-01 9.87561874e-01 -6.41497218e-03 -2.11190998e+01] [-3.52534789e-02 8.83653508e-04 9.99378012e-01 -6.14643720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26264000000003 meters 0.03121762019337803 Centerline is valid? [True, True] Translation: X:142.59, Y:-21.13, Z:-6.15 [[ 9.86976690e-01 1.57251064e-01 3.38986303e-02 1.42587582e+02] [-1.57128139e-01 9.87558276e-01 -6.27692496e-03 -2.11303593e+01] [-3.44639260e-02 8.68749919e-04 9.99405565e-01 -6.14796169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.29264000000003 meters 0.035864778017747505 Centerline is valid? [True, True] Translation: X:142.62, Y:-21.13, Z:-6.15 [[ 9.86779150e-01 1.58622762e-01 3.32524806e-02 1.42619557e+02] [-1.58505090e-01 9.87338930e-01 -6.16226805e-03 -2.11320215e+01] [-3.38089446e-02 8.10110205e-04 9.99427986e-01 -6.15120297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32264000000004 meters 0.031032785227206875 Centerline is valid? [True, True] Translation: X:142.65, Y:-21.14, Z:-6.15 [[ 9.86493126e-01 1.60496456e-01 3.27444786e-02 1.42650487e+02] [-1.60383190e-01 9.87036139e-01 -6.07392971e-03 -2.11370539e+01] [-3.32948280e-02 7.40225954e-04 9.99445299e-01 -6.15338483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.35264000000004 meters 0.02439285658605086 Centerline is valid? [True, True] Translation: X:142.68, Y:-21.14, Z:-6.15 [[ 9.86080682e-01 1.63002210e-01 3.27897453e-02 1.42681988e+02] [-1.62889801e-01 9.86625481e-01 -6.08872669e-03 -2.11420167e+01] [-3.33436742e-02 6.62860663e-04 9.99443725e-01 -6.15287580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38264000000004 meters 0.025068493349955846 Centerline is valid? [True, True] Translation: X:142.71, Y:-21.14, Z:-6.16 [[ 9.85080988e-01 1.69002434e-01 3.24595822e-02 1.42713670e+02] [-1.68895452e-01 9.85615527e-01 -6.02980423e-03 -2.11432347e+01] [-3.30117198e-02 4.57569716e-04 9.99454860e-01 -6.15660435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.41264000000004 meters 0.014288181017180513 Centerline is valid? [True, True] Translation: X:142.74, Y:-21.14, Z:-6.16 [[ 9.83789745e-01 1.76443059e-01 3.20247444e-02 1.42744515e+02] [-1.76342830e-01 9.84310827e-01 -5.94995375e-03 -2.11436346e+01] [-3.25721307e-02 2.06169427e-04 9.99469366e-01 -6.15742486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.44264 meters 0.02739368761055702 Centerline is valid? [True, True] Translation: X:142.78, Y:-21.14, Z:-6.16 [[ 9.82993761e-01 1.80700283e-01 3.27211393e-02 1.42776112e+02] [-1.80597988e-01 9.83538206e-01 -6.07975698e-03 -2.11426987e+01] [-3.32811044e-02 6.69912658e-05 9.99446028e-01 -6.15789037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.47264 meters 0.01192278786989724 Centerline is valid? [True, True] Translation: X:142.81, Y:-21.14, Z:-6.16 [[ 9.82163117e-01 1.85025690e-01 3.34829262e-02 1.42805303e+02] [-1.84921054e-01 9.82733681e-01 -6.22224875e-03 -2.11410889e+01] [-3.40560752e-02 -8.04347666e-05 9.99419920e-01 -6.15679413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.50264 meters 0.017710803598633786 Centerline is valid? [True, True] Translation: X:142.84, Y:-21.13, Z:-6.16 [[ 9.80552121e-01 1.93465302e-01 3.29956888e-02 1.42835851e+02] [-1.93368501e-01 9.81107048e-01 -6.13044686e-03 -2.11316353e+01] [-3.35583316e-02 -3.69104205e-04 9.99436692e-01 -6.16063324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.53264000000001 meters 0.020915972452474424 Centerline is valid? [True, True] Translation: X:142.87, Y:-21.13, Z:-6.16 [[ 9.79861306e-01 1.96986485e-01 3.26824950e-02 1.42865001e+02] [-1.96893505e-01 9.80406083e-01 -6.07117598e-03 -2.11324078e+01] [-3.32380565e-02 -4.86060569e-04 9.99447345e-01 -6.16235177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56264000000002 meters 0.024262924166559167 Centerline is valid? [True, True] Translation: X:142.89, Y:-21.13, Z:-6.16 [[ 9.79297066e-01 1.99799771e-01 3.25162645e-02 1.42893534e+02] [-1.99709325e-01 9.79836576e-01 -6.03903112e-03 -2.11323870e+01] [-3.30672223e-02 -5.79795782e-04 9.99452962e-01 -6.16407403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.59264000000002 meters 0.02636927725056596 Centerline is valid? [True, True] Translation: X:142.92, Y:-21.13, Z:-6.17 [[ 9.78848599e-01 2.01962718e-01 3.26570198e-02 1.42922705e+02] [-2.01872785e-01 9.79392989e-01 -6.06230736e-03 -2.11328332e+01] [-3.32084163e-02 -6.58482458e-04 9.99448232e-01 -6.16548140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62264000000002 meters 0.029369904259031163 Centerline is valid? [True, True] Translation: X:142.95, Y:-21.13, Z:-6.17 [[ 9.78323056e-01 2.04569678e-01 3.21752313e-02 1.42952949e+02] [-2.04483848e-01 9.78851727e-01 -5.97106483e-03 -2.11310500e+01] [-3.27162795e-02 -7.37684704e-04 9.99464407e-01 -6.16842711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.65264000000002 meters 0.02924167935184929 Centerline is valid? [True, True] Translation: X:142.98, Y:-21.14, Z:-6.17 [[ 9.78284758e-01 2.04788797e-01 3.19449781e-02 1.42980987e+02] [-2.04704323e-01 9.78805905e-01 -5.92785078e-03 -2.11359361e+01] [-3.24818906e-02 -7.40149057e-04 9.99472050e-01 -6.17021707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68264000000002 meters 0.02931048009749055 Centerline is valid? [True, True] Translation: X:143.01, Y:-21.14, Z:-6.17 [[ 9.78379261e-01 2.04411283e-01 3.14650448e-02 1.43007683e+02] [-2.04329168e-01 9.78884831e-01 -5.83772258e-03 -2.11385388e+01] [-3.19939514e-02 -7.17719707e-04 9.99487805e-01 -6.17318023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.71264000000002 meters 0.026983642940861363 Centerline is valid? [True, True] Translation: X:143.04, Y:-21.14, Z:-6.17 [[ 9.78463268e-01 2.04051749e-01 3.11851918e-02 1.43036231e+02] [-2.03971002e-01 9.78959851e-01 -5.78276688e-03 -2.11449964e+01] [-3.17090344e-02 -7.02649833e-04 9.99496895e-01 -6.17371658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74264000000002 meters 0.028008262657667975 Centerline is valid? [True, True] Translation: X:143.06, Y:-21.15, Z:-6.18 [[ 9.78487673e-01 2.03929689e-01 3.12178666e-02 1.43064012e+02] [-2.03848751e-01 9.78985286e-01 -5.78755930e-03 -2.11494288e+01] [-3.17420873e-02 -7.00667692e-04 9.99495847e-01 -6.17552333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77264000000002 meters 0.03852927155193511 Centerline is valid? [True, True] Translation: X:143.09, Y:-21.15, Z:-6.18 [[ 9.78646409e-01 2.03106429e-01 3.16067158e-02 1.43091590e+02] [-2.03023116e-01 9.79156427e-01 -5.85704470e-03 -2.11521255e+01] [-3.21375223e-02 -6.84918155e-04 9.99483222e-01 -6.17794615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80264000000003 meters 0.035791827802093584 Centerline is valid? [True, True] Translation: X:143.12, Y:-21.16, Z:-6.18 [[ 9.78852985e-01 2.02113935e-01 3.15719974e-02 1.43119860e+02] [-2.02030358e-01 9.79361797e-01 -5.84844991e-03 -2.11573271e+01] [-3.21024614e-02 -6.53729310e-04 9.99484369e-01 -6.17937362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.83264000000003 meters 0.02456034223391296 Centerline is valid? [True, True] Translation: X:143.15, Y:-21.16, Z:-6.18 [[ 9.79241787e-01 2.00178226e-01 3.18465253e-02 1.43147784e+02] [-2.00092218e-01 9.79759318e-01 -5.89770492e-03 -2.11624270e+01] [-3.23825221e-02 -5.96962783e-04 9.99475370e-01 -6.17924121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86264000000003 meters 0.022820549454765644 Centerline is valid? [True, True] Translation: X:143.17, Y:-21.17, Z:-6.18 [[ 9.79713448e-01 1.97817853e-01 3.20882751e-02 1.43174586e+02] [-1.97729315e-01 9.80238656e-01 -5.94101219e-03 -2.11680748e+01] [-3.26294060e-02 -5.24303132e-04 9.99467382e-01 -6.18119205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.89264000000003 meters 0.01698953512417166 Centerline is valid? [True, True] Translation: X:143.20, Y:-21.18, Z:-6.18 [[ 9.80965443e-01 1.91709192e-01 3.08931252e-02 1.43201856e+02] [-1.91624158e-01 9.81451725e-01 -5.71779659e-03 -2.11796769e+01] [-3.14162652e-02 -3.10908231e-04 9.99506339e-01 -6.18455560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92264000000003 meters 0.022369208544621575 Centerline is valid? [True, True] Translation: X:143.23, Y:-21.19, Z:-6.19 [[ 9.81659888e-01 1.88223038e-01 3.02647172e-02 1.43228076e+02] [-1.88139811e-01 9.82126290e-01 -5.60019532e-03 -2.11874499e+01] [-3.07778602e-02 -1.96511060e-04 9.99526230e-01 -6.18965845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.95264000000003 meters 0.012978066296640313 Centerline is valid? [True, True] Translation: X:143.25, Y:-21.20, Z:-6.19 [[ 9.82995066e-01 1.81152292e-01 3.00756976e-02 1.43254476e+02] [-1.81066849e-01 9.83455056e-01 -5.56322617e-03 -2.12011175e+01] [-3.05858880e-02 2.29120762e-05 9.99532142e-01 -6.18909028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98264000000003 meters 0.020991532360881082 Centerline is valid? [True, True] Translation: X:143.28, Y:-21.21, Z:-6.19 [[ 9.83543890e-01 1.78240872e-01 2.95229987e-02 1.43281790e+02] [-1.78157265e-01 9.83986880e-01 -5.45980189e-03 -2.12089759e+01] [-3.00234032e-02 1.10218101e-04 9.99549190e-01 -6.19154047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.01264000000003 meters 0.014879496912397277 Centerline is valid? [True, True] Translation: X:143.31, Y:-21.22, Z:-6.19 [[ 9.84065332e-01 1.75434238e-01 2.89525415e-02 1.43308897e+02] [-1.75352674e-01 9.84491134e-01 -5.35234377e-03 -2.12171863e+01] [-2.94425047e-02 1.90150373e-04 9.99566457e-01 -6.19285612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04264000000003 meters 0.0283775838067471 Centerline is valid? [True, True] Translation: X:143.34, Y:-21.23, Z:-6.20 [[ 9.84718002e-01 1.71776939e-01 2.86904116e-02 1.43336949e+02] [-1.71695346e-01 9.85135826e-01 -5.30209269e-03 -2.12259605e+01] [-2.91747296e-02 2.95055992e-04 9.99574283e-01 -6.19657075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.07264000000004 meters 0.018349111006915244 Centerline is valid? [True, True] Translation: X:143.36, Y:-21.23, Z:-6.20 [[ 9.85044506e-01 1.69897613e-01 2.86726768e-02 1.43364657e+02] [-1.69815340e-01 9.85461658e-01 -5.29827568e-03 -2.12326436e+01] [-2.91559880e-02 3.49977001e-04 9.99574813e-01 -6.19642877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10264000000004 meters 0.020811319909304127 Centerline is valid? [True, True] Translation: X:143.39, Y:-21.24, Z:-6.20 [[ 9.85539856e-01 1.67241568e-01 2.72295834e-02 1.43393449e+02] [-1.67166387e-01 9.85915865e-01 -5.03046532e-03 -2.12403697e+01] [-2.76873811e-02 4.05852990e-04 9.99616549e-01 -6.19975243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.13264000000004 meters 0.02335907822964245 Centerline is valid? [True, True] Translation: X:143.42, Y:-21.25, Z:-6.20 [[ 9.85708883e-01 1.66223119e-01 2.73472506e-02 1.43422259e+02] [-1.66146915e-01 9.86088072e-01 -5.05151737e-03 -2.12461985e+01] [-2.78064766e-02 4.35664229e-04 9.99613230e-01 -6.20225231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16264000000004 meters 0.0268726502482748 Centerline is valid? [True, True] Translation: X:143.45, Y:-21.25, Z:-6.20 [[ 9.85810315e-01 1.65538955e-01 2.78366147e-02 1.43452091e+02] [-1.65459745e-01 9.86203144e-01 -5.14120922e-03 -2.12505848e+01] [-2.83036273e-02 4.62417904e-04 9.99599265e-01 -6.20280220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.19264 meters 0.03707923693391799 Centerline is valid? [True, True] Translation: X:143.48, Y:-21.26, Z:-6.21 [[ 9.85963404e-01 1.64792072e-01 2.68279409e-02 1.43480219e+02] [-1.64718269e-01 9.86328220e-01 -4.95324390e-03 -2.12572859e+01] [-2.72774105e-02 4.64665225e-04 9.99627794e-01 -6.20563947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.22264 meters 0.032898855877406305 Centerline is valid? [True, True] Translation: X:143.51, Y:-21.26, Z:-6.21 [[ 9.85963246e-01 1.64863637e-01 2.63905046e-02 1.43508242e+02] [-1.64792188e-01 9.86316264e-01 -4.87470581e-03 -2.12636105e+01] [-2.68330456e-02 4.57331759e-04 9.99639824e-01 -6.20843394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.25264 meters 0.025084981919233636 Centerline is valid? [True, True] Translation: X:143.54, Y:-21.26, Z:-6.21 [[ 9.85602417e-01 1.66881578e-01 2.71737744e-02 1.43538773e+02] [-1.66806625e-01 9.85976860e-01 -5.01813749e-03 -2.12629962e+01] [-2.76301474e-02 4.13122852e-04 9.99618129e-01 -6.20555245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.28264000000001 meters 0.021196545222145237 Centerline is valid? [True, True] Translation: X:143.57, Y:-21.27, Z:-6.21 [[ 9.85377856e-01 1.68176518e-01 2.73338453e-02 1.43567083e+02] [-1.68101191e-01 9.85756824e-01 -5.04719742e-03 -2.12675908e+01] [-2.77933446e-02 3.78544622e-04 9.99613619e-01 -6.20767784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.31264000000002 meters 0.02010253055831614 Centerline is valid? [True, True] Translation: X:143.60, Y:-21.27, Z:-6.21 [[ 9.85150514e-01 1.69541480e-01 2.70952327e-02 1.43596219e+02] [-1.69468002e-01 9.85522995e-01 -5.00229291e-03 -2.12703088e+01] [-2.75510711e-02 3.36236477e-04 9.99620341e-01 -6.20952191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34264000000002 meters 0.017654854693679493 Centerline is valid? [True, True] Translation: X:143.63, Y:-21.27, Z:-6.21 [[ 9.84876532e-01 1.71139241e-01 2.70106799e-02 1.43625337e+02] [-1.71066855e-01 9.85246810e-01 -4.98544923e-03 -2.12712269e+01] [-2.74653922e-02 2.89419902e-04 9.99622713e-01 -6.20859473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.37264000000002 meters 0.03202212369366641 Centerline is valid? [True, True] Translation: X:143.65, Y:-21.27, Z:-6.21 [[ 9.84258344e-01 1.74618280e-01 2.72757737e-02 1.43653724e+02] [-1.74545833e-01 9.84636186e-01 -5.03319656e-03 -2.12683100e+01] [-2.77356020e-02 1.93093057e-04 9.99615276e-01 -6.21086324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.40264000000002 meters 0.015111265935655012 Centerline is valid? [True, True] Translation: X:143.68, Y:-21.27, Z:-6.21 [[ 9.84044327e-01 1.75798335e-01 2.74173061e-02 1.43681392e+02] [-1.75725641e-01 9.84426188e-01 -5.05758605e-03 -2.12700832e+01] [-2.78794293e-02 1.58965183e-04 9.99611281e-01 -6.21101666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.43264000000002 meters 0.014603001706746962 Centerline is valid? [True, True] Translation: X:143.71, Y:-21.27, Z:-6.21 [[ 9.83577526e-01 1.78529899e-01 2.65014152e-02 1.43709372e+02] [-1.78463014e-01 9.83934484e-01 -4.88706566e-03 -2.12684301e+01] [-2.69481436e-02 7.72855189e-05 9.99636830e-01 -6.21458148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46264000000002 meters 0.013890897154247737 Centerline is valid? [True, True] Translation: X:143.74, Y:-21.27, Z:-6.21 [[ 9.83319119e-01 1.80036864e-01 2.58889608e-02 1.43738527e+02] [-1.79973601e-01 9.83659863e-01 -4.77245146e-03 -2.12701904e+01] [-2.63251488e-02 3.35132642e-05 9.99653433e-01 -6.21456041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49264000000002 meters 0.014567496325719471 Centerline is valid? [True, True] Translation: X:143.77, Y:-21.27, Z:-6.22 [[ 9.83057938e-01 1.81423287e-01 2.61281660e-02 1.43766259e+02] [-1.81359370e-01 9.83405100e-01 -4.81540974e-03 -2.12724115e+01] [-2.65681992e-02 -4.76094759e-06 9.99647003e-01 -6.21912230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52264000000002 meters 0.014567496325719471 Centerline is valid? [True, True] Translation: X:143.79, Y:-21.28, Z:-6.22 [[ 9.83070580e-01 1.81354734e-01 2.61284310e-02 1.43793296e+02] [-1.81290831e-01 9.83417745e-01 -4.81397136e-03 -2.12772543e+01] [-2.65681992e-02 -4.37133364e-06 9.99647003e-01 -6.22033473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.55264000000003 meters 0.014768925249945972 Centerline is valid? [True, True] Translation: X:143.82, Y:-21.28, Z:-6.22 [[ 9.82779144e-01 1.83040948e-01 2.53212584e-02 1.43822510e+02] [-1.82981548e-01 9.83105289e-01 -4.66311308e-03 -2.12784680e+01] [-2.57470037e-02 -5.05127646e-05 9.99668490e-01 -6.22095030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58264000000003 meters 0.014880933999485625 Centerline is valid? [True, True] Translation: X:143.85, Y:-21.28, Z:-6.22 [[ 9.82760527e-01 1.83199678e-01 2.48922616e-02 1.43851514e+02] [-1.83142354e-01 9.83075722e-01 -4.58292840e-03 -2.12814826e+01] [-2.53105690e-02 -5.49062422e-05 9.99679635e-01 -6.22235458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.61264000000003 meters 0.014667823643849437 Centerline is valid? [True, True] Translation: X:143.88, Y:-21.29, Z:-6.22 [[ 9.82870064e-01 1.82573830e-01 2.51641356e-02 1.43880418e+02] [-1.82515074e-01 9.83192146e-01 -4.63171449e-03 -2.12858229e+01] [-2.55868103e-02 -4.04605371e-05 9.99672603e-01 -6.22374894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64264000000003 meters 0.015026152580920878 Centerline is valid? [True, True] Translation: X:143.91, Y:-21.30, Z:-6.23 [[ 9.83570853e-01 1.78688457e-01 2.56673507e-02 1.43906196e+02] [-1.78626032e-01 9.83905703e-01 -4.72323551e-03 -2.12966468e+01] [-2.60982404e-02 6.07797641e-05 9.99659381e-01 -6.22656786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.67264000000003 meters 0.015499683626015134 Centerline is valid? [True, True] Translation: X:143.93, Y:-21.31, Z:-6.23 [[ 9.84093340e-01 1.75886322e-01 2.49859985e-02 1.43933379e+02] [-1.75826307e-01 9.84410476e-01 -4.59617990e-03 -2.13069892e+01] [-2.54048839e-02 1.29874171e-04 9.99677235e-01 -6.22664737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70264000000003 meters 0.01658264034670113 Centerline is valid? [True, True] Translation: X:143.96, Y:-21.32, Z:-6.23 [[ 9.84547168e-01 1.73362441e-01 2.47454742e-02 1.43960560e+02] [-1.73302810e-01 9.84858075e-01 -4.55073189e-03 -2.13164923e+01] [-2.51597061e-02 1.91949983e-04 9.99683426e-01 -6.22801744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.73264000000003 meters 0.019758510520606305 Centerline is valid? [True, True] Translation: X:143.99, Y:-21.33, Z:-6.23 [[ 9.85249819e-01 1.69215269e-01 2.54752284e-02 1.43986025e+02] [-1.69150710e-01 9.85579068e-01 -4.68380971e-03 -2.13294216e+01] [-2.59004240e-02 3.05569692e-04 9.99664481e-01 -6.22938957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76264000000003 meters 0.027716067683922634 Centerline is valid? [True, True] Translation: X:144.01, Y:-21.34, Z:-6.23 [[ 9.85419252e-01 1.68299700e-01 2.49821628e-02 1.44013958e+02] [-1.68237366e-01 9.85735820e-01 -4.59139605e-03 -2.13371671e+01] [-2.53985433e-02 3.21516797e-04 9.99677353e-01 -6.23325024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.79264000000003 meters 0.0197783608317953 Centerline is valid? [True, True] Translation: X:144.04, Y:-21.34, Z:-6.23 [[ 9.85505701e-01 1.68138089e-01 2.25409756e-02 1.44042359e+02] [-1.68087321e-01 9.85763408e-01 -4.14191563e-03 -2.13423258e+01] [-2.29164827e-02 2.93029270e-04 9.99737340e-01 -6.23228056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82264000000004 meters 0.035835523590730486 Centerline is valid? [True, True] Translation: X:144.07, Y:-21.35, Z:-6.24 [[ 9.85301434e-01 1.69398575e-01 2.20273938e-02 1.44069019e+02] [-1.69350427e-01 9.85547592e-01 -4.04674086e-03 -2.13475437e+01] [-2.23945571e-02 2.56911019e-04 9.99749177e-01 -6.23987875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.85264000000004 meters 0.018326639308293275 Centerline is valid? [True, True] Translation: X:144.10, Y:-21.35, Z:-6.24 [[ 9.85040289e-01 1.70958523e-01 2.16520657e-02 1.44098298e+02] [-1.70912414e-01 9.85278203e-01 -3.97619516e-03 -2.13485684e+01] [-2.20130729e-02 2.16105611e-04 9.99757660e-01 -6.23577241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88264000000004 meters 0.018658269827796337 Centerline is valid? [True, True] Translation: X:144.13, Y:-21.35, Z:-6.24 [[ 9.84684361e-01 1.72980328e-01 2.17833757e-02 1.44125651e+02] [-1.72934171e-01 9.84925265e-01 -3.99945016e-03 -2.13520804e+01] [-2.21468233e-02 1.71105997e-04 9.99754714e-01 -6.24042906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.91264000000004 meters 0.03132135831240818 Centerline is valid? [True, True] Translation: X:144.16, Y:-21.35, Z:-6.24 [[ 9.83745923e-01 1.78361125e-01 2.07669792e-02 1.44155410e+02] [-1.78320404e-01 9.83965094e-01 -3.81137962e-03 -2.13500152e+01] [-2.11137846e-02 4.62530484e-05 9.99777078e-01 -6.24188911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.94264 meters 0.027026619669763653 Centerline is valid? [True, True] Translation: X:144.18, Y:-21.35, Z:-6.24 [[ 9.83299819e-01 1.80819970e-01 2.06301819e-02 1.44182831e+02] [-1.80780316e-01 9.83516212e-01 -3.78667249e-03 -2.13519226e+01] [-2.09748243e-02 -6.09642537e-06 9.99780004e-01 -6.24392577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.97264 meters 0.018192475038330554 Centerline is valid? [True, True] Translation: X:144.21, Y:-21.35, Z:-6.25 [[ 9.82491869e-01 1.85145846e-01 2.07543329e-02 1.44211428e+02] [-1.85106753e-01 9.82711049e-01 -3.80589752e-03 -2.13503779e+01] [-2.11001583e-02 -1.02503800e-04 9.99777362e-01 -6.24693118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.00264 meters 0.017880605440065783 Centerline is valid? [True, True] Translation: X:144.24, Y:-21.35, Z:-6.24 [[ 9.82069082e-01 1.87355712e-01 2.09321633e-02 1.44240352e+02] [-1.87316482e-01 9.82292122e-01 -3.83689047e-03 -2.13538899e+01] [-2.12803624e-02 -1.52847676e-04 9.99773536e-01 -6.24438611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.03264000000001 meters 0.02119617863187953 Centerline is valid? [True, True] Translation: X:144.27, Y:-21.35, Z:-6.25 [[ 9.81699709e-01 1.89211636e-01 2.15554754e-02 1.44267537e+02] [-1.89170490e-01 9.81936310e-01 -3.95080325e-03 -2.13534357e+01] [-2.19136419e-02 -1.99157430e-04 9.99759847e-01 -6.25035632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06264000000002 meters 0.02145019707214794 Centerline is valid? [True, True] Translation: X:144.30, Y:-21.35, Z:-6.25 [[ 9.81006297e-01 1.92696441e-01 2.22424803e-02 1.44296469e+02] [-1.92653569e-01 9.81258375e-01 -4.07472993e-03 -2.13542109e+01] [-2.26108061e-02 -2.87757508e-04 9.99744302e-01 -6.24535541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.09264000000002 meters 0.022969406441289204 Centerline is valid? [True, True] Translation: X:144.32, Y:-21.36, Z:-6.25 [[ 9.80787518e-01 1.93742495e-01 2.27967040e-02 1.44324343e+02] [-1.93697809e-01 9.81052364e-01 -4.17337483e-03 -2.13570674e+01] [-2.31733205e-02 -3.22477683e-04 9.99731411e-01 -6.24712687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12264000000002 meters 0.022889745454000323 Centerline is valid? [True, True] Translation: X:144.35, Y:-21.36, Z:-6.25 [[ 9.80655075e-01 1.94447359e-01 2.24910783e-02 1.44352297e+02] [-1.94404086e-01 9.80912897e-01 -4.11579419e-03 -2.13631684e+01] [-2.28620941e-02 -3.36183066e-04 9.99738572e-01 -6.24745727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.15264000000002 meters 0.021751379614921264 Centerline is valid? [True, True] Translation: X:144.38, Y:-21.37, Z:-6.25 [[ 9.80746645e-01 1.94076063e-01 2.16910227e-02 1.44379498e+02] [-1.94035745e-01 9.80986433e-01 -3.96840957e-03 -2.13724475e+01] [-2.20487723e-02 -3.16829365e-04 9.99756846e-01 -6.24864487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18264000000002 meters 0.023544532736937986 Centerline is valid? [True, True] Translation: X:144.41, Y:-21.38, Z:-6.25 [[ 9.80906249e-01 1.93340031e-01 2.10371842e-02 1.44406950e+02] [-1.93301954e-01 9.81131768e-01 -3.84804191e-03 -2.13767718e+01] [-2.13842303e-02 -2.91960451e-04 9.99771289e-01 -6.25437643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.21264000000002 meters 0.022247617146191712 Centerline is valid? [True, True] Translation: X:144.44, Y:-21.38, Z:-6.25 [[ 9.81013933e-01 1.92915071e-01 1.98856330e-02 1.44435019e+02] [-1.92880991e-01 9.81215421e-01 -3.63592991e-03 -2.13844290e+01] [-2.02135154e-02 -2.68662699e-04 9.99795650e-01 -6.25437361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24264000000002 meters 0.021859323953020433 Centerline is valid? [True, True] Translation: X:144.46, Y:-21.39, Z:-6.26 [[ 9.81301041e-01 1.91508821e-01 1.93038343e-02 1.44461438e+02] [-1.91476447e-01 9.81490864e-01 -3.52892883e-03 -2.13929691e+01] [-1.96223580e-02 -2.33288059e-04 9.99807436e-01 -6.25726984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27264000000002 meters 0.021066201902888985 Centerline is valid? [True, True] Translation: X:144.49, Y:-21.40, Z:-6.26 [[ 9.81424487e-01 1.90893496e-01 1.91219607e-02 1.44488379e+02] [-1.90861629e-01 9.81610730e-01 -3.49483860e-03 -2.14011020e+01] [-1.94374637e-02 -2.19728374e-04 9.99811051e-01 -6.25716405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30264000000003 meters 0.021198051798451113 Centerline is valid? [True, True] Translation: X:144.52, Y:-21.41, Z:-6.26 [[ 9.81486058e-01 1.90597062e-01 1.89176496e-02 1.44515016e+02] [-1.90565850e-01 9.81668332e-01 -3.45575738e-03 -2.14100463e+01] [-1.92295148e-02 -2.13280300e-04 9.99815073e-01 -6.25951877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.33264000000003 meters 0.02264911646666727 Centerline is valid? [True, True] Translation: X:144.54, Y:-21.41, Z:-6.26 [[ 9.81425378e-01 1.90906014e-01 1.89504852e-02 1.44542439e+02] [-1.90874775e-01 9.81608295e-01 -3.46052394e-03 -2.14140797e+01] [-1.92625883e-02 -2.20923573e-04 9.99814435e-01 -6.26309024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36264000000003 meters 0.023488432893534333 Centerline is valid? [True, True] Translation: X:144.57, Y:-21.42, Z:-6.26 [[ 9.81248661e-01 1.91838345e-01 1.86846395e-02 1.44570563e+02] [-1.91808167e-01 9.81426509e-01 -3.41079686e-03 -2.14178604e+01] [-1.89919221e-02 -2.37026604e-04 9.99819609e-01 -6.26455685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.39264000000003 meters 0.03765251406448336 Centerline is valid? [True, True] Translation: X:144.60, Y:-21.42, Z:-6.27 [[ 9.80866149e-01 1.93796239e-01 1.85638430e-02 1.44599146e+02] [-1.93766828e-01 9.81041764e-01 -3.38735169e-03 -2.14213327e+01] [-1.88683613e-02 -2.74518372e-04 9.99821939e-01 -6.26584939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42264000000003 meters 0.027905184771424653 Centerline is valid? [True, True] Translation: X:144.63, Y:-21.42, Z:-6.27 [[ 9.79966516e-01 1.98329859e-01 1.81904951e-02 1.44628985e+02] [-1.98302414e-01 9.80135267e-01 -3.31845149e-03 -2.14207458e+01] [-1.84872938e-02 -3.55247751e-04 9.99829032e-01 -6.26535357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.45264000000003 meters 0.03225554877289937 Centerline is valid? [True, True] Translation: X:144.66, Y:-21.42, Z:-6.27 [[ 9.79519982e-01 2.00510356e-01 1.83357981e-02 1.44657328e+02] [-2.00482867e-01 9.79691501e-01 -3.34416289e-03 -2.14201602e+01] [-1.86339649e-02 -4.00338995e-04 9.99826292e-01 -6.26952180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48264000000003 meters 0.0348318650143128 Centerline is valid? [True, True] Translation: X:144.69, Y:-21.42, Z:-6.27 [[ 9.78701974e-01 2.04414164e-01 1.89022815e-02 1.44687685e+02] [-2.04385719e-01 9.78884369e-01 -3.44526349e-03 -2.14204175e+01] [-1.92074085e-02 -4.91470210e-04 9.99815400e-01 -6.26814608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.51264000000003 meters 0.03461722787167054 Centerline is valid? [True, True] Translation: X:144.72, Y:-21.42, Z:-6.27 [[ 9.78422378e-01 2.05719158e-01 1.92166199e-02 1.44716336e+02] [-2.05689949e-01 9.78610931e-01 -3.50572952e-03 -2.14236088e+01] [-1.95267901e-02 -5.22581352e-04 9.99809197e-01 -6.26678537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54264000000003 meters 0.03643705752940051 Centerline is valid? [True, True] Translation: X:144.74, Y:-21.43, Z:-6.27 [[ 9.78167692e-01 2.06919819e-01 1.92913188e-02 1.44744653e+02] [-2.06890721e-01 9.78357747e-01 -3.51394141e-03 -2.14250636e+01] [-1.96009153e-02 -5.53970909e-04 9.99807730e-01 -6.26870786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.57264000000004 meters 0.03951713798402124 Centerline is valid? [True, True] Translation: X:144.77, Y:-21.42, Z:-6.27 [[ 9.77969581e-01 2.07870868e-01 1.91102369e-02 1.44772745e+02] [-2.07842545e-01 9.78156111e-01 -3.47843591e-03 -2.14239823e+01] [-1.94158605e-02 -5.70115770e-04 9.99811332e-01 -6.27288705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60264000000004 meters 0.039019843562436825 Centerline is valid? [True, True] Translation: X:144.80, Y:-21.43, Z:-6.28 [[ 9.78184406e-01 2.06856394e-01 1.91232837e-02 1.44801258e+02] [-2.06827810e-01 9.78371162e-01 -3.48221008e-03 -2.14286921e+01] [-1.94299867e-02 -5.48983298e-04 9.99811069e-01 -6.27523842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.63264000000004 meters 0.03428714990743382 Centerline is valid? [True, True] Translation: X:144.83, Y:-21.44, Z:-6.28 [[ 9.79034699e-01 2.02826151e-01 1.87779095e-02 1.44829494e+02] [-2.02797975e-01 9.79214652e-01 -3.41273453e-03 -2.14380182e+01] [-1.90797959e-02 -4.66936505e-04 9.99817855e-01 -6.27698359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66264000000004 meters 0.030248000697067755 Centerline is valid? [True, True] Translation: X:144.86, Y:-21.45, Z:-6.28 [[ 9.79658965e-01 1.99798915e-01 1.86736618e-02 1.44857106e+02] [-1.99770498e-01 9.79836838e-01 -3.39396914e-03 -2.14479503e+01] [-1.89752530e-02 -4.05514415e-04 9.99819871e-01 -6.27723265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.69264 meters 0.028436959103974827 Centerline is valid? [True, True] Translation: X:144.88, Y:-21.46, Z:-6.28 [[ 9.80348125e-01 1.96403257e-01 1.85287553e-02 1.44884206e+02] [-1.96374690e-01 9.80523149e-01 -3.36671349e-03 -2.14570946e+01] [-1.88291069e-02 -3.38027314e-04 9.99822660e-01 -6.28070265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.72264 meters 0.023212400113551617 Centerline is valid? [True, True] Translation: X:144.91, Y:-21.47, Z:-6.28 [[ 9.81089964e-01 1.92647934e-01 1.86884022e-02 1.44911181e+02] [-1.92618208e-01 9.81267905e-01 -3.39481908e-03 -2.14707931e+01] [-1.89923341e-02 -2.69103604e-04 9.99819593e-01 -6.27794539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.75264 meters 0.019458870276535672 Centerline is valid? [True, True] Translation: X:144.94, Y:-21.48, Z:-6.28 [[ 9.82393608e-01 1.85882730e-01 1.87192224e-02 1.44936890e+02] [-1.85851679e-01 9.82571927e-01 -3.40030160e-03 -2.14836839e+01] [-1.90250397e-02 -1.38564343e-04 9.99818998e-01 -6.27962173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.78264000000001 meters 0.018154790759837388 Centerline is valid? [True, True] Translation: X:144.96, Y:-21.49, Z:-6.28 [[ 9.82940983e-01 1.82989118e-01 1.84934351e-02 1.44964635e+02] [-1.82958344e-01 9.83114935e-01 -3.35686888e-03 -2.14913347e+01] [-1.87954428e-02 -8.39242654e-05 9.99823347e-01 -6.28031136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.81264000000002 meters 0.017588791902545517 Centerline is valid? [True, True] Translation: X:144.99, Y:-21.50, Z:-6.28 [[ 9.83756086e-01 1.78530707e-01 1.87283416e-02 1.44990920e+02] [-1.78498351e-01 9.83934341e-01 -3.39883894e-03 -2.14998940e+01] [-1.90342555e-02 6.50412655e-07 9.99818832e-01 -6.28207552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84264000000002 meters 0.02896479405878366 Centerline is valid? [True, True] Translation: X:145.02, Y:-21.51, Z:-6.28 [[ 9.84052144e-01 1.76826431e-01 1.93336996e-02 1.45018294e+02] [-1.76791646e-01 9.84242050e-01 -3.50736702e-03 -2.15067249e+01] [-1.96492353e-02 3.33954521e-05 9.99806935e-01 -6.28487812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.87264000000002 meters 0.01772373468309115 Centerline is valid? [True, True] Translation: X:145.05, Y:-21.51, Z:-6.28 [[ 9.84426529e-01 1.74723243e-01 1.93957946e-02 1.45046016e+02] [-1.74687856e-01 9.84617582e-01 -3.51713670e-03 -2.15147746e+01] [-1.97119659e-02 7.41529157e-05 9.99805698e-01 -6.28382559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.90264000000002 meters 0.019735857803926643 Centerline is valid? [True, True] Translation: X:145.07, Y:-21.53, Z:-6.29 [[ 9.85145431e-01 1.70569509e-01 1.98625863e-02 1.45072188e+02] [-1.70531568e-01 9.85345633e-01 -3.60102897e-03 -2.15265834e+01] [-2.01857384e-02 1.60339262e-04 9.99796234e-01 -6.28507873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.93264000000002 meters 0.0223601725346492 Centerline is valid? [True, True] Translation: X:145.10, Y:-21.53, Z:-6.28 [[ 9.85422627e-01 1.68916011e-01 2.02392562e-02 1.45100586e+02] [-1.68876300e-01 9.85630429e-01 -3.66778454e-03 -2.15324744e+01] [-2.05679743e-02 1.96387157e-04 9.99788438e-01 -6.28340245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.96264000000002 meters 0.03212296399600008 Centerline is valid? [True, True] Translation: X:145.13, Y:-21.54, Z:-6.29 [[ 9.85734630e-01 1.67060652e-01 2.04445204e-02 1.45127136e+02] [-1.67019745e-01 9.85946592e-01 -3.70436022e-03 -2.15405815e+01] [-2.07760581e-02 2.36877560e-04 9.99784126e-01 -6.28712921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.99264000000002 meters 0.03318975153853092 Centerline is valid? [True, True] Translation: X:145.15, Y:-21.55, Z:-6.29 [[ 9.86256281e-01 1.63876687e-01 2.10470927e-02 1.45152789e+02] [-1.63832648e-01 9.86480783e-01 -3.81167679e-03 -2.15520754e+01] [-2.13871974e-02 3.11089258e-04 9.99771219e-01 -6.28870025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02264000000002 meters 0.032054168393549305 Centerline is valid? [True, True] Translation: X:145.18, Y:-21.56, Z:-6.29 [[ 9.86511932e-01 1.62300706e-01 2.12764780e-02 1.45180629e+02] [-1.62255365e-01 9.86741283e-01 -3.85182160e-03 -2.15607302e+01] [-2.16195326e-02 3.47645256e-04 9.99766210e-01 -6.28913507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.05264000000003 meters 0.026415198834543147 Centerline is valid? [True, True] Translation: X:145.21, Y:-21.57, Z:-6.29 [[ 9.86981476e-01 1.59579697e-01 2.00471167e-02 1.45208880e+02] [-1.59538922e-01 9.87184975e-01 -3.62738079e-03 -2.15734921e+01] [-2.03690688e-02 3.81862255e-04 9.99792456e-01 -6.28885562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08264000000003 meters 0.026737265453700684 Centerline is valid? [True, True] Translation: X:145.24, Y:-21.58, Z:-6.29 [[ 9.87139885e-01 1.58622917e-01 1.98398227e-02 1.45237105e+02] [-1.58582778e-01 9.87339158e-01 -3.59034185e-03 -2.15818242e+01] [-2.01581443e-02 3.97915441e-04 9.99796725e-01 -6.28970182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.11264000000003 meters 0.02947718287240276 Centerline is valid? [True, True] Translation: X:145.26, Y:-21.59, Z:-6.29 [[ 9.87205587e-01 1.58129473e-01 2.04987614e-02 1.45264028e+02] [-1.58086528e-01 9.87418297e-01 -3.70905026e-03 -2.15914901e+01] [-2.08273622e-02 4.21017126e-04 9.99782998e-01 -6.29312195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14264000000003 meters 0.03649980034052444 Centerline is valid? [True, True] Translation: X:145.29, Y:-21.60, Z:-6.29 [[ 9.87142738e-01 1.58465137e-01 2.09287946e-02 1.45293001e+02] [-1.58420460e-01 9.87364483e-01 -3.78627427e-03 -2.15961287e+01] [-2.12643410e-02 4.22043887e-04 9.99773799e-01 -6.29478459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.17264000000003 meters 0.02993848010386763 Centerline is valid? [True, True] Translation: X:145.32, Y:-21.60, Z:-6.29 [[ 9.86702495e-01 1.61282710e-01 2.01512923e-02 1.45323034e+02] [-1.61241886e-01 9.86908185e-01 -3.64520609e-03 -2.15987968e+01] [-2.04753841e-02 3.47501552e-04 9.99790297e-01 -6.29304524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20264000000003 meters 0.032538317821696874 Centerline is valid? [True, True] Translation: X:145.35, Y:-21.60, Z:-6.30 [[ 9.86341844e-01 1.63499108e-01 1.99451304e-02 1.45351445e+02] [-1.63459572e-01 9.86543437e-01 -3.60770876e-03 -2.16038929e+01] [-2.02665947e-02 2.98211619e-04 9.99794567e-01 -6.29714581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.23264000000003 meters 0.01999147030551818 Centerline is valid? [True, True] Translation: X:145.38, Y:-21.60, Z:-6.30 [[ 9.85331204e-01 1.69550762e-01 1.93637996e-02 1.45380180e+02] [-1.69514667e-01 9.85521441e-01 -3.50241392e-03 -2.16023975e+01] [-1.96772767e-02 1.68589676e-04 9.99806369e-01 -6.29803499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26264000000003 meters 0.018285175054772843 Centerline is valid? [True, True] Translation: X:145.41, Y:-21.60, Z:-6.30 [[ 9.84741779e-01 1.73020569e-01 1.86416704e-02 1.45409535e+02] [-1.72987762e-01 9.84918207e-01 -3.37049263e-03 -2.16034541e+01] [-1.89436852e-02 9.42840516e-05 9.99820548e-01 -6.29942491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.29264000000003 meters 0.018030879064879386 Centerline is valid? [True, True] Translation: X:145.44, Y:-21.60, Z:-6.30 [[ 9.83491718e-01 1.80059032e-01 1.79662650e-02 1.45439747e+02] [-1.80029724e-01 9.83655805e-01 -3.24880636e-03 -2.15987803e+01] [-1.82575978e-02 -3.92875803e-05 9.99833315e-01 -6.30163169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32264000000004 meters 0.01820334198179082 Centerline is valid? [True, True] Translation: X:145.47, Y:-21.60, Z:-6.30 [[ 9.82960075e-01 1.82915061e-01 1.82091217e-02 1.45469083e+02] [-1.82885502e-01 9.83128715e-01 -3.28969854e-03 -2.15987915e+01] [-1.85036458e-02 -9.65420409e-05 9.99828788e-01 -6.30128757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.35264000000004 meters 0.02028688507427207 Centerline is valid? [True, True] Translation: X:145.50, Y:-21.60, Z:-6.31 [[ 9.82492137e-01 1.85424129e-01 1.80857357e-02 1.45497022e+02] [-1.85395404e-01 9.82658573e-01 -3.26681177e-03 -2.15989963e+01] [-1.83778490e-02 -1.43395405e-04 9.99831103e-01 -6.30503128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38264000000004 meters 0.021557492734663234 Centerline is valid? [True, True] Translation: X:145.52, Y:-21.60, Z:-6.31 [[ 9.82132189e-01 1.87279850e-01 1.85100316e-02 1.45524734e+02] [-1.87250103e-01 9.82306584e-01 -3.34286429e-03 -2.16013000e+01] [-1.88085770e-02 -1.82870699e-04 9.99823086e-01 -6.30616735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.41264000000004 meters 0.021779377441793663 Centerline is valid? [True, True] Translation: X:145.55, Y:-21.60, Z:-6.30 [[ 9.81667685e-01 1.89585872e-01 1.96405955e-02 1.45553233e+02] [-1.89552886e-01 9.81864114e-01 -3.54473453e-03 -2.16037271e+01] [-1.99564275e-02 -2.43180226e-04 9.99800821e-01 -6.30295961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.44264 meters 0.021779377441793663 Centerline is valid? [True, True] Translation: X:145.58, Y:-21.61, Z:-6.30 [[ 9.81681591e-01 1.89513825e-01 1.96408559e-02 1.45580294e+02] [-1.89480854e-01 9.81878022e-01 -3.54329058e-03 -2.16084710e+01] [-1.99564273e-02 -2.43183021e-04 9.99800821e-01 -6.30417232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.47264 meters 0.030978244091363877 Centerline is valid? [True, True] Translation: X:145.61, Y:-21.61, Z:-6.31 [[ 9.81603834e-01 1.89889525e-01 1.98967640e-02 1.45607526e+02] [-1.89855792e-01 9.81805430e-01 -3.58819288e-03 -2.16080126e+01] [-2.02161112e-02 -2.55331992e-04 9.99795601e-01 -6.31168884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.50264 meters 0.022011243563205045 Centerline is valid? [True, True] Translation: X:145.64, Y:-21.62, Z:-6.31 [[ 9.81966243e-01 1.87983790e-01 2.01095013e-02 1.45635582e+02] [-1.87948988e-01 9.82172106e-01 -3.62383108e-03 -2.16162957e+01] [-2.04322128e-02 -2.21080633e-04 9.99791216e-01 -6.30830788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.53264000000001 meters 0.019705249230911916 Centerline is valid? [True, True] Translation: X:145.66, Y:-21.62, Z:-6.31 [[ 9.82237988e-01 1.86501726e-01 2.06310911e-02 1.45663261e+02] [-1.86464789e-01 9.82454614e-01 -3.71680813e-03 -2.16243484e+01] [-2.09623018e-02 -1.96181918e-04 9.99780248e-01 -6.30654720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.56264000000002 meters 0.01970612057945522 Centerline is valid? [True, True] Translation: X:145.69, Y:-21.63, Z:-6.31 [[ 9.82545413e-01 1.84838034e-01 2.09621650e-02 1.45690792e+02] [-1.84799547e-01 9.82768983e-01 -3.77535879e-03 -2.16306083e+01] [-2.12987955e-02 -1.64337131e-04 9.99773141e-01 -6.30954941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.59264000000002 meters 0.016644115107970283 Centerline is valid? [True, True] Translation: X:145.72, Y:-21.64, Z:-6.31 [[ 9.83382087e-01 1.80316805e-01 2.11073682e-02 1.45717695e+02] [-1.80276763e-01 9.83608583e-01 -3.80045138e-03 -2.16442357e+01] [-2.14466738e-02 -6.78722073e-05 9.99769991e-01 -6.30675398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.62264000000002 meters 0.01690581171947364 Centerline is valid? [True, True] Translation: X:145.74, Y:-21.65, Z:-6.31 [[ 9.83888737e-01 1.77500060e-01 2.13701007e-02 1.45744026e+02] [-1.77458367e-01 9.84120790e-01 -3.84702505e-03 -2.16547844e+01] [-2.17136075e-02 -7.25853876e-06 9.99764232e-01 -6.31000431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.65264000000002 meters 0.030217829554032558 Centerline is valid? [True, True] Translation: X:145.77, Y:-21.67, Z:-6.31 [[ 9.84455020e-01 1.74230565e-01 2.21816207e-02 1.45770827e+02] [-1.74184858e-01 9.84704883e-01 -3.99116035e-03 -2.16667015e+01] [-2.25377323e-02 6.54153810e-05 9.99745991e-01 -6.30862971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.68264000000002 meters 0.0335174121805643 Centerline is valid? [True, True] Translation: X:145.80, Y:-21.69, Z:-6.31 [[ 9.85731878e-01 1.66824212e-01 2.24130878e-02 1.45796319e+02] [-1.66775661e-01 9.85986626e-01 -4.03140523e-03 -2.16876624e+01] [-2.27715408e-02 2.35927119e-04 9.99740667e-01 -6.30993602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.71264000000002 meters 0.02126465701241835 Centerline is valid? [True, True] Translation: X:145.82, Y:-21.70, Z:-6.31 [[ 9.86283696e-01 1.63591910e-01 2.19580968e-02 1.45824956e+02] [-1.63544538e-01 9.86528051e-01 -3.94827036e-03 -2.16986100e+01] [-2.23081835e-02 3.02987871e-04 9.99751096e-01 -6.30786120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74264000000002 meters 0.032083121531384845 Centerline is valid? [True, True] Translation: X:145.85, Y:-21.71, Z:-6.31 [[ 9.86682942e-01 1.61169363e-01 2.19364455e-02 1.45853816e+02] [-1.61121498e-01 9.86926699e-01 -3.94383298e-03 -2.17099551e+01] [-2.22852888e-02 3.56879782e-04 9.99751588e-01 -6.30987446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.77264000000002 meters 0.029591598292467616 Centerline is valid? [True, True] Translation: X:145.88, Y:-21.73, Z:-6.31 [[ 9.87206747e-01 1.57921146e-01 2.19943172e-02 1.45882635e+02] [-1.57872234e-01 9.87451632e-01 -3.95370294e-03 -2.17271520e+01] [-2.23426977e-02 4.30830232e-04 9.99750278e-01 -6.31035829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80264000000003 meters 0.026522499325373525 Centerline is valid? [True, True] Translation: X:145.91, Y:-21.74, Z:-6.31 [[ 9.87370072e-01 1.56930507e-01 2.17521664e-02 1.45913648e+02] [-1.56882487e-01 9.87609547e-01 -3.90741428e-03 -2.17375731e+01] [-2.20958397e-02 4.45529948e-04 9.99755758e-01 -6.31063851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.83264000000003 meters 0.03442919420992413 Centerline is valid? [True, True] Translation: X:145.94, Y:-21.75, Z:-6.31 [[ 9.87405899e-01 1.56738595e-01 2.15082166e-02 1.45943513e+02] [-1.56691513e-01 9.87640021e-01 -3.86762064e-03 -2.17483123e+01] [-2.18485809e-02 4.48756443e-04 9.99761191e-01 -6.31301855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86264000000003 meters 0.03516967017814948 Centerline is valid? [True, True] Translation: X:145.97, Y:-21.76, Z:-6.31 [[ 9.87335330e-01 1.57224760e-01 2.11972103e-02 1.45974370e+02] [-1.57179088e-01 9.87562751e-01 -3.81419641e-03 -2.17615245e+01] [-2.15332614e-02 4.34132692e-04 9.99768038e-01 -6.31374131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.89264000000003 meters 0.026344130400497715 Centerline is valid? [True, True] Translation: X:146.01, Y:-21.77, Z:-6.31 [[ 9.87138970e-01 1.58462786e-01 2.11234524e-02 1.46006330e+02] [-1.58417613e-01 9.87364865e-01 -3.80565030e-03 -2.17681291e+01] [-2.14596087e-02 4.10378815e-04 9.99769632e-01 -6.31363714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92264000000003 meters 0.02480207437583187 Centerline is valid? [True, True] Translation: X:146.04, Y:-21.78, Z:-6.32 [[ 9.86845101e-01 1.60286098e-01 2.10977176e-02 1.46037080e+02] [-1.60241369e-01 9.87070528e-01 -3.80482402e-03 -2.17756286e+01] [-2.14347957e-02 3.74044790e-04 9.99770178e-01 -6.31620319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.95264000000003 meters 0.020971538961992754 Centerline is valid? [True, True] Translation: X:146.07, Y:-21.78, Z:-6.32 [[ 9.86063103e-01 1.64956545e-01 2.16539711e-02 1.46068577e+02] [-1.64910401e-01 9.86300794e-01 -3.91198036e-03 -2.17809076e+01] [-2.20026357e-02 2.86494434e-04 9.99757872e-01 -6.31638767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98264000000003 meters 0.02043728485831893 Centerline is valid? [True, True] Translation: X:146.10, Y:-21.79, Z:-6.32 [[ 9.85606299e-01 1.67670283e-01 2.16078793e-02 1.46098505e+02] [-1.67625017e-01 9.85843104e-01 -3.90226370e-03 -2.17874319e+01] [-2.19562724e-02 2.24074548e-04 9.99758907e-01 -6.32009212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.01264000000003 meters 0.01878030616091901 Centerline is valid? [True, True] Translation: X:146.13, Y:-21.79, Z:-6.32 [[ 9.85181090e-01 1.70255364e-01 2.07685183e-02 1.46129774e+02] [-1.70213993e-01 9.85399961e-01 -3.75671233e-03 -2.17917315e+01] [-2.11048976e-02 1.65949512e-04 9.99777253e-01 -6.32147749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04264000000003 meters 0.026269751374340625 Centerline is valid? [True, True] Translation: X:146.16, Y:-21.79, Z:-6.32 [[ 9.84058654e-01 1.76733655e-01 1.98438900e-02 1.46160534e+02] [-1.76697171e-01 9.84258713e-01 -3.59099337e-03 -2.17934147e+01] [-2.01661711e-02 2.73888732e-05 9.99796642e-01 -6.32498581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.07264000000004 meters 0.0166733485318825 Centerline is valid? [True, True] Translation: X:146.19, Y:-21.80, Z:-6.32 [[ 9.83438726e-01 1.80153899e-01 1.98203344e-02 1.46190174e+02] [-1.80118183e-01 9.83638435e-01 -3.58732968e-03 -2.17965114e+01] [-2.01423142e-02 -4.20837027e-05 9.99797122e-01 -6.32477417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10264000000004 meters 0.0368654841574903 Centerline is valid? [True, True] Translation: X:146.22, Y:-21.80, Z:-6.33 [[ 9.82790184e-01 1.83711007e-01 1.93318614e-02 1.46219712e+02] [-1.83677728e-01 9.82980291e-01 -3.49845349e-03 -2.17990225e+01] [-1.96455431e-02 -1.12586627e-04 9.99807001e-01 -6.32736157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.13264000000004 meters 0.022405448585418444 Centerline is valid? [True, True] Translation: X:146.25, Y:-21.80, Z:-6.33 [[ 9.81586275e-01 1.89984970e-01 1.98518308e-02 1.46248749e+02] [-1.89951176e-01 9.81786968e-01 -3.59163296e-03 -2.17969139e+01] [-2.01726250e-02 -2.45380978e-04 9.99796482e-01 -6.32862708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16264000000004 meters 0.022433195918780624 Centerline is valid? [True, True] Translation: X:146.28, Y:-21.80, Z:-6.33 [[ 9.81096754e-01 1.92480487e-01 2.00105470e-02 1.46277793e+02] [-1.92446653e-01 9.81300756e-01 -3.62115132e-03 -2.18011088e+01] [-2.03333659e-02 -2.98262989e-04 9.99793211e-01 -6.32569356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.19264000000004 meters 0.025593722255842548 Centerline is valid? [True, True] Translation: X:146.31, Y:-21.80, Z:-6.33 [[ 9.80362390e-01 1.96169324e-01 2.01787123e-02 1.46306454e+02] [-1.96135726e-01 9.80569963e-01 -3.65023025e-03 -2.18032682e+01] [-2.05027024e-02 -3.79217947e-04 9.99789726e-01 -6.32670884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.22264 meters 0.025978304606559106 Centerline is valid? [True, True] Translation: X:146.34, Y:-21.81, Z:-6.33 [[ 9.80099075e-01 1.97448375e-01 2.04925014e-02 1.46335282e+02] [-1.97414014e-01 9.80313199e-01 -3.70648626e-03 -2.18084081e+01] [-2.08209093e-02 -4.12783207e-04 9.99783136e-01 -6.32652430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.25264 meters 0.029173145830142067 Centerline is valid? [True, True] Translation: X:146.36, Y:-21.81, Z:-6.33 [[ 9.79886498e-01 1.98439732e-01 2.10742450e-02 1.46363601e+02] [-1.98403640e-01 9.80112990e-01 -3.81084167e-03 -2.18091699e+01] [-2.14113636e-02 -4.47014623e-04 9.99770651e-01 -6.32927273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.28264000000001 meters 0.02826974658937948 Centerline is valid? [True, True] Translation: X:146.39, Y:-21.81, Z:-6.33 [[ 9.79632813e-01 1.99593986e-01 2.19497531e-02 1.46392281e+02] [-1.99555162e-01 9.79878563e-01 -3.96737197e-03 -2.18135495e+01] [-2.22999561e-02 -4.93618768e-04 9.99751203e-01 -6.32666932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.31264000000002 meters 0.0319529192878219 Centerline is valid? [True, True] Translation: X:146.42, Y:-21.81, Z:-6.33 [[ 9.78947299e-01 2.02867385e-01 2.25168700e-02 1.46422246e+02] [-2.02827428e-01 9.79206047e-01 -4.06840826e-03 -2.18102945e+01] [-2.28740027e-02 -5.84281558e-04 9.99738185e-01 -6.32719473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.34264000000002 meters 0.03015882093573061 Centerline is valid? [True, True] Translation: X:146.45, Y:-21.82, Z:-6.33 [[ 9.78592258e-01 2.04597194e-01 2.22975584e-02 1.46450246e+02] [-2.04558465e-01 9.78846058e-01 -4.02854105e-03 -2.18161526e+01] [-2.26501054e-02 -6.18855235e-04 9.99743262e-01 -6.32503009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.37264000000002 meters 0.03318370796068795 Centerline is valid? [True, True] Translation: X:146.48, Y:-21.82, Z:-6.33 [[ 9.78273260e-01 2.06109907e-01 2.23637018e-02 1.46478249e+02] [-2.06071377e-01 9.78528627e-01 -4.03899861e-03 -2.18159558e+01] [-2.27160000e-02 -6.57274492e-04 9.99741742e-01 -6.32745305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.40264000000002 meters 0.04333317627103748 Centerline is valid? [True, True] Translation: X:146.51, Y:-21.80, Z:-6.33 [[ 9.77832260e-01 2.08133796e-01 2.28996356e-02 1.46507910e+02] [-2.08093982e-01 9.78100098e-01 -4.13445270e-03 -2.18044874e+01] [-2.32586551e-02 -7.22475126e-04 9.99729220e-01 -6.33410834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.43264000000002 meters 0.037073200385261844 Centerline is valid? [True, True] Translation: X:146.54, Y:-21.82, Z:-6.33 [[ 9.77847368e-01 2.08014088e-01 2.33380185e-02 1.46535536e+02] [-2.07972758e-01 9.78125553e-01 -4.21121013e-03 -2.18152303e+01] [-2.37035033e-02 -7.35751329e-04 9.99718762e-01 -6.32965085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.46264000000002 meters 0.04172108377369636 Centerline is valid? [True, True] Translation: X:146.56, Y:-21.82, Z:-6.33 [[ 9.78506716e-01 2.04936479e-01 2.29269691e-02 1.46564471e+02] [-2.04895784e-01 9.78775059e-01 -4.13544502e-03 -2.18227773e+01] [-2.32878490e-02 -6.51078573e-04 9.99728589e-01 -6.33073868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.49264000000002 meters 0.030640666531257663 Centerline is valid? [True, True] Translation: X:146.59, Y:-21.83, Z:-6.33 [[ 9.79164982e-01 2.01840633e-01 2.22777367e-02 1.46591453e+02] [-2.01801406e-01 9.79418217e-01 -4.01852217e-03 -2.18295412e+01] [-2.26303223e-02 -5.60882401e-04 9.99743744e-01 -6.33308318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52264000000002 meters 0.0274076483898402 Centerline is valid? [True, True] Translation: X:146.62, Y:-21.84, Z:-6.34 [[ 9.79931691e-01 1.98137711e-01 2.18020112e-02 1.46619522e+02] [-1.98099256e-01 9.80174081e-01 -3.93129397e-03 -2.18373871e+01] [-2.21487039e-02 -4.66562649e-04 9.99754579e-01 -6.33538516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.55264000000003 meters 0.028666733900314163 Centerline is valid? [True, True] Translation: X:146.65, Y:-21.85, Z:-6.34 [[ 9.81575573e-01 1.89891001e-01 2.12321148e-02 1.46647511e+02] [-1.89852632e-01 9.81805140e-01 -3.82700033e-03 -2.18493766e+01] [-2.15725123e-02 -2.74482824e-04 9.99767249e-01 -6.33813451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58264000000003 meters 0.018534046004873742 Centerline is valid? [True, True] Translation: X:146.67, Y:-21.86, Z:-6.34 [[ 9.82365296e-01 1.85826854e-01 2.06592654e-02 1.46674824e+02] [-1.85789628e-01 9.82582489e-01 -3.72375108e-03 -2.18592906e+01] [-2.09914054e-02 -1.80193406e-04 9.99779640e-01 -6.34038167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.61264000000003 meters 0.03758397614008972 Centerline is valid? [True, True] Translation: X:146.70, Y:-21.87, Z:-6.34 [[ 9.83123905e-01 1.81818318e-01 2.02357827e-02 1.46702844e+02] [-1.81781785e-01 9.83332136e-01 -3.64584299e-03 -2.18693382e+01] [-2.05613765e-02 -9.41813058e-05 9.99788588e-01 -6.34280290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64264000000003 meters 0.02380770354913536 Centerline is valid? [True, True] Translation: X:146.73, Y:-21.88, Z:-6.34 [[ 9.84201416e-01 1.75785971e-01 2.11391855e-02 1.46729438e+02] [-1.75744717e-01 9.84428408e-01 -3.80829924e-03 -2.18815877e+01] [-2.14794603e-02 3.30333322e-05 9.99769289e-01 -6.34353275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.67264000000003 meters 0.021515110517691092 Centerline is valid? [True, True] Translation: X:146.76, Y:-21.89, Z:-6.34 [[ 9.84654304e-01 1.73176804e-01 2.15799971e-02 1.46758850e+02] [-1.73133222e-01 9.84890748e-01 -3.88603248e-03 -2.18890368e+01] [-2.19269102e-02 9.01841876e-05 9.99759572e-01 -6.34113992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70264000000003 meters 0.020093227340505383 Centerline is valid? [True, True] Translation: X:146.79, Y:-21.90, Z:-6.34 [[ 9.85014294e-01 1.71085849e-01 2.18282526e-02 1.46788174e+02] [-1.71040744e-01 9.85256115e-01 -3.93073725e-03 -2.18963366e+01] [-2.21789128e-02 1.38311815e-04 9.99754008e-01 -6.34114107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.73264000000003 meters 0.025135777603140664 Centerline is valid? [True, True] Translation: X:146.82, Y:-21.91, Z:-6.34 [[ 9.85558267e-01 1.67728988e-01 2.32785194e-02 1.46817305e+02] [-1.67676784e-01 9.85833117e-01 -4.19056872e-03 -2.19059814e+01] [-2.36516152e-02 2.26782382e-04 9.99720236e-01 -6.33939741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76264000000003 meters 0.0366093052532684 Centerline is valid? [True, True] Translation: X:146.85, Y:-21.92, Z:-6.34 [[ 9.85803869e-01 1.66181117e-01 2.39701659e-02 1.46848112e+02] [-1.66125325e-01 9.86095210e-01 -4.31435344e-03 -2.19153266e+01] [-2.43538299e-02 2.71054713e-04 9.99703365e-01 -6.34292285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.79264000000003 meters 0.02317556417690776 Centerline is valid? [True, True] Translation: X:146.88, Y:-21.93, Z:-6.34 [[ 9.86418013e-01 1.62547857e-01 2.36156076e-02 1.46878909e+02] [-1.62492491e-01 9.86700594e-01 -4.25765206e-03 -2.19272771e+01] [-2.39936062e-02 3.62465793e-04 9.99712046e-01 -6.34398883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82264000000004 meters 0.028981647185239632 Centerline is valid? [True, True] Translation: X:146.91, Y:-21.93, Z:-6.34 [[ 9.86719314e-01 1.60728204e-01 2.34827514e-02 1.46910534e+02] [-1.60672980e-01 9.86998623e-01 -4.23218153e-03 -2.19334397e+01] [-2.38576742e-02 4.02931620e-04 9.99715284e-01 -6.34183745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.85264000000004 meters 0.024374941010493232 Centerline is valid? [True, True] Translation: X:146.94, Y:-21.94, Z:-6.34 [[ 9.86944924e-01 1.59212070e-01 2.43152856e-02 1.46940265e+02] [-1.59152277e-01 9.87244299e-01 -4.38721076e-03 -2.19431353e+01] [-2.47036240e-02 4.60102315e-04 9.99694713e-01 -6.34296936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88264000000004 meters 0.02862124789397797 Centerline is valid? [True, True] Translation: X:146.97, Y:-21.96, Z:-6.35 [[ 9.87292035e-01 1.56954702e-01 2.48929335e-02 1.46969277e+02] [-1.56891204e-01 9.87605659e-01 -4.49588294e-03 -2.19573062e+01] [-2.52900520e-02 5.33267105e-04 9.99680013e-01 -6.34603888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.91264000000004 meters 0.02955362722876961 Centerline is valid? [True, True] Translation: X:147.00, Y:-21.97, Z:-6.35 [[ 9.87432514e-01 1.56143568e-01 2.44175355e-02 1.47000137e+02] [-1.56082131e-01 9.87734219e-01 -4.41378414e-03 -2.19655694e+01] [-2.48072194e-02 5.47172991e-04 9.99692104e-01 -6.34787686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.94264000000004 meters 0.02765737120013039 Centerline is valid? [True, True] Translation: X:147.03, Y:-21.97, Z:-6.35 [[ 9.87521695e-01 1.55639901e-01 2.40233906e-02 1.47032160e+02] [-1.55580191e-01 9.87813704e-01 -4.34631872e-03 -2.19702276e+01] [-2.44070951e-02 5.54520335e-04 9.99701949e-01 -6.34744040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.97264 meters 0.028331951215392 Centerline is valid? [True, True] Translation: X:147.06, Y:-21.98, Z:-6.35 [[ 9.87572994e-01 1.55421113e-01 2.33207820e-02 1.47063617e+02] [-1.55364691e-01 9.87848155e-01 -4.22313442e-03 -2.19781817e+01] [-2.36937557e-02 5.47427427e-04 9.99719114e-01 -6.35002351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.00264 meters 0.03232833686675071 Centerline is valid? [True, True] Translation: X:147.09, Y:-21.99, Z:-6.35 [[ 9.87553117e-01 1.55574785e-01 2.31371269e-02 1.47094878e+02] [-1.55519170e-01 9.87823967e-01 -4.19496372e-03 -2.19875025e+01] [-2.35080391e-02 5.44482720e-04 9.99723500e-01 -6.35172730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.03264000000001 meters 0.03389535477248777 Centerline is valid? [True, True] Translation: X:147.13, Y:-22.00, Z:-6.35 [[ 9.87451518e-01 1.56179711e-01 2.33965170e-02 1.47125803e+02] [-1.56122964e-01 9.87728509e-01 -4.24402552e-03 -2.19956877e+01] [-2.37722375e-02 5.38035862e-04 9.99717256e-01 -6.35293493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06264000000002 meters 0.027054768403850658 Centerline is valid? [True, True] Translation: X:147.16, Y:-22.00, Z:-6.35 [[ 9.87333509e-01 1.56884829e-01 2.36578059e-02 1.47156875e+02] [-1.56826907e-01 9.87616762e-01 -4.29565067e-03 -2.20033150e+01] [-2.40387681e-02 5.31059322e-04 9.99710886e-01 -6.35233194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.09264000000002 meters 0.0258439967246477 Centerline is valid? [True, True] Translation: X:147.19, Y:-22.01, Z:-6.35 [[ 9.86879339e-01 1.59616803e-01 2.43237719e-02 1.47186264e+02] [-1.59556211e-01 9.87178930e-01 -4.42433451e-03 -2.20111885e+01] [-2.47181133e-02 4.85275423e-04 9.99694343e-01 -6.35341228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12264000000002 meters 0.03650428360302475 Centerline is valid? [True, True] Translation: X:147.22, Y:-22.01, Z:-6.35 [[ 9.86524398e-01 1.61812501e-01 2.42141965e-02 1.47218706e+02] [-1.61753187e-01 9.86821429e-01 -4.40149722e-03 -2.20146209e+01] [-2.46073053e-02 4.25460937e-04 9.99697104e-01 -6.35343213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.15264000000002 meters 0.019333223595924817 Centerline is valid? [True, True] Translation: X:147.25, Y:-22.02, Z:-6.35 [[ 9.85644330e-01 1.67006840e-01 2.47784122e-02 1.47249320e+02] [-1.66946179e-01 9.85955688e-01 -4.51158097e-03 -2.20193130e+01] [-2.51838813e-02 3.10152977e-04 9.99682788e-01 -6.35437620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18264000000002 meters 0.020553324380438515 Centerline is valid? [True, True] Translation: X:147.28, Y:-22.02, Z:-6.36 [[ 9.85082574e-01 1.70336129e-01 2.44525309e-02 1.47281596e+02] [-1.70278135e-01 9.85385993e-01 -4.44994002e-03 -2.20229287e+01] [-2.48531670e-02 2.19827004e-04 9.99691088e-01 -6.35564417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.21264000000002 meters 0.015939211592455947 Centerline is valid? [True, True] Translation: X:147.31, Y:-22.03, Z:-6.36 [[ 9.84543170e-01 1.73427956e-01 2.44435996e-02 1.47313083e+02] [-1.73370846e-01 9.84846548e-01 -4.45274125e-03 -2.20267592e+01] [-2.48454245e-02 1.46108442e-04 9.99691294e-01 -6.35724563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24264000000002 meters 0.015183897315843143 Centerline is valid? [True, True] Translation: X:147.34, Y:-22.03, Z:-6.36 [[ 9.84014968e-01 1.76418776e-01 2.43096182e-02 1.47344093e+02] [-1.76363089e-01 9.84315198e-01 -4.43292566e-03 -2.20303099e+01] [-2.47103779e-02 7.47458540e-05 9.99694649e-01 -6.35945442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.27264000000002 meters 0.023543472803485205 Centerline is valid? [True, True] Translation: X:147.38, Y:-22.03, Z:-6.36 [[ 9.83097786e-01 1.81532835e-01 2.37607607e-02 1.47375192e+02] [-1.81481035e-01 9.83384883e-01 -4.33662785e-03 -2.20342240e+01] [-2.41532132e-02 -4.87982069e-05 9.99708267e-01 -6.36328546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30264000000003 meters 0.015874531385947886 Centerline is valid? [True, True] Translation: X:147.41, Y:-22.04, Z:-6.36 [[ 9.82728253e-01 1.83580411e-01 2.33112427e-02 1.47406390e+02] [-1.83531048e-01 9.83004692e-01 -4.25800871e-03 -2.20401050e+01] [-2.36967479e-02 -9.38713372e-05 9.99719188e-01 -6.36494727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.33264000000003 meters 0.015874531385947886 Centerline is valid? [True, True] Translation: X:147.44, Y:-22.05, Z:-6.37 [[ 9.82723851e-01 1.83604130e-01 2.33100042e-02 1.47436691e+02] [-1.83554613e-01 9.83000262e-01 -4.26477690e-03 -2.20456916e+01] [-2.36967709e-02 -8.75608296e-05 9.99719188e-01 -6.36630743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36264000000003 meters 0.01717476040058955 Centerline is valid? [True, True] Translation: X:147.47, Y:-22.05, Z:-6.37 [[ 9.82322971e-01 1.85752866e-01 2.31830257e-02 1.47466726e+02] [-1.85704466e-01 9.82596486e-01 -4.24236058e-03 -2.20499289e+01] [-2.35675902e-02 -1.37823139e-04 9.99722236e-01 -6.36902085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.39264000000003 meters 0.019941652636201405 Centerline is valid? [True, True] Translation: X:147.50, Y:-22.05, Z:-6.37 [[ 9.81398568e-01 1.90521378e-01 2.36316765e-02 1.47497778e+02] [-1.90472454e-01 9.81683013e-01 -4.32500316e-03 -2.20510070e+01] [-2.40228209e-02 -2.56631493e-04 9.99711377e-01 -6.36976450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42264000000003 meters 0.020980501613893462 Centerline is valid? [True, True] Translation: X:147.53, Y:-22.06, Z:-6.37 [[ 9.80916312e-01 1.92969841e-01 2.37871517e-02 1.47528487e+02] [-1.92920990e-01 9.81204637e-01 -4.35345780e-03 -2.20551189e+01] [-2.41801496e-02 -3.18663083e-04 9.99707567e-01 -6.36971030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.45264000000003 meters 0.02263237056849497 Centerline is valid? [True, True] Translation: X:147.56, Y:-22.06, Z:-6.37 [[ 9.80442920e-01 1.95375929e-01 2.36627596e-02 1.47558248e+02] [-1.95328282e-01 9.80728354e-01 -4.33093866e-03 -2.20590365e+01] [-2.40529004e-02 -3.75768035e-04 9.99710617e-01 -6.37008077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48264000000003 meters 0.025653133744164815 Centerline is valid? [True, True] Translation: X:147.59, Y:-22.06, Z:-6.37 [[ 9.79368892e-01 2.00668499e-01 2.38479933e-02 1.47588820e+02] [-2.00621677e-01 9.79659070e-01 -4.36454650e-03 -2.20609201e+01] [-2.42387299e-02 -5.09923335e-04 9.99706069e-01 -6.36803927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.51264000000003 meters 0.02881110263294498 Centerline is valid? [True, True] Translation: X:147.62, Y:-22.06, Z:-6.37 [[ 9.78779972e-01 2.03524181e-01 2.38259300e-02 1.47619016e+02] [-2.03478298e-01 9.79069748e-01 -4.36019839e-03 -2.20613037e+01] [-2.42146531e-02 -5.80384838e-04 9.99706614e-01 -6.36923910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54264000000003 meters 0.034475265978129284 Centerline is valid? [True, True] Translation: X:147.65, Y:-22.06, Z:-6.37 [[ 9.77766308e-01 2.08313807e-01 2.40500454e-02 1.47649615e+02] [-2.08268514e-01 9.78061787e-01 -4.40074903e-03 -2.20564801e+01] [-2.44391672e-02 -7.05963093e-04 9.99701070e-01 -6.37111939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.57264000000004 meters 0.04179940622978287 Centerline is valid? [True, True] Translation: X:147.68, Y:-22.06, Z:-6.37 [[ 9.77349023e-01 2.10266160e-01 2.40214391e-02 1.47679255e+02] [-2.10221557e-01 9.77643889e-01 -4.39577989e-03 -2.20582150e+01] [-2.44086969e-02 -7.53613147e-04 9.99701779e-01 -6.37298762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60264000000004 meters 0.038859239720996086 Centerline is valid? [True, True] Translation: X:147.71, Y:-22.06, Z:-6.37 [[ 9.77114250e-01 2.11400220e-01 2.36154489e-02 1.47707780e+02] [-2.11357444e-01 9.77399282e-01 -4.32141634e-03 -2.20608403e+01] [-2.39952712e-02 -7.68783444e-04 9.99711776e-01 -6.37381069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.63264000000004 meters 0.036858262776764614 Centerline is valid? [True, True] Translation: X:147.74, Y:-22.06, Z:-6.37 [[ 9.77098081e-01 2.11500800e-01 2.33827261e-02 1.47735278e+02] [-2.11458911e-01 9.77377525e-01 -4.27804651e-03 -2.20634624e+01] [-2.37585613e-02 -7.64414767e-04 9.99717433e-01 -6.37490313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66264000000004 meters 0.03604953874193008 Centerline is valid? [True, True] Translation: X:147.76, Y:-22.07, Z:-6.37 [[ 9.77250812e-01 2.10721312e-01 2.40287109e-02 1.47763771e+02] [-2.10676898e-01 9.77545875e-01 -4.39388487e-03 -2.20669271e+01] [-2.44150524e-02 -7.68366725e-04 9.99701613e-01 -6.37499401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.69264000000004 meters 0.035189622502494446 Centerline is valid? [True, True] Translation: X:147.79, Y:-22.07, Z:-6.38 [[ 9.77587409e-01 2.09119591e-01 2.43280576e-02 1.47790911e+02] [-2.09073579e-01 9.77889796e-01 -4.44816424e-03 -2.20717275e+01] [-2.47203576e-02 -7.37884724e-04 9.99694133e-01 -6.37653644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.72264 meters 0.036590365438074327 Centerline is valid? [True, True] Translation: X:147.82, Y:-22.08, Z:-6.38 [[ 9.78090910e-01 2.06709152e-01 2.46880267e-02 1.47819190e+02] [-2.06661053e-01 9.78402193e-01 -4.51191453e-03 -2.20791562e+01] [-2.50874735e-02 -6.88991005e-04 9.99685022e-01 -6.37689813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.75264 meters 0.04051650515298001 Centerline is valid? [True, True] Translation: X:147.85, Y:-22.09, Z:-6.37 [[ 9.79492747e-01 1.99683962e-01 2.68379255e-02 1.47848375e+02] [-1.99624528e-01 9.79860198e-01 -4.90308830e-03 -2.20912197e+01] [-2.72764831e-02 -5.54968786e-04 9.99627773e-01 -6.37480480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.78264000000001 meters 0.029692597195307452 Centerline is valid? [True, True] Translation: X:147.88, Y:-22.10, Z:-6.38 [[ 9.80309890e-01 1.95505923e-01 2.77480237e-02 1.47876634e+02] [-1.95440713e-01 9.80702416e-01 -5.06945042e-03 -2.21000666e+01] [-2.82036615e-02 -4.53461146e-04 9.99602095e-01 -6.37517250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.81264000000002 meters 0.015267693170382101 Centerline is valid? [True, True] Translation: X:147.91, Y:-22.12, Z:-6.37 [[ 9.81902193e-01 1.87266221e-01 2.82744749e-02 1.47905773e+02] [-1.87195135e-01 9.82309174e-01 -5.16413110e-03 -2.21174171e+01] [-2.87413434e-02 -2.22172494e-04 9.99586858e-01 -6.37462925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.84264000000002 meters 0.014189832124242682 Centerline is valid? [True, True] Translation: X:147.94, Y:-22.13, Z:-6.38 [[ 9.82600171e-01 1.83604101e-01 2.80434860e-02 1.47935139e+02] [-1.83532648e-01 9.83000265e-01 -5.12307424e-03 -2.21283336e+01] [-2.85073717e-02 -1.12961631e-04 9.99593576e-01 -6.37788952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.87264000000002 meters 0.024381978360182115 Centerline is valid? [True, True] Translation: X:147.97, Y:-22.14, Z:-6.38 [[ 9.83227032e-01 1.80247745e-01 2.78451642e-02 1.47966341e+02] [-1.80175918e-01 9.83621243e-01 -5.08805768e-03 -2.21398508e+01] [-2.83062060e-02 -1.43121805e-05 9.99599299e-01 -6.37881302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.90264000000002 meters 0.032026189422817444 Centerline is valid? [True, True] Translation: X:148.00, Y:-22.15, Z:-6.38 [[ 9.84141023e-01 1.75337225e-01 2.68943031e-02 1.47996537e+02] [-1.75268235e-01 9.84508426e-01 -4.91982462e-03 -2.21521526e+01] [-2.73402965e-02 1.28084204e-04 9.99626176e-01 -6.38064550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.93264000000002 meters 0.025365863596876523 Centerline is valid? [True, True] Translation: X:148.03, Y:-22.16, Z:-6.38 [[ 9.84307924e-01 1.74530567e-01 2.60190575e-02 1.48027156e+02] [-1.74465587e-01 9.84651745e-01 -4.76446675e-03 -2.21591977e+01] [-2.64512555e-02 1.50272222e-04 9.99650093e-01 -6.38299289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.96264000000002 meters 0.04082503078967674 Centerline is valid? [True, True] Translation: X:148.06, Y:-22.17, Z:-6.39 [[ 9.84319655e-01 1.74536633e-01 2.55299748e-02 1.48057277e+02] [-1.74473968e-01 9.84650669e-01 -4.67908545e-03 -2.21650723e+01] [-2.59547786e-02 1.51399787e-04 9.99663107e-01 -6.38603193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.99264000000002 meters 0.02108549152601664 Centerline is valid? [True, True] Translation: X:148.09, Y:-22.17, Z:-6.39 [[ 9.84204064e-01 1.75199915e-01 2.54430635e-02 1.48089812e+02] [-1.75137805e-01 9.84532870e-01 -4.66671331e-03 -2.21698592e+01] [-2.58671401e-02 1.36955929e-04 9.99665380e-01 -6.38749920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02264000000002 meters 0.021171840384179946 Centerline is valid? [True, True] Translation: X:148.12, Y:-22.17, Z:-6.39 [[ 9.83674176e-01 1.78246874e-01 2.47622236e-02 1.48122508e+02] [-1.78188882e-01 9.83985797e-01 -4.54686537e-03 -2.21701786e+01] [-2.51761409e-02 6.02811043e-05 9.99683029e-01 -6.39226143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.05264000000003 meters 0.014427366726320721 Centerline is valid? [True, True] Translation: X:148.16, Y:-22.17, Z:-6.39 [[ 9.83316234e-01 1.80222584e-01 2.46780088e-02 1.48156094e+02] [-1.80165498e-01 9.83625854e-01 -4.53577935e-03 -2.21732813e+01] [-2.50913774e-02 1.39797298e-05 9.99685162e-01 -6.39085791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08264000000003 meters 0.020501335436200467 Centerline is valid? [True, True] Translation: X:148.19, Y:-22.17, Z:-6.39 [[ 9.82748825e-01 1.83183203e-01 2.54688315e-02 1.48187045e+02] [-1.83123162e-01 9.83078792e-01 -4.69001541e-03 -2.21736147e+01] [-2.58970002e-02 -5.48258383e-05 9.99664615e-01 -6.39284164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.11264000000003 meters 0.01432459328426464 Centerline is valid? [True, True] Translation: X:148.22, Y:-22.18, Z:-6.39 [[ 9.82532248e-01 1.84317688e-01 2.56392557e-02 1.48218358e+02] [-1.84257225e-01 9.82866717e-01 -4.72149694e-03 -2.21774357e+01] [-2.60702264e-02 -8.51950861e-05 9.99660110e-01 -6.39127986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14264000000003 meters 0.02896768012993588 Centerline is valid? [True, True] Translation: X:148.25, Y:-22.18, Z:-6.39 [[ 9.82377130e-01 1.85188591e-01 2.53053270e-02 1.48248829e+02] [-1.85130031e-01 9.82702994e-01 -4.65810314e-03 -2.21809996e+01] [-2.57302481e-02 -1.08761966e-04 9.99668916e-01 -6.39497384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.17264000000003 meters 0.03422609477106266 Centerline is valid? [True, True] Translation: X:148.28, Y:-22.18, Z:-6.39 [[ 9.82205217e-01 1.86068372e-01 2.55239639e-02 1.48279633e+02] [-1.86008903e-01 9.82536791e-01 -4.70561140e-03 -2.21831077e+01] [-2.59537990e-02 -1.25808458e-04 9.99663136e-01 -6.39479183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20264000000003 meters 0.019382476866822634 Centerline is valid? [True, True] Translation: X:148.31, Y:-22.19, Z:-6.40 [[ 9.82182190e-01 1.86130300e-01 2.59549137e-02 1.48309066e+02] [-1.86068822e-01 9.82525061e-01 -4.78528250e-03 -2.21866285e+01] [-2.63920393e-02 -1.29380966e-04 9.99651661e-01 -6.39744033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.23264000000003 meters 0.030440810967264333 Centerline is valid? [True, True] Translation: X:148.34, Y:-22.19, Z:-6.40 [[ 9.82127810e-01 1.86350455e-01 2.64286433e-02 1.48338938e+02] [-1.86286806e-01 9.82483328e-01 -4.87206293e-03 -2.21915582e+01] [-2.68736126e-02 -1.38319056e-04 9.99638830e-01 -6.39703025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26264000000003 meters 0.025010398075465443 Centerline is valid? [True, True] Translation: X:148.37, Y:-22.20, Z:-6.40 [[ 9.82169515e-01 1.86146841e-01 2.63134558e-02 1.48368143e+02] [-1.86083667e-01 9.82521927e-01 -4.85104290e-03 -2.21965734e+01] [-2.67565536e-02 -1.31957900e-04 9.99641971e-01 -6.39930460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.29264000000003 meters 0.027090834909709784 Centerline is valid? [True, True] Translation: X:148.40, Y:-22.20, Z:-6.40 [[ 9.82253385e-01 1.85791320e-01 2.56880065e-02 1.48397346e+02] [-1.85731001e-01 9.82589218e-01 -4.73542247e-03 -2.22026395e+01] [-2.61205586e-02 -1.19674400e-04 9.99658793e-01 -6.40232394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32264000000004 meters 0.014575827082695076 Centerline is valid? [True, True] Translation: X:148.43, Y:-22.21, Z:-6.40 [[ 9.82358367e-01 1.85292924e-01 2.52699792e-02 1.48427821e+02] [-1.85234413e-01 9.82683327e-01 -4.65736829e-03 -2.22102393e+01] [-2.56953646e-02 -1.05665050e-04 9.99669814e-01 -6.40169999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.35264000000004 meters 0.015062773986400062 Centerline is valid? [True, True] Translation: X:148.46, Y:-22.22, Z:-6.41 [[ 9.82492759e-01 1.84563088e-01 2.53859225e-02 1.48458255e+02] [-1.84503843e-01 9.82820665e-01 -4.67686023e-03 -2.22172165e+01] [-2.58129850e-02 -8.88189520e-05 9.99666785e-01 -6.40588547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38264000000004 meters 0.020353947631658802 Centerline is valid? [True, True] Translation: X:148.49, Y:-22.22, Z:-6.41 [[ 9.82542971e-01 1.84310357e-01 2.52784790e-02 1.48489401e+02] [-1.84251356e-01 9.82868092e-01 -4.66382629e-03 -2.22233493e+01] [-2.57050019e-02 -7.51842899e-05 9.99669569e-01 -6.40623406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.41264000000004 meters 0.014267827407705259 Centerline is valid? [True, True] Translation: X:148.52, Y:-22.23, Z:-6.41 [[ 9.82571972e-01 1.84079662e-01 2.58263188e-02 1.48520393e+02] [-1.84017978e-01 9.82911325e-01 -4.76557027e-03 -2.22300703e+01] [-2.62622258e-02 -6.99911781e-05 9.99655086e-01 -6.40616599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.44264000000004 meters 0.02763925678248767 Centerline is valid? [True, True] Translation: X:148.55, Y:-22.24, Z:-6.41 [[ 9.82675406e-01 1.83602886e-01 2.52789683e-02 1.48550814e+02] [-1.83543680e-01 9.83000497e-01 -4.66265413e-03 -2.22379418e+01] [-2.57053151e-02 -5.79193269e-05 9.99669562e-01 -6.40855038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.47264 meters 0.014384520771457169 Centerline is valid? [True, True] Translation: X:148.58, Y:-22.24, Z:-6.41 [[ 9.82679859e-01 1.83560178e-01 2.54156744e-02 1.48581251e+02] [-1.83500141e-01 9.83008473e-01 -4.69465955e-03 -2.22436975e+01] [-2.58455758e-02 -5.04324428e-05 9.99665946e-01 -6.40963474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.50264 meters 0.034806926236459666 Centerline is valid? [True, True] Translation: X:148.61, Y:-22.25, Z:-6.41 [[ 9.82743920e-01 1.83258800e-01 2.51117349e-02 1.48612399e+02] [-1.83200148e-01 9.83064703e-01 -4.63632431e-03 -2.22500596e+01] [-2.55361074e-02 -4.41540308e-05 9.99673899e-01 -6.41144339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.53264000000001 meters 0.014252241505610849 Centerline is valid? [True, True] Translation: X:148.64, Y:-22.26, Z:-6.41 [[ 9.82874284e-01 1.82524332e-01 2.53576626e-02 1.48642322e+02] [-1.82464155e-01 9.83201336e-01 -4.68661363e-03 -2.22611698e+01] [-2.57871088e-02 -2.05124667e-05 9.99667457e-01 -6.41306302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.56264000000002 meters 0.0140221082723431 Centerline is valid? [True, True] Translation: X:148.67, Y:-22.27, Z:-6.41 [[ 9.82924872e-01 1.82182244e-01 2.58519894e-02 1.48674007e+02] [-1.82119415e-01 9.83264781e-01 -4.78419631e-03 -2.22695137e+01] [-2.62909463e-02 -5.64363946e-06 9.99654333e-01 -6.41331878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.59264000000002 meters 0.01386393944465949 Centerline is valid? [True, True] Translation: X:148.71, Y:-22.28, Z:-6.41 [[ 9.82812594e-01 1.82679034e-01 2.66040455e-02 1.48705627e+02] [-1.82612681e-01 9.83172605e-01 -4.92324579e-03 -2.22759499e+01] [-2.70557425e-02 -1.96081058e-05 9.99633926e-01 -6.41321789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62264000000002 meters 0.014350106501868371 Centerline is valid? [True, True] Translation: X:148.74, Y:-22.28, Z:-6.42 [[ 9.82607334e-01 1.83731515e-01 2.69361684e-02 1.48736591e+02] [-1.83663762e-01 9.82976464e-01 -4.98940385e-03 -2.22814845e+01] [-2.73943302e-02 -4.45731979e-05 9.99624704e-01 -6.41590903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.65264000000002 meters 0.013679800171774937 Centerline is valid? [True, True] Translation: X:148.77, Y:-22.29, Z:-6.41 [[ 9.82394064e-01 1.84786817e-01 2.74906432e-02 1.48767754e+02] [-1.84716503e-01 9.82778626e-01 -5.09767223e-03 -2.22878712e+01] [-2.79591992e-02 -7.00525451e-05 9.99609063e-01 -6.41419503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68264000000002 meters 0.013999895007099672 Centerline is valid? [True, True] Translation: X:148.80, Y:-22.29, Z:-6.42 [[ 9.82112695e-01 1.86123992e-01 2.85046220e-02 1.48798443e+02] [-1.86048794e-01 9.82526258e-01 -5.29129859e-03 -2.22930227e+01] [-2.89913772e-02 -1.06599030e-04 9.99579656e-01 -6.41542127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.71264000000002 meters 0.01413128845475427 Centerline is valid? [True, True] Translation: X:148.83, Y:-22.30, Z:-6.41 [[ 9.81611326e-01 1.88570638e-01 2.96701836e-02 1.48830448e+02] [-1.88490129e-01 9.82059612e-01 -5.51265742e-03 -2.22981821e+01] [-3.01774144e-02 -1.81249793e-04 9.99544542e-01 -6.41396812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74264000000002 meters 0.0146240308827597 Centerline is valid? [True, True] Translation: X:148.86, Y:-22.30, Z:-6.42 [[ 9.81407425e-01 1.89660199e-01 2.94699186e-02 1.48862284e+02] [-1.89581107e-01 9.81849767e-01 -5.48070460e-03 -2.23039647e+01] [-2.99745042e-02 -2.08135602e-04 9.99550642e-01 -6.41549800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.77264000000002 meters 0.023778781557405627 Centerline is valid? [True, True] Translation: X:148.89, Y:-22.31, Z:-6.42 [[ 9.80922697e-01 1.92302324e-01 2.84688887e-02 1.48894128e+02] [-1.92229488e-01 9.81335692e-01 -5.29934131e-03 -2.23073743e+01] [-2.89566123e-02 -2.74315739e-04 9.99580632e-01 -6.41858388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80264000000003 meters 0.01719480532622458 Centerline is valid? [True, True] Translation: X:148.93, Y:-22.31, Z:-6.42 [[ 9.80715139e-01 1.93502596e-01 2.74692806e-02 1.48925597e+02] [-1.93435119e-01 9.81099719e-01 -5.11819156e-03 -2.23110149e+01] [-2.79404868e-02 -2.94035608e-04 9.99609545e-01 -6.42151043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.83264000000003 meters 0.018523170748276318 Centerline is valid? [True, True] Translation: X:148.96, Y:-22.31, Z:-6.43 [[ 9.80489032e-01 1.94803111e-01 2.63249971e-02 1.48956105e+02] [-1.94741433e-01 9.80842317e-01 -4.91149523e-03 -2.23143843e+01] [-2.67774457e-02 -3.10900456e-04 9.99641372e-01 -6.42504440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86264000000003 meters 0.03318708323282155 Centerline is valid? [True, True] Translation: X:148.99, Y:-22.32, Z:-6.43 [[ 9.79993488e-01 1.97302851e-01 2.61600630e-02 1.48986477e+02] [-1.97242804e-01 9.80342514e-01 -4.88183157e-03 -2.23173069e+01] [-2.66090212e-02 -3.75721051e-04 9.99645847e-01 -6.42743828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.89264000000003 meters 0.03055876156357002 Centerline is valid? [True, True] Translation: X:149.02, Y:-22.32, Z:-6.43 [[ 9.79833959e-01 1.98073406e-01 2.63123160e-02 1.49016758e+02] [-1.98012936e-01 9.80187108e-01 -4.91024409e-03 -2.23209996e+01] [-2.67635817e-02 -3.98955037e-04 9.99641712e-01 -6.42913649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92264000000003 meters 0.021857637096121346 Centerline is valid? [True, True] Translation: X:149.05, Y:-22.32, Z:-6.43 [[ 9.79738551e-01 1.98586717e-01 2.59940034e-02 1.49046012e+02] [-1.98527876e-01 9.80083236e-01 -4.85106421e-03 -2.23242385e+01] [-2.64396439e-02 -4.07759679e-04 9.99650328e-01 -6.43091542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.95264000000003 meters 0.025807658153048488 Centerline is valid? [True, True] Translation: X:149.08, Y:-22.33, Z:-6.43 [[ 9.79746590e-01 1.98459717e-01 2.66525973e-02 1.49075679e+02] [-1.98397813e-01 9.80108958e-01 -4.97382597e-03 -2.23289582e+01] [-2.71095534e-02 -4.14727974e-04 9.99632382e-01 -6.43205101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98264000000003 meters 0.020804806902721792 Centerline is valid? [True, True] Translation: X:149.10, Y:-22.34, Z:-6.43 [[ 9.80099691e-01 1.96673401e-01 2.69103910e-02 1.49104539e+02] [-1.96609645e-01 9.80468988e-01 -5.02103582e-03 -2.23357151e+01] [-2.73723081e-02 -3.69726777e-04 9.99625240e-01 -6.43327356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.01264000000003 meters 0.01940026708963237 Centerline is valid? [True, True] Translation: X:149.13, Y:-22.34, Z:-6.43 [[ 9.80322902e-01 1.95646358e-01 2.62585298e-02 1.49134252e+02] [-1.95585299e-01 9.80674458e-01 -4.89887859e-03 -2.23437793e+01] [-2.67095172e-02 -3.33299536e-04 9.99643182e-01 -6.43494914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04264000000003 meters 0.037967889327752434 Centerline is valid? [True, True] Translation: X:149.16, Y:-22.35, Z:-6.44 [[ 9.80792916e-01 1.93322560e-01 2.59161025e-02 1.49164566e+02] [-1.93262284e-01 9.81135218e-01 -4.83455263e-03 -2.23530816e+01] [-2.63618290e-02 -2.66910197e-04 9.99652431e-01 -6.43717010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.07264000000004 meters 0.03067561941458554 Centerline is valid? [True, True] Translation: X:149.19, Y:-22.36, Z:-6.44 [[ 9.81062279e-01 1.91873169e-01 2.64856960e-02 1.49193678e+02] [-1.91809662e-01 9.81419703e-01 -4.94171815e-03 -2.23606984e+01] [-2.69417670e-02 -2.32079124e-04 9.99636978e-01 -6.43877251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10264000000004 meters 0.01944913152292156 Centerline is valid? [True, True] Translation: X:149.22, Y:-22.37, Z:-6.44 [[ 9.81240340e-01 1.90833346e-01 2.73866467e-02 1.49224826e+02] [-1.90765104e-01 9.81622427e-01 -5.10750127e-03 -2.23706972e+01] [-2.78580282e-02 -2.12730219e-04 9.99611867e-01 -6.43701499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.13264000000004 meters 0.014519967141059912 Centerline is valid? [True, True] Translation: X:149.25, Y:-22.38, Z:-6.44 [[ 9.81603592e-01 1.88870603e-01 2.79693230e-02 1.49254434e+02] [-1.88798474e-01 9.82001971e-01 -5.22159521e-03 -2.23801345e+01] [-2.84521362e-02 -1.55028892e-04 9.99595144e-01 -6.43693426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16264000000004 meters 0.014493030805869084 Centerline is valid? [True, True] Translation: X:149.29, Y:-22.39, Z:-6.44 [[ 9.81745356e-01 1.88125598e-01 2.80145606e-02 1.49286108e+02] [-1.88052814e-01 9.82144970e-01 -5.23416982e-03 -2.23872862e+01] [-2.84990412e-02 -1.29595058e-04 9.99593811e-01 -6.43918466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.19264000000004 meters 0.014045098458693495 Centerline is valid? [True, True] Translation: X:149.32, Y:-22.39, Z:-6.44 [[ 9.81785744e-01 1.87922343e-01 2.79632839e-02 1.49317933e+02] [-1.87849582e-01 9.82183883e-01 -5.23026016e-03 -2.23941251e+01] [-2.84479695e-02 -1.17896313e-04 9.99595268e-01 -6.43974219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.22264 meters 0.01451646811300112 Centerline is valid? [True, True] Translation: X:149.35, Y:-22.40, Z:-6.44 [[ 9.81818274e-01 1.87795703e-01 2.76703828e-02 1.49349020e+02] [-1.87724244e-01 9.82208105e-01 -5.18131337e-03 -2.24011706e+01] [-2.81511027e-02 -1.07293533e-04 9.99603673e-01 -6.44365243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.25264 meters 0.01451646811300112 Centerline is valid? [True, True] Translation: X:149.38, Y:-22.41, Z:-6.45 [[ 9.81787043e-01 1.87959060e-01 2.76693612e-02 1.49380099e+02] [-1.87887512e-01 9.82176858e-01 -5.18676176e-03 -2.24071488e+01] [-2.81511051e-02 -1.06431935e-04 9.99603673e-01 -6.44504958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.28264000000001 meters 0.014209270234553715 Centerline is valid? [True, True] Translation: X:149.41, Y:-22.41, Z:-6.45 [[ 9.81721244e-01 1.88378779e-01 2.71446960e-02 1.49411240e+02] [-1.88309957e-01 9.82096443e-01 -5.09283112e-03 -2.24141320e+01] [-2.76180907e-02 -1.11876044e-04 9.99618542e-01 -6.44505825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.31264000000002 meters 0.022561621092238596 Centerline is valid? [True, True] Translation: X:149.44, Y:-22.42, Z:-6.45 [[ 9.81579876e-01 1.89135897e-01 2.69918512e-02 1.49442997e+02] [-1.89068009e-01 9.81950913e-01 -5.06874239e-03 -2.24190682e+01] [-2.74633541e-02 -1.27920026e-04 9.99622803e-01 -6.44836052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.34264000000002 meters 0.02690267042103748 Centerline is valid? [True, True] Translation: X:149.48, Y:-22.42, Z:-6.45 [[ 9.81272476e-01 1.90666520e-01 2.73971963e-02 1.49475675e+02] [-1.90597031e-01 9.81654853e-01 -5.14994796e-03 -2.24239762e+01] [-2.78765134e-02 -1.68322091e-04 9.99611360e-01 -6.44582858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.37264000000002 meters 0.016248438369208095 Centerline is valid? [True, True] Translation: X:149.51, Y:-22.42, Z:-6.45 [[ 9.80645281e-01 1.93824946e-01 2.76897520e-02 1.49507269e+02] [-1.93755040e-01 9.81036098e-01 -5.21144710e-03 -2.24245553e+01] [-2.81747548e-02 -2.54447996e-04 9.99602980e-01 -6.44676199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.40264000000002 meters 0.022573123915690416 Centerline is valid? [True, True] Translation: X:149.54, Y:-22.43, Z:-6.45 [[ 9.80341883e-01 1.95356071e-01 2.76730510e-02 1.49537911e+02] [-1.95286658e-01 9.80732339e-01 -5.21538757e-03 -2.24274337e+01] [-2.81587136e-02 -2.91314783e-04 9.99603422e-01 -6.44837601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.43264000000002 meters 0.020183337989114498 Centerline is valid? [True, True] Translation: X:149.57, Y:-22.43, Z:-6.45 [[ 9.79716690e-01 1.98226307e-01 2.93519634e-02 1.49568451e+02] [-1.98149479e-01 9.80156199e-01 -5.53256605e-03 -2.24270906e+01] [-2.98662090e-02 -3.95728959e-04 9.99553827e-01 -6.44805394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.46264000000002 meters 0.01981041755432134 Centerline is valid? [True, True] Translation: X:149.60, Y:-22.43, Z:-6.45 [[ 9.79482499e-01 1.99313000e-01 2.98053948e-02 1.49598347e+02] [-1.99234299e-01 9.79935783e-01 -5.61748178e-03 -2.24315893e+01] [-3.03270101e-02 -4.36031852e-04 9.99539935e-01 -6.44706739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.49264000000002 meters 0.02587815883570309 Centerline is valid? [True, True] Translation: X:149.63, Y:-22.43, Z:-6.45 [[ 9.79097162e-01 2.01242349e-01 2.95002448e-02 1.49629334e+02] [-2.01166127e-01 9.79541360e-01 -5.55996955e-03 -2.24324112e+01] [-3.00156113e-02 -4.90699589e-04 9.99549310e-01 -6.44787731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52264000000002 meters 0.023071400717109475 Centerline is valid? [True, True] Translation: X:149.66, Y:-22.43, Z:-6.45 [[ 9.78895803e-01 2.02195775e-01 2.96627029e-02 1.49658896e+02] [-2.02119152e-01 9.79344983e-01 -5.59045596e-03 -2.24347329e+01] [-3.01803858e-02 -5.22926479e-04 9.99544332e-01 -6.45057199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.55264000000003 meters 0.02415062275719152 Centerline is valid? [True, True] Translation: X:149.69, Y:-22.44, Z:-6.45 [[ 9.78696093e-01 2.03194634e-01 2.94261533e-02 1.49687947e+02] [-2.03119656e-01 9.79138213e-01 -5.54669174e-03 -2.24376397e+01] [-2.99393291e-02 -5.48504579e-04 9.99551567e-01 -6.45245743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58264000000003 meters 0.028013763460817243 Centerline is valid? [True, True] Translation: X:149.72, Y:-22.44, Z:-6.45 [[ 9.78665595e-01 2.03455058e-01 2.86302814e-02 1.49717237e+02] [-2.03384217e-01 9.79084136e-01 -5.39582763e-03 -2.24416088e+01] [-2.91292627e-02 -5.42236506e-04 9.99575506e-01 -6.45392768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.61264000000003 meters 0.026077695984767803 Centerline is valid? [True, True] Translation: X:149.75, Y:-22.44, Z:-6.46 [[ 9.78521523e-01 2.04161296e-01 2.85270702e-02 1.49745848e+02] [-2.04091270e-01 9.78937102e-01 -5.37621082e-03 -2.24412682e+01] [-2.90238216e-02 -5.61387978e-04 9.99578563e-01 -6.45716929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64264000000003 meters 0.027630483562202643 Centerline is valid? [True, True] Translation: X:149.77, Y:-22.44, Z:-6.46 [[ 9.78537881e-01 2.04046906e-01 2.87832464e-02 1.49773598e+02] [-2.03975621e-01 9.78960950e-01 -5.42264295e-03 -2.24431509e+01] [-2.92841478e-02 -5.64819021e-04 9.99570968e-01 -6.45951554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.67264000000003 meters 0.02573591133351876 Centerline is valid? [True, True] Translation: X:149.80, Y:-22.45, Z:-6.46 [[ 9.78785299e-01 2.02835219e-01 2.89346238e-02 1.49801963e+02] [-2.02762709e-01 9.79212740e-01 -5.44923534e-03 -2.24496440e+01] [-2.94384491e-02 -5.33231277e-04 9.99566453e-01 -6.45708919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70264000000003 meters 0.02324781422948772 Centerline is valid? [True, True] Translation: X:149.83, Y:-22.45, Z:-6.46 [[ 9.78994228e-01 2.01838728e-01 2.88345118e-02 1.49829383e+02] [-2.01766324e-01 9.79418641e-01 -5.42911806e-03 -2.24529557e+01] [-2.93368646e-02 -5.02758188e-04 9.99569455e-01 -6.45934876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.73264000000003 meters 0.021491956680753602 Centerline is valid? [True, True] Translation: X:149.86, Y:-22.46, Z:-6.46 [[ 9.79299179e-01 2.00391023e-01 2.85754284e-02 1.49857474e+02] [-2.00319355e-01 9.79715892e-01 -5.37838390e-03 -2.24591449e+01] [-2.90735811e-02 -4.57164442e-04 9.99577170e-01 -6.46106438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76264000000003 meters 0.01815019141993533 Centerline is valid? [True, True] Translation: X:149.89, Y:-22.47, Z:-6.46 [[ 9.80153946e-01 1.96245941e-01 2.80316258e-02 1.49885238e+02] [-1.96175330e-01 9.80554650e-01 -5.27427051e-03 -2.24694920e+01] [-2.85215952e-02 -3.29516394e-04 9.99593122e-01 -6.46344163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.79264000000003 meters 0.01636392491431837 Centerline is valid? [True, True] Translation: X:149.91, Y:-22.48, Z:-6.47 [[ 9.80678855e-01 1.93595930e-01 2.80998187e-02 1.49914416e+02] [-1.93523918e-01 9.81081317e-01 -5.28599949e-03 -2.24790511e+01] [-2.85915551e-02 -2.54119083e-04 9.99591146e-01 -6.46520966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82264000000004 meters 0.014864718772017184 Centerline is valid? [True, True] Translation: X:149.94, Y:-22.49, Z:-6.47 [[ 9.81239652e-01 1.90756662e-01 2.79399506e-02 1.49942462e+02] [-1.90684310e-01 9.81637340e-01 -5.25612071e-03 -2.24893271e+01] [-2.84295389e-02 -1.70196161e-04 9.99595784e-01 -6.46710930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.85264000000004 meters 0.013191929109699657 Centerline is valid? [True, True] Translation: X:149.97, Y:-22.50, Z:-6.47 [[ 9.82255403e-01 1.85391074e-01 2.83632405e-02 1.49972467e+02] [-1.85314368e-01 9.82664820e-01 -5.33252709e-03 -2.25046373e+01] [-2.88601616e-02 -1.82124477e-05 9.99583459e-01 -6.46774167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88264000000004 meters 0.013688338275632502 Centerline is valid? [True, True] Translation: X:150.00, Y:-22.51, Z:-6.47 [[ 9.82621605e-01 1.83344091e-01 2.89780087e-02 1.50002104e+02] [-1.83262969e-01 9.83048799e-01 -5.45363472e-03 -2.25131709e+01] [-2.94866884e-02 4.82633921e-05 9.99565172e-01 -6.47003633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.91264000000004 meters 0.013498354151371319 Centerline is valid? [True, True] Translation: X:150.03, Y:-22.52, Z:-6.47 [[ 9.82917347e-01 1.81657147e-01 2.95663634e-02 1.50034397e+02] [-1.81571798e-01 9.83361922e-01 -5.56886053e-03 -2.25215996e+01] [-3.00860592e-02 1.05311850e-04 9.99547307e-01 -6.46853927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.94264000000004 meters 0.014601336597890683 Centerline is valid? [True, True] Translation: X:150.07, Y:-22.53, Z:-6.47 [[ 9.83394817e-01 1.78978495e-01 3.00222131e-02 1.50065004e+02] [-1.78889045e-01 9.83852967e-01 -5.66125507e-03 -2.25332819e+01] [-3.05506863e-02 1.96603876e-04 9.99533200e-01 -6.46954624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.97264 meters 0.022094283374797432 Centerline is valid? [True, True] Translation: X:150.10, Y:-22.54, Z:-6.47 [[ 9.83560281e-01 1.78131661e-01 2.96358609e-02 1.50096386e+02] [-1.78043959e-01 9.84006637e-01 -5.59355742e-03 -2.25409510e+01] [-3.01582735e-02 2.25114894e-04 9.99545110e-01 -6.47105699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.00264 meters 0.015502137652884057 Centerline is valid? [True, True] Translation: X:150.13, Y:-22.55, Z:-6.47 [[ 9.83528602e-01 1.78211619e-01 3.02011409e-02 1.50126513e+02] [-1.78120400e-01 9.83992157e-01 -5.70598571e-03 -2.25513416e+01] [-3.07345588e-02 2.32560839e-04 9.99527555e-01 -6.47275325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.03264000000001 meters 0.01487356735480133 Centerline is valid? [True, True] Translation: X:150.16, Y:-22.56, Z:-6.47 [[ 9.83421769e-01 1.78821790e-01 3.00731104e-02 1.50158979e+02] [-1.78731493e-01 9.83881457e-01 -5.68621606e-03 -2.25591893e+01] [-3.06051950e-02 2.16936752e-04 9.99531528e-01 -6.47296512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.06264000000002 meters 0.014694376491910674 Centerline is valid? [True, True] Translation: X:150.19, Y:-22.57, Z:-6.47 [[ 9.83306956e-01 1.79382843e-01 3.04832143e-02 1.50189727e+02] [-1.79290128e-01 9.83779321e-01 -5.77044213e-03 -2.25668358e+01] [-3.10238741e-02 2.08776484e-04 9.99518622e-01 -6.47427812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.09264000000002 meters 0.02502089249817028 Centerline is valid? [True, True] Translation: X:150.22, Y:-22.57, Z:-6.48 [[ 9.83208576e-01 1.79981571e-01 3.01252404e-02 1.50221271e+02] [-1.79891121e-01 9.83669963e-01 -5.70859273e-03 -2.25730412e+01] [-3.06607356e-02 1.93474074e-04 9.99529830e-01 -6.47584358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.12264000000002 meters 0.014000068896491897 Centerline is valid? [True, True] Translation: X:150.25, Y:-22.58, Z:-6.48 [[ 9.82850679e-01 1.82125677e-01 2.88925560e-02 1.50253824e+02] [-1.82043337e-01 9.83275253e-01 -5.47731162e-03 -2.25799949e+01] [-2.94068944e-02 1.23682143e-04 9.99567516e-01 -6.48013215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.15264000000002 meters 0.020156244121458146 Centerline is valid? [True, True] Translation: X:150.28, Y:-22.59, Z:-6.48 [[ 9.82656645e-01 1.83311684e-01 2.79775716e-02 1.50284017e+02] [-1.83234788e-01 9.83054840e-01 -5.30982291e-03 -2.25861143e+01] [-2.84768398e-02 9.12683544e-05 9.99594448e-01 -6.48378785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.18264000000002 meters 0.013478431898496056 Centerline is valid? [True, True] Translation: X:150.32, Y:-22.59, Z:-6.48 [[ 9.82325820e-01 1.85060490e-01 2.80820023e-02 1.50316365e+02] [-1.84983618e-01 9.82727131e-01 -5.33364724e-03 -2.25922138e+01] [-2.85839929e-02 4.46690104e-05 9.99591393e-01 -6.48437453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.21264000000002 meters 0.0132371552127717 Centerline is valid? [True, True] Translation: X:150.35, Y:-22.60, Z:-6.49 [[ 9.81660922e-01 1.88458058e-01 2.87296853e-02 1.50347520e+02] [-1.88378858e-01 9.82081238e-01 -5.46330644e-03 -2.25965159e+01] [-2.92444890e-02 -4.89508747e-05 9.99572287e-01 -6.48543734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24264000000002 meters 0.02446020865880314 Centerline is valid? [True, True] Translation: X:150.38, Y:-22.60, Z:-6.49 [[ 9.81341190e-01 1.90095892e-01 2.88620970e-02 1.50380467e+02] [-1.90016544e-01 9.81765523e-01 -5.49273122e-03 -2.26022206e+01] [-2.93799575e-02 -9.40325257e-05 9.99568311e-01 -6.48580523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27264000000002 meters 0.014593977822657247 Centerline is valid? [True, True] Translation: X:150.41, Y:-22.61, Z:-6.49 [[ 9.80534020e-01 1.93975498e-01 3.04391398e-02 1.50411319e+02] [-1.93888885e-01 9.81006351e-01 -5.80002958e-03 -2.26067937e+01] [-3.09860531e-02 -2.14684549e-04 9.99519794e-01 -6.48538826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30264000000003 meters 0.015804949407863936 Centerline is valid? [True, True] Translation: X:150.44, Y:-22.61, Z:-6.49 [[ 9.80194258e-01 1.95620768e-01 3.08501506e-02 1.50441980e+02] [-1.95532451e-01 9.80679583e-01 -5.88353592e-03 -2.26110126e+01] [-3.14050546e-02 -2.65197421e-04 9.99506704e-01 -6.48689456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.33264000000003 meters 0.01665286281132014 Centerline is valid? [True, True] Translation: X:150.47, Y:-22.62, Z:-6.49 [[ 9.79860789e-01 1.97207451e-01 3.13377594e-02 1.50474273e+02] [-1.97116969e-01 9.80361730e-01 -5.98155436e-03 -2.26159277e+01] [-3.19019471e-02 -3.16113589e-04 9.99490953e-01 -6.48709646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36264000000003 meters 0.017522974104405908 Centerline is valid? [True, True] Translation: X:150.50, Y:-22.62, Z:-6.49 [[ 9.79592891e-01 1.98462799e-01 3.17849826e-02 1.50504883e+02] [-1.98370191e-01 9.80108356e-01 -6.07264416e-03 -2.26205320e+01] [-3.23579210e-02 -3.56474018e-04 9.99476282e-01 -6.48823253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.39264000000003 meters 0.019190773801579096 Centerline is valid? [True, True] Translation: X:150.54, Y:-22.62, Z:-6.49 [[ 9.79226981e-01 2.00373512e-01 3.10640530e-02 1.50535519e+02] [-2.00285811e-01 9.79719497e-01 -5.94146832e-03 -2.26237489e+01] [-3.16245713e-02 -4.03642978e-04 9.99499737e-01 -6.49117339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42264000000003 meters 0.02003249064632608 Centerline is valid? [True, True] Translation: X:150.57, Y:-22.63, Z:-6.49 [[ 9.79142178e-01 2.00945106e-01 3.00276632e-02 1.50566233e+02] [-2.00863424e-01 9.79602418e-01 -5.74343160e-03 -2.26289992e+01] [-3.05692859e-02 -4.07823099e-04 9.99532567e-01 -6.49474403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.45264000000003 meters 0.021105855948130078 Centerline is valid? [True, True] Translation: X:150.60, Y:-22.64, Z:-6.50 [[ 9.79010571e-01 2.01665945e-01 2.94813373e-02 1.50595411e+02] [-2.01587526e-01 9.79454271e-01 -5.63923793e-03 -2.26358674e+01] [-3.00128640e-02 -4.22196306e-04 9.99549423e-01 -6.49769023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48264000000003 meters 0.019663747024392077 Centerline is valid? [True, True] Translation: X:150.63, Y:-22.64, Z:-6.50 [[ 9.78897441e-01 2.02227521e-01 2.93909880e-02 1.50626773e+02] [-2.02149842e-01 9.79338469e-01 -5.62174066e-03 -2.26438566e+01] [-2.99205959e-02 -4.38276023e-04 9.99552183e-01 -6.49681886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.51264000000003 meters 0.021892337226870656 Centerline is valid? [True, True] Translation: X:150.66, Y:-22.65, Z:-6.50 [[ 9.78783294e-01 2.02820420e-01 2.91056713e-02 1.50657239e+02] [-2.02744281e-01 9.79215849e-01 -5.57469306e-03 -2.26456081e+01] [-2.96313962e-02 -4.44591945e-04 9.99560795e-01 -6.50046554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54264000000003 meters 0.02276556540184862 Centerline is valid? [True, True] Translation: X:150.69, Y:-22.65, Z:-6.50 [[ 9.78671677e-01 2.03383247e-01 2.89310272e-02 1.50685515e+02] [-2.03308233e-01 9.79099099e-01 -5.54230977e-03 -2.26483771e+01] [-2.94535557e-02 -4.57814419e-04 9.99566045e-01 -6.50248081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.57264000000004 meters 0.024550940258260427 Centerline is valid? [True, True] Translation: X:150.72, Y:-22.65, Z:-6.50 [[ 9.78518146e-01 2.04188594e-01 2.84474130e-02 1.50715365e+02] [-2.04116452e-01 9.78931454e-01 -5.44812961e-03 -2.26546135e+01] [-2.89605133e-02 -4.75491311e-04 9.99580443e-01 -6.50158510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60264000000004 meters 0.021981097223874545 Centerline is valid? [True, True] Translation: X:150.74, Y:-22.66, Z:-6.50 [[ 9.78428956e-01 2.04635768e-01 2.83016017e-02 1.50744672e+02] [-2.04564545e-01 9.78838069e-01 -5.42039625e-03 -2.26590790e+01] [-2.88118921e-02 -4.86031625e-04 9.99584733e-01 -6.50438170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.63264000000004 meters 0.021818083249081105 Centerline is valid? [True, True] Translation: X:150.78, Y:-22.66, Z:-6.51 [[ 9.78461085e-01 2.04528905e-01 2.79612710e-02 1.50775123e+02] [-2.04459356e-01 9.78860408e-01 -5.35466813e-03 -2.26621560e+01] [-2.84653656e-02 -4.77609082e-04 9.99594665e-01 -6.50641656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66264000000004 meters 0.022041258473784648 Centerline is valid? [True, True] Translation: X:150.80, Y:-22.67, Z:-6.51 [[ 9.78532533e-01 2.04158981e-01 2.81636622e-02 1.50804187e+02] [-2.04088263e-01 9.78937633e-01 -5.39361981e-03 -2.26663253e+01] [-2.86716248e-02 -4.70040461e-04 9.99588774e-01 -6.50767293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.69264000000004 meters 0.022598930688642563 Centerline is valid? [True, True] Translation: X:150.83, Y:-22.67, Z:-6.51 [[ 9.78697871e-01 2.03316252e-01 2.85127819e-02 1.50833336e+02] [-2.03243424e-01 9.79113016e-01 -5.46010701e-03 -2.26702396e+01] [-2.90273644e-02 -4.51240298e-04 9.99578515e-01 -6.50995463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.72264 meters 0.019611521809500987 Centerline is valid? [True, True] Translation: X:150.86, Y:-22.68, Z:-6.51 [[ 9.79437292e-01 1.99527775e-01 2.98539583e-02 1.50863514e+02] [-1.99446213e-01 9.79892106e-01 -5.71559237e-03 -2.26828738e+01] [-3.03940775e-02 -3.56194616e-04 9.99537930e-01 -6.50764434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.75264 meters 0.01619776128720367 Centerline is valid? [True, True] Translation: X:150.89, Y:-22.69, Z:-6.51 [[ 9.79874659e-01 1.97216717e-01 3.08418491e-02 1.50893236e+02] [-1.97128505e-01 9.80359873e-01 -5.90525485e-03 -2.26922360e+01] [-3.14007262e-02 -2.93398025e-04 9.99506833e-01 -6.50816559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.78264000000001 meters 0.013900272824452189 Centerline is valid? [True, True] Translation: X:150.92, Y:-22.70, Z:-6.51 [[ 9.80308641e-01 1.94936596e-01 3.15387452e-02 1.50924079e+02] [-1.94843006e-01 9.80815821e-01 -6.04385251e-03 -2.27023508e+01] [-3.21118683e-02 -2.20263073e-04 9.99484257e-01 -6.50701435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.81264000000002 meters 0.02266131708181931 Centerline is valid? [True, True] Translation: X:150.95, Y:-22.71, Z:-6.51 [[ 9.80723995e-01 1.92747513e-01 3.20755587e-02 1.50954534e+02] [-1.92649341e-01 9.81248376e-01 -6.15273058e-03 -2.27100052e+01] [-3.26600134e-02 -1.45204729e-04 9.99466509e-01 -6.50732946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84264000000002 meters 0.01170581397179812 Centerline is valid? [True, True] Translation: X:150.98, Y:-22.72, Z:-6.51 [[ 9.81238246e-01 1.89860192e-01 3.35352382e-02 1.50984610e+02] [-1.89750972e-01 9.81811135e-01 -6.43920827e-03 -2.27189278e+01] [-3.41478196e-02 -4.49466050e-05 9.99416792e-01 -6.50647146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.87264000000002 meters 0.026111819714564017 Centerline is valid? [True, True] Translation: X:151.02, Y:-22.73, Z:-6.51 [[ 9.81361130e-01 1.89314915e-01 3.30181086e-02 1.51016904e+02] [-1.89208657e-01 9.81916423e-01 -6.34204095e-03 -2.27255152e+01] [-3.36216660e-02 -2.34795190e-05 9.99434632e-01 -6.50806603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.90264000000002 meters 0.012116239836653317 Centerline is valid? [True, True] Translation: X:151.05, Y:-22.73, Z:-6.51 [[ 9.81369741e-01 1.89406576e-01 3.22270097e-02 1.51047578e+02] [-1.89305175e-01 9.81898747e-01 -6.19695737e-03 -2.27311499e+01] [-3.28174049e-02 -1.92332567e-05 9.99461364e-01 -6.51213494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.93264000000002 meters 0.01179237976894276 Centerline is valid? [True, True] Translation: X:151.08, Y:-22.74, Z:-6.51 [[ 9.81220787e-01 1.90181693e-01 3.21976829e-02 1.51079820e+02] [-1.90080731e-01 9.81748910e-01 -6.19625267e-03 -2.27358667e+01] [-3.27884539e-02 -4.02671811e-05 9.99462313e-01 -6.51252049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96264000000002 meters 0.025067992828406906 Centerline is valid? [True, True] Translation: X:151.11, Y:-22.74, Z:-6.51 [[ 9.81121506e-01 1.90710502e-01 3.20950757e-02 1.51111006e+02] [-1.90610224e-01 9.81646322e-01 -6.18390404e-03 -2.27407477e+01] [-3.26853485e-02 -5.04883397e-05 9.99465690e-01 -6.51350420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99264000000002 meters 0.011954243422726865 Centerline is valid? [True, True] Translation: X:151.14, Y:-22.75, Z:-6.52 [[ 9.81077738e-01 1.90898916e-01 3.23121514e-02 1.51142639e+02] [-1.90797264e-01 9.81609699e-01 -6.22919647e-03 -2.27455360e+01] [-3.29070681e-02 -5.37441124e-05 9.99458414e-01 -6.51673317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02264000000002 meters 0.011581689239399775 Centerline is valid? [True, True] Translation: X:151.17, Y:-22.75, Z:-6.52 [[ 9.81216323e-01 1.90169177e-01 3.24069720e-02 1.51174711e+02] [-1.90066332e-01 9.81751335e-01 -6.25345865e-03 -2.27529086e+01] [-3.30048032e-02 -2.34786025e-05 9.99455193e-01 -6.51696054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.05264000000003 meters 0.011709581058909999 Centerline is valid? [True, True] Translation: X:151.21, Y:-22.76, Z:-6.52 [[ 9.81421087e-01 1.89131052e-01 3.22814979e-02 1.51205583e+02] [-1.89028218e-01 9.81951855e-01 -6.23601709e-03 -2.27606037e+01] [-3.28783012e-02 1.80446471e-05 9.99459362e-01 -6.51869970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08264000000003 meters 0.023709623208133208 Centerline is valid? [True, True] Translation: X:151.24, Y:-22.77, Z:-6.52 [[ 9.81923632e-01 1.86444344e-01 3.26264849e-02 1.51236762e+02] [-1.86337582e-01 9.82465518e-01 -6.30971074e-03 -2.27698015e+01] [-3.32308062e-02 1.16113790e-04 9.99447697e-01 -6.51921787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.11264000000003 meters 0.013194210538623102 Centerline is valid? [True, True] Translation: X:151.27, Y:-22.78, Z:-6.52 [[ 9.82186514e-01 1.85052310e-01 3.26388558e-02 1.51267569e+02] [-1.84944583e-01 9.82728658e-01 -6.31557189e-03 -2.27796436e+01] [-3.32438501e-02 1.66689978e-04 9.99447257e-01 -6.52171855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14264000000003 meters 0.013194210538623102 Centerline is valid? [True, True] Translation: X:151.30, Y:-22.79, Z:-6.52 [[ 9.82151079e-01 1.85240484e-01 3.26377380e-02 1.51299419e+02] [-1.85132669e-01 9.82693205e-01 -6.32134195e-03 -2.27860086e+01] [-3.32438518e-02 1.66201268e-04 9.99447257e-01 -6.52315240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.17264000000003 meters 0.014137038086701125 Centerline is valid? [True, True] Translation: X:151.33, Y:-22.80, Z:-6.53 [[ 9.82396373e-01 1.83969170e-01 3.24454992e-02 1.51329162e+02] [-1.83861703e-01 9.82931991e-01 -6.29091981e-03 -2.27954568e+01] [-3.30490545e-02 2.14692057e-04 9.99453708e-01 -6.52564939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20264000000003 meters 0.01625147827653529 Centerline is valid? [True, True] Translation: X:151.36, Y:-22.81, Z:-6.53 [[ 9.82822799e-01 1.81677152e-01 3.24462368e-02 1.51358160e+02] [-1.81568259e-01 9.83358187e-01 -6.29628185e-03 -2.28080034e+01] [-3.30501632e-02 2.96922630e-04 9.99453650e-01 -6.52802475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.23264000000003 meters 0.020101899517221924 Centerline is valid? [True, True] Translation: X:151.39, Y:-22.82, Z:-6.53 [[ 9.82941871e-01 1.81081789e-01 3.21662063e-02 1.51389381e+02] [-1.80974287e-01 9.83467988e-01 -6.24688035e-03 -2.28157325e+01] [-3.27656305e-02 3.19064004e-04 9.99463012e-01 -6.52914411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26264000000003 meters 0.017348398381725375 Centerline is valid? [True, True] Translation: X:151.42, Y:-22.83, Z:-6.53 [[ 9.83034525e-01 1.80554779e-01 3.22969671e-02 1.51420364e+02] [-1.80445939e-01 9.83564870e-01 -6.27769026e-03 -2.28263045e+01] [-3.28996292e-02 3.43329714e-04 9.99458602e-01 -6.53131555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.29264000000003 meters 0.016555534035934343 Centerline is valid? [True, True] Translation: X:151.45, Y:-22.83, Z:-6.53 [[ 9.82988084e-01 1.80813468e-01 3.22632469e-02 1.51452384e+02] [-1.80704807e-01 9.83517348e-01 -6.27681247e-03 -2.28333001e+01] [-3.28663953e-02 3.39908057e-04 9.99459696e-01 -6.53161316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32264000000004 meters 0.01607144377594777 Centerline is valid? [True, True] Translation: X:151.48, Y:-22.84, Z:-6.53 [[ 9.82860783e-01 1.81536891e-01 3.20786164e-02 1.51484385e+02] [-1.81429647e-01 9.83384083e-01 -6.24728196e-03 -2.28405178e+01] [-3.26797129e-02 3.20196383e-04 9.99465824e-01 -6.53308308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.35264000000004 meters 0.01395641616187251 Centerline is valid? [True, True] Translation: X:151.52, Y:-22.85, Z:-6.53 [[ 9.82464180e-01 1.83716591e-01 3.18174398e-02 1.51515700e+02] [-1.83612016e-01 9.82979222e-01 -6.20299677e-03 -2.28464878e+01] [-3.24154756e-02 2.52157883e-04 9.99474449e-01 -6.53326780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38264000000004 meters 0.013534025554300173 Centerline is valid? [True, True] Translation: X:151.55, Y:-22.85, Z:-6.54 [[ 9.82057017e-01 1.85823476e-01 3.21504578e-02 1.51546596e+02] [-1.85717624e-01 9.82583126e-01 -6.27413692e-03 -2.28527476e+01] [-3.27563792e-02 1.90653556e-04 9.99463348e-01 -6.53575042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.41264000000004 meters 0.012157202972492582 Centerline is valid? [True, True] Translation: X:151.58, Y:-22.86, Z:-6.54 [[ 9.81571290e-01 1.88346082e-01 3.23041235e-02 1.51578505e+02] [-1.88240399e-01 9.82102714e-01 -6.30961716e-03 -2.28570192e+01] [-3.29143590e-02 1.12397945e-04 9.99458169e-01 -6.53658569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44264000000004 meters 0.011876930405829076 Centerline is valid? [True, True] Translation: X:151.61, Y:-22.86, Z:-6.54 [[ 9.81001662e-01 1.91330450e-01 3.20686509e-02 1.51609953e+02] [-1.91227715e-01 9.81525679e-01 -6.26918340e-03 -2.28610482e+01] [-3.26756900e-02 1.76645026e-05 9.99466007e-01 -6.53978625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.47264 meters 0.021882873902381427 Centerline is valid? [True, True] Translation: X:151.64, Y:-22.86, Z:-6.54 [[ 9.79653272e-01 1.98066673e-01 3.23891911e-02 1.51641988e+02] [-1.97965328e-01 9.80188529e-01 -6.33852018e-03 -2.28575393e+01] [-3.30029632e-02 -2.02384789e-04 9.99455233e-01 -6.54047160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.50264 meters 0.02250476970153975 Centerline is valid? [True, True] Translation: X:151.67, Y:-22.86, Z:-6.54 [[ 9.78868179e-01 2.01799152e-01 3.30785474e-02 1.51674499e+02] [-2.01695402e-01 9.79426870e-01 -6.47855376e-03 -2.28589018e+01] [-3.37053848e-02 -3.30140776e-04 9.99431758e-01 -6.53817507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.53264000000001 meters 0.022619489732204505 Centerline is valid? [True, True] Translation: X:151.71, Y:-22.85, Z:-6.54 [[ 9.77211878e-01 2.09683046e-01 3.30146191e-02 1.51706242e+02] [-2.09583948e-01 9.77769230e-01 -6.47309255e-03 -2.28512228e+01] [-3.36379764e-02 -5.93751282e-04 9.99433907e-01 -6.54042818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56264000000002 meters 0.026003387223820968 Centerline is valid? [True, True] Translation: X:151.74, Y:-22.85, Z:-6.54 [[ 9.76455828e-01 2.13187776e-01 3.29391698e-02 1.51737260e+02] [-2.13091036e-01 9.77010986e-01 -6.46085383e-03 -2.28513626e+01] [-3.35593058e-02 -7.10303453e-04 9.99436475e-01 -6.54230926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.59264000000002 meters 0.02983588907097312 Centerline is valid? [True, True] Translation: X:151.77, Y:-22.85, Z:-6.55 [[ 9.75834618e-01 2.16054934e-01 3.26659441e-02 1.51766243e+02] [-2.15961384e-01 9.76380880e-01 -6.40763894e-03 -2.28507540e+01] [-3.32788053e-02 -8.01786597e-04 9.99445786e-01 -6.54516732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62264000000002 meters 0.03132719769098304 Centerline is valid? [True, True] Translation: X:151.80, Y:-22.85, Z:-6.55 [[ 9.75038958e-01 2.19681030e-01 3.22378043e-02 1.51795988e+02] [-2.19591932e-01 9.75571324e-01 -6.32254544e-03 -2.28507676e+01] [-3.28392207e-02 -9.14433616e-04 9.99460229e-01 -6.54622936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.65264000000002 meters 0.033009410167556916 Centerline is valid? [True, True] Translation: X:151.83, Y:-22.85, Z:-6.55 [[ 9.74790004e-01 2.20799530e-01 3.21250059e-02 1.51826183e+02] [-2.20711704e-01 9.75318750e-01 -6.29910826e-03 -2.28523853e+01] [-3.27229608e-02 -9.50057045e-04 9.99464009e-01 -6.54765015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68264000000002 meters 0.03460444578951119 Centerline is valid? [True, True] Translation: X:151.85, Y:-22.85, Z:-6.55 [[ 9.74676619e-01 2.21281966e-01 3.22456128e-02 1.51854429e+02] [-2.21193754e-01 9.75209388e-01 -6.32243356e-03 -2.28535731e+01] [-3.28452649e-02 -9.70199978e-04 9.99459978e-01 -6.54927098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.71264000000002 meters 0.03367108157359507 Centerline is valid? [True, True] Translation: X:151.88, Y:-22.86, Z:-6.55 [[ 9.74770385e-01 2.20894469e-01 3.20676022e-02 1.51883132e+02] [-2.20807097e-01 9.75297249e-01 -6.28510952e-03 -2.28574054e+01] [-3.26637901e-02 -9.54215530e-04 9.99465941e-01 -6.55052352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74264000000002 meters 0.03518096512144634 Centerline is valid? [True, True] Translation: X:151.91, Y:-22.86, Z:-6.55 [[ 9.74919101e-01 2.20244202e-01 3.20193285e-02 1.51911158e+02] [-2.20156791e-01 9.75444320e-01 -6.27419862e-03 -2.28590556e+01] [-3.26149280e-02 -9.32436539e-04 9.99467557e-01 -6.55301899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77264000000002 meters 0.033308763032114524 Centerline is valid? [True, True] Translation: X:151.94, Y:-22.87, Z:-6.55 [[ 9.75083700e-01 2.19487028e-01 3.22059333e-02 1.51939728e+02] [-2.19398252e-01 9.75614990e-01 -6.30861465e-03 -2.28653435e+01] [-3.28052504e-02 -9.14498173e-04 9.99461345e-01 -6.55345140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80264000000003 meters 0.03299998383121299 Centerline is valid? [True, True] Translation: X:151.97, Y:-22.87, Z:-6.55 [[ 9.75238935e-01 2.18740326e-01 3.25835898e-02 1.51967182e+02] [-2.18649089e-01 9.75782690e-01 -6.38109616e-03 -2.28686928e+01] [-3.31903059e-02 -9.01278788e-04 9.99448644e-01 -6.55407363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.83264000000003 meters 0.029894416776529837 Centerline is valid? [True, True] Translation: X:152.00, Y:-22.87, Z:-6.55 [[ 9.75489026e-01 2.17436099e-01 3.38038967e-02 1.51995826e+02] [-2.17337194e-01 9.76074151e-01 -6.61782770e-03 -2.28733321e+01] [-3.44340644e-02 -8.91225743e-04 9.99406574e-01 -6.55222039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86264000000003 meters 0.030558049595845904 Centerline is valid? [True, True] Translation: X:152.02, Y:-22.88, Z:-6.55 [[ 9.75684782e-01 2.16492599e-01 3.42076233e-02 1.52023693e+02] [-2.16390794e-01 9.76283872e-01 -6.69523602e-03 -2.28758350e+01] [-3.48458199e-02 -8.69774868e-04 9.99392322e-01 -6.55377433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.89264000000003 meters 0.029939699692139485 Centerline is valid? [True, True] Translation: X:152.05, Y:-22.88, Z:-6.56 [[ 9.76235267e-01 2.13943786e-01 3.45363569e-02 1.52052304e+02] [-2.13838501e-01 9.76845656e-01 -6.75727004e-03 -2.28776501e+01] [-3.51823661e-02 -7.88517472e-04 9.99380598e-01 -6.55554751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92264000000003 meters 0.02697177326565446 Centerline is valid? [True, True] Translation: X:152.08, Y:-22.88, Z:-6.56 [[ 9.76562768e-01 2.12444896e-01 3.45300839e-02 1.52080658e+02] [-2.12338772e-01 9.77172771e-01 -6.75437688e-03 -2.28848486e+01] [-3.51767907e-02 -7.36002625e-04 9.99380834e-01 -6.55584263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.95264000000003 meters 0.028105714359491916 Centerline is valid? [True, True] Translation: X:152.11, Y:-22.89, Z:-6.56 [[ 9.76966906e-01 2.10582835e-01 3.45041060e-02 1.52108704e+02] [-2.10475768e-01 9.77575788e-01 -6.74763746e-03 -2.28917007e+01] [-3.51513153e-02 -6.70059708e-04 9.99381777e-01 -6.55652829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98264000000003 meters 0.02662807301248056 Centerline is valid? [True, True] Translation: X:152.14, Y:-22.90, Z:-6.56 [[ 9.77851951e-01 2.06531147e-01 3.39182301e-02 1.52136886e+02] [-2.06425312e-01 9.78439890e-01 -6.63119120e-03 -2.28996370e+01] [-3.45564969e-02 -5.17257996e-04 9.99402612e-01 -6.55973556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.01264000000003 meters 0.01786631389841656 Centerline is valid? [True, True] Translation: X:152.16, Y:-22.91, Z:-6.56 [[ 9.78262382e-01 2.04625214e-01 3.36338152e-02 1.52164969e+02] [-2.04520049e-01 9.78840294e-01 -6.57477912e-03 -2.29091847e+01] [-3.42674992e-02 -4.46930448e-04 9.99412597e-01 -6.56046443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04264000000003 meters 0.016266943483319377 Centerline is valid? [True, True] Translation: X:152.19, Y:-22.92, Z:-6.56 [[ 9.78663965e-01 2.02701176e-01 3.36017483e-02 1.52193780e+02] [-2.02595106e-01 9.79240567e-01 -6.56766180e-03 -2.29169924e+01] [-3.42354679e-02 -3.80015839e-04 9.99413722e-01 -6.56209563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.07264000000004 meters 0.015148647715433896 Centerline is valid? [True, True] Translation: X:152.22, Y:-22.92, Z:-6.56 [[ 9.79032849e-01 2.00901815e-01 3.36621679e-02 1.52222542e+02] [-2.00794333e-01 9.79611331e-01 -6.57849667e-03 -2.29244337e+01] [-3.42974730e-02 -3.18608232e-04 9.99411618e-01 -6.56431186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10264000000004 meters 0.013105882352135449 Centerline is valid? [True, True] Translation: X:152.25, Y:-22.94, Z:-6.57 [[ 9.79691210e-01 1.97740913e-01 3.32214582e-02 1.52251403e+02] [-1.97634432e-01 9.80254298e-01 -6.49170737e-03 -2.29355512e+01] [-3.38491533e-02 -2.05835379e-04 9.99426932e-01 -6.56717065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.13264000000004 meters 0.012527116347993106 Centerline is valid? [True, True] Translation: X:152.28, Y:-22.94, Z:-6.57 [[ 9.79990885e-01 1.96334327e-01 3.27215045e-02 1.52280905e+02] [-1.96230226e-01 9.80537000e-01 -6.39454269e-03 -2.29438358e+01] [-3.33401141e-02 -1.54354661e-04 9.99444052e-01 -6.56990510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16264000000004 meters 0.011706708512907112 Centerline is valid? [True, True] Translation: X:152.31, Y:-22.95, Z:-6.57 [[ 9.80419574e-01 1.94185339e-01 3.27034101e-02 1.52310489e+02] [-1.94080166e-01 9.80964855e-01 -6.39074765e-03 -2.29529417e+01] [-3.33218855e-02 -8.14691885e-05 9.99444668e-01 -6.57182794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.19264000000004 meters 0.011549717196731446 Centerline is valid? [True, True] Translation: X:152.34, Y:-22.96, Z:-6.57 [[ 9.80533332e-01 1.93580162e-01 3.28801635e-02 1.52339933e+02] [-1.93473473e-01 9.81084460e-01 -6.42635416e-03 -2.29600296e+01] [-3.35022321e-02 -6.01849505e-05 9.99438641e-01 -6.57291150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.22264 meters 0.02596621807871879 Centerline is valid? [True, True] Translation: X:152.37, Y:-22.97, Z:-6.57 [[ 9.80764827e-01 1.92420368e-01 3.27834773e-02 1.52369132e+02] [-1.92313662e-01 9.81312591e-01 -6.40732926e-03 -2.29698036e+01] [-3.34037397e-02 -2.06273888e-05 9.99441939e-01 -6.57398345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.25264 meters 0.011121804204013118 Centerline is valid? [True, True] Translation: X:152.40, Y:-22.98, Z:-6.57 [[ 9.80831469e-01 1.91963559e-01 3.34607502e-02 1.52399444e+02] [-1.91852121e-01 9.81402054e-01 -6.53999834e-03 -2.29784922e+01] [-3.40938904e-02 -4.87973973e-06 9.99418634e-01 -6.57454721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.28264000000001 meters 0.010929634804087212 Centerline is valid? [True, True] Translation: X:152.43, Y:-22.99, Z:-6.58 [[ 9.80843449e-01 1.91919523e-01 3.33620298e-02 1.52431596e+02] [-1.91808749e-01 9.81410667e-01 -6.51974419e-03 -2.29865224e+01] [-3.39931181e-02 -4.28081495e-06 9.99422067e-01 -6.57507419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.31264000000002 meters 0.011386714599234278 Centerline is valid? [True, True] Translation: X:152.46, Y:-22.99, Z:-6.58 [[ 9.80802588e-01 1.92248264e-01 3.26632726e-02 1.52462050e+02] [-1.92142014e-01 9.81346323e-01 -6.39073273e-03 -2.29929415e+01] [-3.32825897e-02 -7.93978381e-06 9.99445981e-01 -6.57967307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34264000000002 meters 0.011228921626771856 Centerline is valid? [True, True] Translation: X:152.49, Y:-23.00, Z:-6.58 [[ 9.80664817e-01 1.92977946e-01 3.24966086e-02 1.52493612e+02] [-1.92873103e-01 9.81203094e-01 -6.36041942e-03 -2.29991026e+01] [-3.31131936e-02 -3.02821840e-05 9.99451607e-01 -6.58093772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.37264000000002 meters 0.011311795173388574 Centerline is valid? [True, True] Translation: X:152.52, Y:-23.01, Z:-6.58 [[ 9.80509243e-01 1.93783240e-01 3.23987685e-02 1.52523891e+02] [-1.93679274e-01 9.81044369e-01 -6.34709111e-03 -2.30054697e+01] [-3.30145893e-02 -5.15884660e-05 9.99454869e-01 -6.58252793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.40264000000002 meters 0.011030972925748896 Centerline is valid? [True, True] Translation: X:152.56, Y:-23.01, Z:-6.58 [[ 9.80348287e-01 1.94486678e-01 3.30479753e-02 1.52555521e+02] [-1.94378721e-01 9.80905157e-01 -6.47964217e-03 -2.30126227e+01] [-3.36771335e-02 -7.15170854e-05 9.99432762e-01 -6.58245469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.43264000000002 meters 0.011554703821235007 Centerline is valid? [True, True] Translation: X:152.59, Y:-23.02, Z:-6.58 [[ 9.79964911e-01 1.96280076e-01 3.38068825e-02 1.52586313e+02] [-1.96167950e-01 9.80547865e-01 -6.63478240e-03 -2.30181124e+01] [-3.44515420e-02 -1.29972886e-04 9.99406361e-01 -6.58252944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46264000000002 meters 0.011787957127961 Centerline is valid? [True, True] Translation: X:152.62, Y:-23.02, Z:-6.58 [[ 9.79766504e-01 1.97273501e-01 3.37751827e-02 1.52617485e+02] [-1.97161988e-01 9.80348479e-01 -6.63402361e-03 -2.30244137e+01] [-3.44201661e-02 -1.59388041e-04 9.99407438e-01 -6.58369461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49264000000002 meters 0.013053162786771239 Centerline is valid? [True, True] Translation: X:152.65, Y:-23.03, Z:-6.59 [[ 9.79442993e-01 1.98902894e-01 3.36015058e-02 1.52648091e+02] [-1.98793277e-01 9.80019181e-01 -6.60592562e-03 -2.30306504e+01] [-3.42440579e-02 -2.09625896e-04 9.99413478e-01 -6.58625327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52264000000002 meters 0.013460346729037748 Centerline is valid? [True, True] Translation: X:152.68, Y:-23.04, Z:-6.59 [[ 9.79274540e-01 1.99671539e-01 3.39507333e-02 1.52679243e+02] [-1.99559854e-01 9.79862859e-01 -6.68147963e-03 -2.30360004e+01] [-3.46011639e-02 -2.32200492e-04 9.99401173e-01 -6.58718293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.55264000000003 meters 0.014372438507198116 Centerline is valid? [True, True] Translation: X:152.71, Y:-23.04, Z:-6.59 [[ 9.78949052e-01 2.01194000e-01 3.43471617e-02 1.52709544e+02] [-2.01080590e-01 9.79551372e-01 -6.76055594e-03 -2.30412030e+01] [-3.50049927e-02 -2.88307726e-04 9.99387096e-01 -6.58853059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58264000000003 meters 0.026185338622532108 Centerline is valid? [True, True] Translation: X:152.74, Y:-23.05, Z:-6.59 [[ 9.78853397e-01 2.01707717e-01 3.40591162e-02 1.52740803e+02] [-2.01596569e-01 9.79445712e-01 -6.70222577e-03 -2.30491788e+01] [-3.47109460e-02 -3.05704508e-04 9.99397347e-01 -6.58928467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.61264000000003 meters 0.014791070996595303 Centerline is valid? [True, True] Translation: X:152.77, Y:-23.06, Z:-6.59 [[ 9.78688459e-01 2.02471011e-01 3.42693631e-02 1.52771313e+02] [-2.02358715e-01 9.79288202e-01 -6.75044890e-03 -2.30562707e+01] [-3.49263531e-02 -3.28117826e-04 9.99389835e-01 -6.59140761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64264000000003 meters 0.016425928785020426 Centerline is valid? [True, True] Translation: X:152.80, Y:-23.06, Z:-6.59 [[ 9.78491631e-01 2.03450493e-01 3.40884748e-02 1.52801662e+02] [-2.03339844e-01 9.79085170e-01 -6.71852057e-03 -2.30609449e+01] [-3.47424064e-02 -3.57529001e-04 9.99396236e-01 -6.59371788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.67264000000003 meters 0.01756945066109284 Centerline is valid? [True, True] Translation: X:152.83, Y:-23.06, Z:-6.59 [[ 9.77980991e-01 2.05970335e-01 3.36065973e-02 1.52831542e+02] [-2.05864194e-01 9.78558138e-01 -6.62605002e-03 -2.30641123e+01] [-3.42507790e-02 -4.38244096e-04 9.99413174e-01 -6.59442040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70264000000003 meters 0.03112288696507431 Centerline is valid? [True, True] Translation: X:152.86, Y:-23.07, Z:-6.60 [[ 9.77669867e-01 2.07508449e-01 3.31945103e-02 1.52862084e+02] [-2.07405800e-01 9.78233104e-01 -6.54426005e-03 -2.30677048e+01] [-3.38299581e-02 -4.86608121e-04 9.99427485e-01 -6.59604570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.73264000000003 meters 0.02199192544890427 Centerline is valid? [True, True] Translation: X:152.89, Y:-23.07, Z:-6.60 [[ 9.77323406e-01 2.09075283e-01 3.35631623e-02 1.52891728e+02] [-2.08971260e-01 9.77899395e-01 -6.61706053e-03 -2.30699256e+01] [-3.42048600e-02 -5.46728194e-04 9.99414693e-01 -6.59897950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76264000000003 meters 0.022657158180810794 Centerline is valid? [True, True] Translation: X:152.92, Y:-23.07, Z:-6.60 [[ 9.76719105e-01 2.11840028e-01 3.38170597e-02 1.52921418e+02] [-2.11736099e-01 9.77304140e-01 -6.66654005e-03 -2.30745482e+01] [-3.44617925e-02 -6.48955278e-04 9.99405805e-01 -6.59788029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.79264000000003 meters 0.02568641607808652 Centerline is valid? [True, True] Translation: X:152.95, Y:-23.08, Z:-6.60 [[ 9.76407362e-01 2.13255577e-01 3.39223133e-02 1.52950672e+02] [-2.13151836e-01 9.76996197e-01 -6.68778958e-03 -2.30752223e+01] [-3.45681795e-02 -7.00596403e-04 9.99402096e-01 -6.59985307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82264000000004 meters 0.02657350127870783 Centerline is valid? [True, True] Translation: X:152.98, Y:-23.08, Z:-6.60 [[ 9.75934010e-01 2.15294321e-01 3.46578181e-02 1.52980571e+02] [-2.15187368e-01 9.76548887e-01 -6.83134211e-03 -2.30760693e+01] [-3.53158029e-02 -7.90985545e-04 9.99375889e-01 -6.59966730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.85264000000004 meters 0.028618347953870853 Centerline is valid? [True, True] Translation: X:153.01, Y:-23.08, Z:-6.60 [[ 9.75823297e-01 2.15788790e-01 3.47000206e-02 1.53008266e+02] [-2.15681906e-01 9.76439727e-01 -6.83916776e-03 -2.30771977e+01] [-3.53582944e-02 -8.10347330e-04 9.99374371e-01 -6.60118688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88264000000004 meters 0.026717141357537035 Centerline is valid? [True, True] Translation: X:153.04, Y:-23.08, Z:-6.60 [[ 9.75762455e-01 2.16023316e-01 3.49507978e-02 1.53036731e+02] [-2.15915122e-01 9.76387854e-01 -6.88603855e-03 -2.30836382e+01] [-3.56130794e-02 -8.27267915e-04 9.99365311e-01 -6.60069656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.91264000000004 meters 0.029454959559803286 Centerline is valid? [True, True] Translation: X:153.07, Y:-23.08, Z:-6.60 [[ 9.75692071e-01 2.16252495e-01 3.54942493e-02 1.53065014e+02] [-2.16141124e-01 9.76337101e-01 -6.99137648e-03 -2.30833368e+01] [-3.61662551e-02 -8.50336347e-04 9.99345425e-01 -6.60212282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94264000000004 meters 0.029793002006163905 Centerline is valid? [True, True] Translation: X:153.09, Y:-23.09, Z:-6.60 [[ 9.75639963e-01 2.16528147e-01 3.52452092e-02 1.53094246e+02] [-2.16418596e-01 9.76276000e-01 -6.94001669e-03 -2.30850296e+01] [-3.59117608e-02 -8.56761052e-04 9.99354597e-01 -6.60406234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.97264 meters 0.029628911168943606 Centerline is valid? [True, True] Translation: X:153.12, Y:-23.09, Z:-6.61 [[ 9.75724772e-01 2.16234600e-01 3.46953521e-02 1.53122475e+02] [-2.16128313e-01 9.76341079e-01 -6.83010929e-03 -2.30894067e+01] [-3.53514034e-02 -8.34341095e-04 9.99374596e-01 -6.60645171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.00264 meters 0.03569589410677017 Centerline is valid? [True, True] Translation: X:153.15, Y:-23.09, Z:-6.61 [[ 9.75939202e-01 2.15342312e-01 3.42105518e-02 1.53150452e+02] [-2.15238485e-01 9.76538305e-01 -6.73305913e-03 -2.30948340e+01] [-3.48578268e-02 -7.92370971e-04 9.99391967e-01 -6.60745577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.03264000000001 meters 0.03612677604919625 Centerline is valid? [True, True] Translation: X:153.18, Y:-23.10, Z:-6.61 [[ 9.76496102e-01 2.12854790e-01 3.38851098e-02 1.53178379e+02] [-2.12751488e-01 9.77083594e-01 -6.66737875e-03 -2.30991593e+01] [-3.45277684e-02 -6.98438164e-04 9.99403495e-01 -6.61060597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06264000000002 meters 0.03612677604919625 Centerline is valid? [True, True] Translation: X:153.21, Y:-23.10, Z:-6.61 [[ 9.76505881e-01 2.12809876e-01 3.38854204e-02 1.53206173e+02] [-2.12706602e-01 9.77093378e-01 -6.66579989e-03 -2.31045342e+01] [-3.45277679e-02 -6.98459829e-04 9.99403495e-01 -6.61185537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.09264000000002 meters 0.03020553237573331 Centerline is valid? [True, True] Translation: X:153.23, Y:-23.11, Z:-6.61 [[ 9.76942420e-01 2.10872402e-01 3.34116397e-02 1.53234049e+02] [-2.10770916e-01 9.77513397e-01 -6.57104152e-03 -2.31119125e+01] [-3.40459768e-02 -6.22672719e-04 9.99420074e-01 -6.61288272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.12264000000002 meters 0.030744251211174172 Centerline is valid? [True, True] Translation: X:153.26, Y:-23.12, Z:-6.62 [[ 9.77850654e-01 2.06600789e-01 3.35292858e-02 1.53261366e+02] [-2.06496134e-01 9.78425207e-01 -6.59242338e-03 -2.31206483e+01] [-3.41678983e-02 -4.77262393e-04 9.99415993e-01 -6.61514867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.15264000000002 meters 0.017236515855193625 Centerline is valid? [True, True] Translation: X:153.29, Y:-23.13, Z:-6.62 [[ 9.78340176e-01 2.04216725e-01 3.38530490e-02 1.53289381e+02] [-2.04108655e-01 9.78925620e-01 -6.65484272e-03 -2.31304385e+01] [-3.44986472e-02 -3.99000294e-04 9.99404665e-01 -6.61554382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18264000000002 meters 0.01503347832451114 Centerline is valid? [True, True] Translation: X:153.32, Y:-23.14, Z:-6.62 [[ 9.78896430e-01 2.01516129e-01 3.39562835e-02 1.53318145e+02] [-2.01405821e-01 9.79485148e-01 -6.67376545e-03 -2.31397864e+01] [-3.46045468e-02 -3.06068004e-04 9.99401036e-01 -6.61647920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.21264000000002 meters 0.01162457187165865 Centerline is valid? [True, True] Translation: X:153.35, Y:-23.15, Z:-6.62 [[ 9.79759944e-01 1.97053846e-01 3.52169559e-02 1.53346094e+02] [-1.96932341e-01 9.80392655e-01 -6.92064065e-03 -2.31508836e+01] [-3.58901838e-02 -1.54791060e-04 9.99355728e-01 -6.61524936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24264000000002 meters 0.010914300831029691 Centerline is valid? [True, True] Translation: X:153.38, Y:-23.16, Z:-6.62 [[ 9.80032116e-01 1.95558733e-01 3.59698873e-02 1.53375713e+02] [-1.95431025e-01 9.80691986e-01 -7.06705442e-03 -2.31587391e+01] [-3.66574044e-02 -1.03691628e-04 9.99327886e-01 -6.61611612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27264000000002 meters 0.010544898812994401 Centerline is valid? [True, True] Translation: X:153.41, Y:-23.17, Z:-6.62 [[ 9.80196316e-01 1.94761179e-01 3.58227047e-02 1.53405745e+02] [-1.94633887e-01 9.80850691e-01 -7.04071793e-03 -2.31665955e+01] [-3.65079832e-02 -7.10264840e-05 9.99333359e-01 -6.61702361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30264000000003 meters 0.010779707998537603 Centerline is valid? [True, True] Translation: X:153.44, Y:-23.17, Z:-6.62 [[ 9.80094950e-01 1.95579770e-01 3.40946079e-02 1.53437435e+02] [-1.95464984e-01 9.80687791e-01 -6.70042683e-03 -2.31721968e+01] [-3.47466336e-02 -9.72474904e-05 9.99396149e-01 -6.61991169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.33264000000003 meters 0.021933709504089734 Centerline is valid? [True, True] Translation: X:153.47, Y:-23.17, Z:-6.62 [[ 9.79832703e-01 1.96995075e-01 3.34785613e-02 1.53466521e+02] [-1.96884963e-01 9.80404468e-01 -6.58710572e-03 -2.31741716e+01] [-3.41201585e-02 -1.37163697e-04 9.99417728e-01 -6.62365936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36264000000003 meters 0.027240129129916253 Centerline is valid? [True, True] Translation: X:153.50, Y:-23.17, Z:-6.63 [[ 9.79246719e-01 2.00060432e-01 3.24297140e-02 1.53495330e+02] [-1.99958799e-01 9.79783531e-01 -6.38051927e-03 -2.31742618e+01] [-3.30505891e-02 -2.36504077e-04 9.99453652e-01 -6.62672315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.39264000000003 meters 0.028942933138763557 Centerline is valid? [True, True] Translation: X:153.52, Y:-23.18, Z:-6.63 [[ 9.78918819e-01 2.01710755e-01 3.21047691e-02 1.53524474e+02] [-2.01612068e-01 9.79445091e-01 -6.31561996e-03 -2.31778610e+01] [-3.27187870e-02 -2.90229650e-04 9.99464555e-01 -6.62673428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42264000000003 meters 0.017448999134310035 Centerline is valid? [True, True] Translation: X:153.55, Y:-23.18, Z:-6.63 [[ 9.78569723e-01 2.03408264e-01 3.20370799e-02 1.53552479e+02] [-2.03310914e-01 9.79093948e-01 -6.30192144e-03 -2.31784121e+01] [-3.26491740e-02 -3.46618482e-04 9.99466814e-01 -6.63011682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.45264000000003 meters 0.01924994594178147 Centerline is valid? [True, True] Translation: X:153.58, Y:-23.18, Z:-6.63 [[ 9.78220048e-01 2.05087508e-01 3.20102003e-02 1.53581925e+02] [-2.04991289e-01 9.78743557e-01 -6.29448903e-03 -2.31799410e+01] [-3.26206984e-02 -4.04416874e-04 9.99467722e-01 -6.63095346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48264000000003 meters 0.022863877025054845 Centerline is valid? [True, True] Translation: X:153.61, Y:-23.18, Z:-6.63 [[ 9.77534962e-01 2.08220050e-01 3.27079299e-02 1.53610334e+02] [-2.08121391e-01 9.78081867e-01 -6.43021440e-03 -2.31791061e+01] [-3.33299327e-02 -5.21460472e-04 9.99444267e-01 -6.63072545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.51264000000003 meters 0.022061763763402895 Centerline is valid? [True, True] Translation: X:153.64, Y:-23.19, Z:-6.63 [[ 9.77289549e-01 2.09349359e-01 3.28326446e-02 1.53638683e+02] [-2.09250651e-01 9.77840748e-01 -6.45268286e-03 -2.31860263e+01] [-3.34559628e-02 -5.64112745e-04 9.99440033e-01 -6.62979606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54264000000003 meters 0.023611819972316643 Centerline is valid? [True, True] Translation: X:153.67, Y:-23.19, Z:-6.63 [[ 9.77019651e-01 2.10580493e-01 3.29917915e-02 1.53666688e+02] [-2.10481576e-01 9.77576331e-01 -6.48252631e-03 -2.31897644e+01] [-3.36170881e-02 -6.10608672e-04 9.99434599e-01 -6.63095412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.57264000000004 meters 0.02660976544175167 Centerline is valid? [True, True] Translation: X:153.69, Y:-23.19, Z:-6.63 [[ 9.76424530e-01 2.13171317e-01 3.39577271e-02 1.53694701e+02] [-2.13068169e-01 9.77014569e-01 -6.66992550e-03 -2.31891278e+01] [-3.45990309e-02 -7.22631878e-04 9.99401013e-01 -6.63077281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60264000000004 meters 0.03000056680467538 Centerline is valid? [True, True] Translation: X:153.72, Y:-23.19, Z:-6.63 [[ 9.76189864e-01 2.14291434e-01 3.36530975e-02 1.53723103e+02] [-2.14190881e-01 9.76769475e-01 -6.60754796e-03 -2.31890936e+01] [-3.42872593e-02 -7.57965265e-04 9.99411732e-01 -6.63386948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.63264000000004 meters 0.033236341996228706 Centerline is valid? [True, True] Translation: X:153.75, Y:-23.19, Z:-6.64 [[ 9.75756078e-01 2.16466586e-01 3.22845720e-02 1.53752206e+02] [-2.16375305e-01 9.76289697e-01 -6.33672282e-03 -2.31894282e+01] [-3.28907838e-02 -8.02488318e-04 9.99458630e-01 -6.63781569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66264000000004 meters 0.03488697409138658 Centerline is valid? [True, True] Translation: X:153.78, Y:-23.19, Z:-6.64 [[ 9.75547813e-01 2.17426848e-01 3.21252315e-02 1.53780970e+02] [-2.17337018e-01 9.76076264e-01 -6.30447231e-03 -2.31915265e+01] [-3.27274375e-02 -8.31687853e-04 9.99463968e-01 -6.63972787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.69264000000004 meters 0.03130990043765375 Centerline is valid? [True, True] Translation: X:153.81, Y:-23.20, Z:-6.64 [[ 9.75404126e-01 2.18080156e-01 3.20598848e-02 1.53808948e+02] [-2.17991091e-01 9.75930488e-01 -6.29022147e-03 -2.31998361e+01] [-3.26599915e-02 -8.53261285e-04 9.99466156e-01 -6.63885729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.72264 meters 0.038123181280555245 Centerline is valid? [True, True] Translation: X:153.84, Y:-23.20, Z:-6.64 [[ 9.75236916e-01 2.18825585e-01 3.20674325e-02 1.53838077e+02] [-2.18736932e-01 9.75763593e-01 -6.29011163e-03 -2.32018679e+01] [-3.26666705e-02 -8.79982738e-04 9.99465915e-01 -6.64065004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.75264 meters 0.03300741864412113 Centerline is valid? [True, True] Translation: X:153.87, Y:-23.21, Z:-6.64 [[ 9.75262562e-01 2.18737681e-01 3.18867086e-02 1.53865806e+02] [-2.18650024e-01 9.75783308e-01 -6.25324763e-03 -2.32053905e+01] [-3.24823389e-02 -8.73471276e-04 9.99471928e-01 -6.64301723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.78264000000001 meters 0.032724331291100396 Centerline is valid? [True, True] Translation: X:153.89, Y:-23.21, Z:-6.64 [[ 9.75345854e-01 2.18382616e-01 3.17726089e-02 1.53894095e+02] [-2.18295464e-01 9.75862845e-01 -6.22880946e-03 -2.32091495e+01] [-3.23659722e-02 -8.60572922e-04 9.99475714e-01 -6.64439364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.81264000000002 meters 0.03376934318988744 Centerline is valid? [True, True] Translation: X:153.92, Y:-23.21, Z:-6.65 [[ 9.75632334e-01 2.17129347e-01 3.15657407e-02 1.53921764e+02] [-2.17042716e-01 9.76142501e-01 -6.18686716e-03 -2.32103171e+01] [-3.21560115e-02 -8.15006438e-04 9.99482529e-01 -6.64822855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84264000000002 meters 0.03110155028035681 Centerline is valid? [True, True] Translation: X:153.95, Y:-23.22, Z:-6.65 [[ 9.75860770e-01 2.16165987e-01 3.11130793e-02 1.53949858e+02] [-2.16081396e-01 9.76356322e-01 -6.09615685e-03 -2.32191109e+01] [-3.16952335e-02 -7.73957309e-04 9.99497280e-01 -6.64890526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.87264000000002 meters 0.03226503503904102 Centerline is valid? [True, True] Translation: X:153.98, Y:-23.22, Z:-6.65 [[ 9.76053432e-01 2.15314488e-01 3.09736705e-02 1.53977704e+02] [-2.15230258e-01 9.76544478e-01 -6.06779406e-03 -2.32222052e+01] [-3.15536509e-02 -7.43979893e-04 9.99501783e-01 -6.65144572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.90264000000002 meters 0.02923527563406871 Centerline is valid? [True, True] Translation: X:154.01, Y:-23.23, Z:-6.65 [[ 9.76406512e-01 2.13650068e-01 3.13683337e-02 1.54005782e+02] [-2.13562918e-01 9.76910004e-01 -6.14201719e-03 -2.32280769e+01] [-3.19562814e-02 -7.02007309e-04 9.99489021e-01 -6.65138499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.93264000000002 meters 0.026733453241182068 Centerline is valid? [True, True] Translation: X:154.03, Y:-23.24, Z:-6.65 [[ 9.76633177e-01 2.12558415e-01 3.17262976e-02 1.54033749e+02] [-2.12468737e-01 9.77148128e-01 -6.21059252e-03 -2.32359427e+01] [-3.23214060e-02 -6.75375676e-04 9.99477299e-01 -6.65096687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.96264000000002 meters 0.02518358885852699 Centerline is valid? [True, True] Translation: X:154.06, Y:-23.24, Z:-6.65 [[ 9.77014885e-01 2.10688229e-01 3.24404782e-02 1.54061057e+02] [-2.10593486e-01 9.77553106e-01 -6.34889886e-03 -2.32405761e+01] [-3.30499285e-02 -6.28784710e-04 9.99453504e-01 -6.65063059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99264000000002 meters 0.022703948108127953 Centerline is valid? [True, True] Translation: X:154.09, Y:-23.25, Z:-6.65 [[ 9.77202797e-01 2.09767226e-01 3.27475881e-02 1.54088958e+02] [-2.09670235e-01 9.77751167e-01 -6.40687515e-03 -2.32472582e+01] [-3.33629449e-02 -6.05378171e-04 9.99443119e-01 -6.65070150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02264000000002 meters 0.021407514355188798 Centerline is valid? [True, True] Translation: X:154.12, Y:-23.25, Z:-6.65 [[ 9.77484409e-01 2.08438897e-01 3.28246442e-02 1.54117467e+02] [-2.08340756e-01 9.78035229e-01 -6.42030359e-03 -2.32536840e+01] [-3.34418994e-02 -5.62964512e-04 9.99440505e-01 -6.65209764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.05264000000003 meters 0.01911449817713403 Centerline is valid? [True, True] Translation: X:154.14, Y:-23.26, Z:-6.65 [[ 9.78198339e-01 2.04925513e-01 3.36681406e-02 1.54143630e+02] [-2.04820236e-01 9.78777465e-01 -6.58365790e-03 -2.32628616e+01] [-3.43027768e-02 -4.55793296e-04 9.99411383e-01 -6.65373975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08264000000003 meters 0.017083529166144206 Centerline is valid? [True, True] Translation: X:154.17, Y:-23.27, Z:-6.65 [[ 9.78580411e-01 2.03093926e-01 3.36635732e-02 1.54171495e+02] [-2.02987671e-01 9.79159181e-01 -6.58053587e-03 -2.32715288e+01] [-3.42984636e-02 -3.93706813e-04 9.99411557e-01 -6.65451543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.11264000000003 meters 0.015351825695761698 Centerline is valid? [True, True] Translation: X:154.20, Y:-23.28, Z:-6.66 [[ 9.78906807e-01 2.01512414e-01 3.36780237e-02 1.54198889e+02] [-2.01405188e-01 9.79485902e-01 -6.58171129e-03 -2.32797099e+01] [-3.43134460e-02 -3.40046725e-04 9.99411062e-01 -6.65549731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14264000000003 meters 0.013842135873748579 Centerline is valid? [True, True] Translation: X:154.23, Y:-23.29, Z:-6.66 [[ 9.79382128e-01 1.99242092e-01 3.33651866e-02 1.54225855e+02] [-1.99135584e-01 9.79950265e-01 -6.51903657e-03 -2.32873945e+01] [-3.39950899e-02 -2.59568011e-04 9.99421966e-01 -6.65699381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.17264000000003 meters 0.013838103455834666 Centerline is valid? [True, True] Translation: X:154.25, Y:-23.29, Z:-6.66 [[ 9.79415378e-01 1.99045622e-01 3.35612494e-02 1.54253716e+02] [-1.98937820e-01 9.79990191e-01 -6.55509974e-03 -2.32923753e+01] [-3.41944591e-02 -2.56436301e-04 9.99415166e-01 -6.65823709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20264000000003 meters 0.021688067322335493 Centerline is valid? [True, True] Translation: X:154.28, Y:-23.30, Z:-6.66 [[ 9.79378675e-01 1.99281126e-01 3.32331832e-02 1.54281734e+02] [-1.99175611e-01 9.79942327e-01 -6.48941320e-03 -2.32970899e+01] [-3.38598204e-02 -2.63646669e-04 9.99426557e-01 -6.65932686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.23264000000003 meters 0.030553338822868915 Centerline is valid? [True, True] Translation: X:154.31, Y:-23.30, Z:-6.66 [[ 9.79070835e-01 2.00884406e-01 3.26458997e-02 1.54309776e+02] [-2.00783529e-01 9.79614902e-01 -6.37325454e-03 -2.32975119e+01] [-3.32606973e-02 -3.14891298e-04 9.99446660e-01 -6.66317163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26264000000003 meters 0.020263295481158187 Centerline is valid? [True, True] Translation: X:154.34, Y:-23.30, Z:-6.66 [[ 9.78858623e-01 2.01873594e-01 3.29066621e-02 1.54338296e+02] [-2.01771731e-01 9.79411521e-01 -6.42194541e-03 -2.33009997e+01] [-3.35255851e-02 -3.53457523e-04 9.99437797e-01 -6.66347611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.29264000000003 meters 0.01712164371891452 Centerline is valid? [True, True] Translation: X:154.37, Y:-23.30, Z:-6.66 [[ 9.78663720e-01 2.02810219e-01 3.29444747e-02 1.54366968e+02] [-2.02708707e-01 9.79217986e-01 -6.42770573e-03 -2.33045126e+01] [-3.35634266e-02 -3.87569473e-04 9.99436514e-01 -6.66379945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32264000000004 meters 0.017844401126015867 Centerline is valid? [True, True] Translation: X:154.40, Y:-23.31, Z:-6.66 [[ 9.78337669e-01 2.04352497e-01 3.30977651e-02 1.54395570e+02] [-2.04250974e-01 9.78897267e-01 -6.45597439e-03 -2.33069444e+01] [-3.37186063e-02 -4.44127836e-04 9.99431267e-01 -6.66412924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.35264000000004 meters 0.019727204589362796 Centerline is valid? [True, True] Translation: X:154.42, Y:-23.31, Z:-6.67 [[ 9.78245950e-01 2.04833770e-01 3.28327406e-02 1.54423233e+02] [-2.04734189e-01 9.78796668e-01 -6.40274959e-03 -2.33093723e+01] [-3.34480764e-02 -4.58520686e-04 9.99440351e-01 -6.66714918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38264000000004 meters 0.018886552228883517 Centerline is valid? [True, True] Translation: X:154.45, Y:-23.32, Z:-6.67 [[ 9.78184501e-01 2.05120716e-01 3.28720895e-02 1.54451270e+02] [-2.05021134e-01 9.78736568e-01 -6.40819701e-03 -2.33153080e+01] [-3.34875700e-02 -4.71074061e-04 9.99439023e-01 -6.66651018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.41264000000004 meters 0.01885427298283318 Centerline is valid? [True, True] Translation: X:154.48, Y:-23.32, Z:-6.67 [[ 9.78136985e-01 2.05260751e-01 3.34075338e-02 1.54480310e+02] [-2.05158037e-01 9.78707203e-01 -6.51086158e-03 -2.33195479e+01] [-3.40326183e-02 -4.85309546e-04 9.99420605e-01 -6.66641583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.44264000000004 meters 0.01957846377483715 Centerline is valid? [True, True] Translation: X:154.51, Y:-23.32, Z:-6.67 [[ 9.78078466e-01 2.05458394e-01 3.39022555e-02 1.54507568e+02] [-2.05352782e-01 9.78665723e-01 -6.60587850e-03 -2.33221516e+01] [-3.45362086e-02 -5.00854973e-04 9.99403322e-01 -6.66758402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.47264 meters 0.02092237491947264 Centerline is valid? [True, True] Translation: X:154.54, Y:-23.32, Z:-6.67 [[ 9.77946725e-01 2.06060556e-01 3.40477540e-02 1.54535700e+02] [-2.05954510e-01 9.78539099e-01 -6.63105656e-03 -2.33243078e+01] [-3.46834577e-02 -5.27468448e-04 9.99398209e-01 -6.66885478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.50264 meters 0.020431758195027874 Centerline is valid? [True, True] Translation: X:154.56, Y:-23.33, Z:-6.67 [[ 9.77880375e-01 2.06346439e-01 3.42216213e-02 1.54564392e+02] [-2.06239576e-01 9.78478846e-01 -6.66220283e-03 -2.33302625e+01] [-3.48598544e-02 -5.43015278e-04 9.99392063e-01 -6.66943430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.53264000000001 meters 0.029575323802227334 Centerline is valid? [True, True] Translation: X:154.59, Y:-23.33, Z:-6.67 [[ 9.77775294e-01 2.06825197e-01 3.43338448e-02 1.54591978e+02] [-2.06717983e-01 9.78377749e-01 -6.68243251e-03 -2.33334494e+01] [-3.49735652e-02 -5.63505744e-04 9.99388079e-01 -6.67137460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56264000000002 meters 0.021725388149954946 Centerline is valid? [True, True] Translation: X:154.62, Y:-23.34, Z:-6.67 [[ 9.77731137e-01 2.07061267e-01 3.41680478e-02 1.54620837e+02] [-2.06955308e-01 9.78327811e-01 -6.64793337e-03 -2.33381364e+01] [-3.48040809e-02 -5.71367399e-04 9.99393991e-01 -6.67231536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.59264000000002 meters 0.03599570300703033 Centerline is valid? [True, True] Translation: X:154.65, Y:-23.34, Z:-6.67 [[ 9.77669373e-01 2.07385317e-01 3.39695000e-02 1.54649057e+02] [-2.07280839e-01 9.78259164e-01 -6.60764405e-03 -2.33413629e+01] [-3.46013030e-02 -5.81135244e-04 9.99401027e-01 -6.67427939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62264000000002 meters 0.023201006497544623 Centerline is valid? [True, True] Translation: X:154.68, Y:-23.34, Z:-6.68 [[ 9.77604175e-01 2.07878998e-01 3.28085183e-02 1.54676993e+02] [-2.07781867e-01 9.78154378e-01 -6.38039484e-03 -2.33427015e+01] [-3.34181459e-02 -5.79514551e-04 9.99441290e-01 -6.67714304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.65264000000002 meters 0.023769548273376604 Centerline is valid? [True, True] Translation: X:154.71, Y:-23.35, Z:-6.68 [[ 9.77575539e-01 2.08096267e-01 3.22801788e-02 1.54705900e+02] [-2.08002427e-01 9.78108178e-01 -6.27557825e-03 -2.33469336e+01] [-3.28794313e-02 -5.79503745e-04 9.99459157e-01 -6.67954837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68264000000002 meters 0.039297558951272106 Centerline is valid? [True, True] Translation: X:154.73, Y:-23.35, Z:-6.68 [[ 9.77481122e-01 2.08544584e-01 3.22461297e-02 1.54734818e+02] [-2.08451236e-01 9.78012680e-01 -6.26740134e-03 -2.33509966e+01] [-3.28441563e-02 -5.95479090e-04 9.99460308e-01 -6.68158233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.71264000000002 meters 0.02474556064904015 Centerline is valid? [True, True] Translation: X:154.76, Y:-23.36, Z:-6.68 [[ 9.77538329e-01 2.08426587e-01 3.12597591e-02 1.54763548e+02] [-2.08338850e-01 9.78037846e-01 -6.07424564e-03 -2.33551622e+01] [-3.18392617e-02 -5.74814318e-04 9.99492837e-01 -6.68455107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74264000000002 meters 0.022847544745365485 Centerline is valid? [True, True] Translation: X:154.79, Y:-23.36, Z:-6.68 [[ 9.77570217e-01 2.08289471e-01 3.11763947e-02 1.54790761e+02] [-2.08202168e-01 9.78067059e-01 -6.05687857e-03 -2.33617141e+01] [-3.17541887e-02 -5.69968868e-04 9.99495546e-01 -6.68416591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.77264000000002 meters 0.024567543429457234 Centerline is valid? [True, True] Translation: X:154.82, Y:-23.36, Z:-6.69 [[ 9.77593410e-01 2.08110301e-01 3.16421600e-02 1.54818162e+02] [-2.08020360e-01 9.78105195e-01 -6.14476172e-03 -2.33636777e+01] [-3.22281492e-02 -5.75134941e-04 9.99480373e-01 -6.68643151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80264000000003 meters 0.023336658246561705 Centerline is valid? [True, True] Translation: X:154.85, Y:-23.37, Z:-6.69 [[ 9.77903249e-01 2.06649128e-01 3.16444758e-02 1.54845470e+02] [-2.06558474e-01 9.78414972e-01 -6.14319256e-03 -2.33696654e+01] [-3.22309143e-02 -5.28986653e-04 9.99480309e-01 -6.68772540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.83264000000003 meters 0.020592896313438802 Centerline is valid? [True, True] Translation: X:154.87, Y:-23.38, Z:-6.69 [[ 9.78154876e-01 2.05523438e-01 3.11954367e-02 1.54873159e+02] [-2.05434829e-01 9.78652073e-01 -6.05406903e-03 -2.33782334e+01] [-3.17737318e-02 -4.86812053e-04 9.99494969e-01 -6.68814264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86264000000003 meters 0.018929125161348596 Centerline is valid? [True, True] Translation: X:154.90, Y:-23.39, Z:-6.69 [[ 9.78676488e-01 2.03048944e-01 3.10396167e-02 1.54900499e+02] [-2.02960023e-01 9.79168505e-01 -6.02226773e-03 -2.33858232e+01] [-3.16158302e-02 -4.05949465e-04 9.99500012e-01 -6.69130787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.89264000000003 meters 0.017131901011208445 Centerline is valid? [True, True] Translation: X:154.93, Y:-23.39, Z:-6.69 [[ 9.78888362e-01 2.01958265e-01 3.14711497e-02 1.54928312e+02] [-2.01866341e-01 9.79394056e-01 -6.10438255e-03 -2.33949741e+01] [-3.20554875e-02 -3.77456811e-04 9.99486020e-01 -6.69074868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92264000000003 meters 0.017305876085920227 Centerline is valid? [True, True] Translation: X:154.96, Y:-23.40, Z:-6.69 [[ 9.79069704e-01 2.01031016e-01 3.17654703e-02 1.54955540e+02] [-2.00936924e-01 9.79584814e-01 -6.15998620e-03 -2.34017879e+01] [-3.23553206e-02 -3.51800029e-04 9.99476368e-01 -6.69269974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.95264000000003 meters 0.017305876085920227 Centerline is valid? [True, True] Translation: X:154.98, Y:-23.41, Z:-6.69 [[ 9.79083812e-01 2.00962241e-01 3.17658238e-02 1.54982532e+02] [-2.00868173e-01 9.79598925e-01 -6.15816246e-03 -2.34068812e+01] [-3.23553250e-02 -3.51385816e-04 9.99476368e-01 -6.69391215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98264000000003 meters 0.016345929007162054 Centerline is valid? [True, True] Translation: X:155.01, Y:-23.41, Z:-6.69 [[ 9.79207449e-01 2.00311430e-01 3.20640516e-02 1.55010939e+02] [-2.00215307e-01 9.79732218e-01 -6.21384005e-03 -2.34145225e+01] [-3.26588876e-02 -3.35075484e-04 9.99466500e-01 -6.69409203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.01264000000003 meters 0.016578581588357132 Centerline is valid? [True, True] Translation: X:155.04, Y:-23.42, Z:-6.69 [[ 9.79190953e-01 2.00268786e-01 3.28251614e-02 1.55038777e+02] [-2.00168135e-01 9.79740932e-01 -6.35794573e-03 -2.34189257e+01] [-3.34334523e-02 -3.44908380e-04 9.99440886e-01 -6.69399171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04264000000003 meters 0.015702145418738538 Centerline is valid? [True, True] Translation: X:155.07, Y:-23.43, Z:-6.69 [[ 9.79135488e-01 2.00566784e-01 3.26597860e-02 1.55066495e+02] [-2.00467394e-01 9.79679967e-01 -6.32342126e-03 -2.34255724e+01] [-3.32644064e-02 -3.55736014e-04 9.99446523e-01 -6.69411581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.07264000000004 meters 0.02003767805676199 Centerline is valid? [True, True] Translation: X:155.09, Y:-23.43, Z:-6.70 [[ 9.78844840e-01 2.02142060e-01 3.16443940e-02 1.55094232e+02] [-2.02049623e-01 9.79356130e-01 -6.12541308e-03 -2.34265435e+01] [-3.22293349e-02 -3.97908883e-04 9.99480421e-01 -6.69985486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10264000000004 meters 0.018234481123406025 Centerline is valid? [True, True] Translation: X:155.12, Y:-23.43, Z:-6.70 [[ 9.78645524e-01 2.03107549e-01 3.16269120e-02 1.55122455e+02] [-2.03015787e-01 9.79156340e-01 -6.11985788e-03 -2.34340012e+01] [-3.22106808e-02 -4.31590929e-04 9.99481008e-01 -6.69793284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.13264000000004 meters 0.019114367536731815 Centerline is valid? [True, True] Translation: X:155.15, Y:-23.44, Z:-6.70 [[ 9.78437332e-01 2.04104601e-01 3.16496443e-02 1.55151294e+02] [-2.04013282e-01 9.78948974e-01 -6.12263575e-03 -2.34372888e+01] [-3.22330450e-02 -4.66332418e-04 9.99480272e-01 -6.69863786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16264000000004 meters 0.02256772361807835 Centerline is valid? [True, True] Translation: X:155.18, Y:-23.44, Z:-6.70 [[ 9.77942251e-01 2.06332947e-01 3.24910566e-02 1.55179295e+02] [-2.06237980e-01 9.78481684e-01 -6.28402445e-03 -2.34366722e+01] [-3.30885051e-02 -5.55476877e-04 9.99452271e-01 -6.69961425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.19264000000004 meters 0.023454744712631044 Centerline is valid? [True, True] Translation: X:155.21, Y:-23.44, Z:-6.70 [[ 9.77756094e-01 2.07199423e-01 3.25794314e-02 1.55207302e+02] [-2.07104517e-01 9.78298549e-01 -6.29820539e-03 -2.34409756e+01] [-3.31773950e-02 -5.89238699e-04 9.99449305e-01 -6.70040276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.22264 meters 0.023139210920965 Centerline is valid? [True, True] Translation: X:155.24, Y:-23.45, Z:-6.70 [[ 9.77575335e-01 2.08065869e-01 3.24816574e-02 1.55235671e+02] [-2.07972079e-01 9.78114621e-01 -6.27720370e-03 -2.34474383e+01] [-3.30768558e-02 -6.18838282e-04 9.99452620e-01 -6.70118867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.25264 meters 0.02503776796022567 Centerline is valid? [True, True] Translation: X:155.26, Y:-23.45, Z:-6.70 [[ 9.77217655e-01 2.09744722e-01 3.24469651e-02 1.55264245e+02] [-2.09652106e-01 9.77755948e-01 -6.26899517e-03 -2.34487424e+01] [-3.30401018e-02 -6.76401802e-04 9.99453798e-01 -6.70217281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.28264000000001 meters 0.025690281156926408 Centerline is valid? [True, True] Translation: X:155.29, Y:-23.45, Z:-6.70 [[ 9.77030390e-01 2.10655110e-01 3.21876106e-02 1.55292372e+02] [-2.10564529e-01 9.77560192e-01 -6.21688255e-03 -2.34520859e+01] [-3.27749449e-02 -7.03485871e-04 9.99462510e-01 -6.70368030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.31264000000002 meters 0.02876579154214638 Centerline is valid? [True, True] Translation: X:155.32, Y:-23.45, Z:-6.71 [[ 9.76781512e-01 2.11866711e-01 3.17863888e-02 1.55320988e+02] [-2.11779084e-01 9.77298293e-01 -6.13725926e-03 -2.34538821e+01] [-3.23650645e-02 -7.36930935e-04 9.99475842e-01 -6.70672185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34264000000002 meters 0.02737357688668928 Centerline is valid? [True, True] Translation: X:155.35, Y:-23.46, Z:-6.71 [[ 9.76806943e-01 2.11770574e-01 3.16452238e-02 1.55348331e+02] [-2.11683714e-01 9.77319133e-01 -6.10872581e-03 -2.34591766e+01] [-3.22211310e-02 -7.31732714e-04 9.99480497e-01 -6.70804048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.37264000000002 meters 0.029185865989138672 Centerline is valid? [True, True] Translation: X:155.38, Y:-23.46, Z:-6.71 [[ 9.76872274e-01 2.11506425e-01 3.13941593e-02 1.55375018e+02] [-2.11420873e-01 9.77376342e-01 -6.05805670e-03 -2.34620229e+01] [-3.19652265e-02 -7.19432942e-04 9.99488723e-01 -6.71133831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.40264000000002 meters 0.03361444756712462 Centerline is valid? [True, True] Translation: X:155.40, Y:-23.47, Z:-6.71 [[ 9.77192138e-01 2.10077777e-01 3.10298573e-02 1.55402515e+02] [-2.09993578e-01 9.77684449e-01 -5.98461679e-03 -2.34724545e+01] [-3.15946439e-02 -6.67950291e-04 9.99500541e-01 -6.71143956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.43264000000002 meters 0.024799461862008508 Centerline is valid? [True, True] Translation: X:155.43, Y:-23.48, Z:-6.71 [[ 9.77429100e-01 2.08897527e-01 3.15305878e-02 1.55429223e+02] [-2.08810023e-01 9.77937325e-01 -6.07969817e-03 -2.34787922e+01] [-3.21049727e-02 -6.41428863e-04 9.99484297e-01 -6.71245329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46264000000002 meters 0.024573564972688415 Centerline is valid? [True, True] Translation: X:155.46, Y:-23.48, Z:-6.71 [[ 9.77656075e-01 2.07801923e-01 3.17326177e-02 1.55456625e+02] [-2.07712783e-01 9.78170735e-01 -6.11660317e-03 -2.34847349e+01] [-3.23109599e-02 -6.11336095e-04 9.99477678e-01 -6.71410032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49264000000002 meters 0.021042808448842057 Centerline is valid? [True, True] Translation: X:155.48, Y:-23.50, Z:-6.71 [[ 9.78158925e-01 2.05391532e-01 3.19286129e-02 1.55483920e+02] [-2.05300073e-01 9.78679738e-01 -6.15222212e-03 -2.34957793e+01] [-3.25115008e-02 -5.37095584e-04 9.99471217e-01 -6.71356403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52264000000002 meters 0.021284865174931535 Centerline is valid? [True, True] Translation: X:155.51, Y:-23.50, Z:-6.72 [[ 9.78443441e-01 2.03921581e-01 3.26254674e-02 1.55511623e+02] [-2.03825325e-01 9.78987098e-01 -6.28478584e-03 -2.35010637e+01] [-3.32215151e-02 -5.00589005e-04 9.99447888e-01 -6.71538688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.55264000000003 meters 0.01799560053415172 Centerline is valid? [True, True] Translation: X:155.54, Y:-23.51, Z:-6.71 [[ 9.78921090e-01 2.01523149e-01 3.31951803e-02 1.55538810e+02] [-2.01422180e-01 9.79483659e-01 -6.39281176e-03 -2.35123016e+01] [-3.38024362e-02 -4.28187338e-04 9.99428443e-01 -6.71492698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58264000000003 meters 0.016771492442137884 Centerline is valid? [True, True] Translation: X:155.57, Y:-23.52, Z:-6.72 [[ 9.79161023e-01 2.00495684e-01 3.23291272e-02 1.55565832e+02] [-2.00399398e-01 9.79694510e-01 -6.22476816e-03 -2.35206739e+01] [-3.29207076e-02 -3.83687261e-04 9.99457893e-01 -6.71695881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.61264000000003 meters 0.017009589766327493 Centerline is valid? [True, True] Translation: X:155.59, Y:-23.53, Z:-6.72 [[ 9.79379641e-01 1.99561693e-01 3.14745970e-02 1.55593163e+02] [-1.99470028e-01 9.79885203e-01 -6.05776245e-03 -2.35271213e+01] [-3.20503892e-02 -3.45389531e-04 9.99486195e-01 -6.72066793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64264000000003 meters 0.015405755784962243 Centerline is valid? [True, True] Translation: X:155.62, Y:-23.54, Z:-6.72 [[ 9.79709054e-01 1.97988134e-01 3.11587584e-02 1.55620510e+02] [-1.97897571e-01 9.80204373e-01 -5.99486587e-03 -2.35368532e+01] [-3.17288636e-02 -2.93018223e-04 9.99496470e-01 -6.72206098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.67264000000003 meters 0.014368691001059374 Centerline is valid? [True, True] Translation: X:155.65, Y:-23.54, Z:-6.72 [[ 9.79876191e-01 1.97087653e-01 3.16086614e-02 1.55648253e+02] [-1.96994038e-01 9.80385835e-01 -6.07982128e-03 -2.35439554e+01] [-3.21869416e-02 -2.69245737e-04 9.99481830e-01 -6.72239074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70264000000003 meters 0.033687064813342195 Centerline is valid? [True, True] Translation: X:155.68, Y:-23.55, Z:-6.72 [[ 9.79991952e-01 1.96522933e-01 3.15358532e-02 1.55676503e+02] [-1.96429509e-01 9.80499196e-01 -6.06422183e-03 -2.35500406e+01] [-3.21126373e-02 -2.51683556e-04 9.99484225e-01 -6.72321263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.73264000000003 meters 0.013738736136479425 Centerline is valid? [True, True] Translation: X:155.70, Y:-23.56, Z:-6.72 [[ 9.80081793e-01 1.96036057e-01 3.17733276e-02 1.55703939e+02] [-1.95941017e-01 9.80596659e-01 -6.10825824e-03 -2.35581557e+01] [-3.23542578e-02 -2.39105427e-04 9.99476435e-01 -6.72493520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76264000000003 meters 0.014978161643682677 Centerline is valid? [True, True] Translation: X:155.73, Y:-23.56, Z:-6.73 [[ 9.79961742e-01 1.96665703e-01 3.15845851e-02 1.55731568e+02] [-1.96572162e-01 9.80470568e-01 -6.07053701e-03 -2.35625388e+01] [-3.21616225e-02 -2.59756142e-04 9.99482647e-01 -6.72755044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.79264000000003 meters 0.016082845770901986 Centerline is valid? [True, True] Translation: X:155.76, Y:-23.57, Z:-6.73 [[ 9.79579958e-01 1.98628596e-01 3.11413870e-02 1.55760622e+02] [-1.98538719e-01 9.80074782e-01 -5.98327422e-03 -2.35651469e+01] [-3.17093374e-02 -3.21675577e-04 9.99497081e-01 -6.72838565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82264000000004 meters 0.017196619174175462 Centerline is valid? [True, True] Translation: X:155.79, Y:-23.57, Z:-6.73 [[ 9.79254122e-01 2.00198892e-01 3.13331840e-02 1.55789065e+02] [-2.00108753e-01 9.79755205e-01 -6.01869905e-03 -2.35674062e+01] [-3.19037870e-02 -3.76208528e-04 9.99490874e-01 -6.72904086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.85264000000004 meters 0.019066011176244298 Centerline is valid? [True, True] Translation: X:155.82, Y:-23.57, Z:-6.73 [[ 9.78929095e-01 2.01690828e-01 3.19160919e-02 1.55816626e+02] [-2.01598158e-01 9.79449142e-01 -6.12874092e-03 -2.35686957e+01] [-3.24962996e-02 -4.34622545e-04 9.99471761e-01 -6.73010584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88264000000004 meters 0.018795860362841362 Centerline is valid? [True, True] Translation: X:155.85, Y:-23.57, Z:-6.73 [[ 9.78651949e-01 2.02978561e-01 3.22500730e-02 1.55845074e+02] [-2.02884730e-01 9.79183062e-01 -6.19015273e-03 -2.35735497e+01] [-3.28351935e-02 -4.85042307e-04 9.99460662e-01 -6.72919154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.91264000000004 meters 0.020544191928475147 Centerline is valid? [True, True] Translation: X:155.87, Y:-23.58, Z:-6.73 [[ 9.78312795e-01 2.04574744e-01 3.24538078e-02 1.55873064e+02] [-2.04480652e-01 9.78850795e-01 -6.22769145e-03 -2.35763324e+01] [-3.30414639e-02 -5.43545563e-04 9.99453834e-01 -6.73045142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.94264000000004 meters 0.02184928481753248 Centerline is valid? [True, True] Translation: X:155.90, Y:-23.58, Z:-6.73 [[ 9.78291277e-01 2.04665288e-01 3.25314721e-02 1.55900747e+02] [-2.04570861e-01 9.78831864e-01 -6.24061013e-03 -2.35801219e+01] [-3.31200778e-02 -5.49856815e-04 9.99451228e-01 -6.73225168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.97264 meters 0.02147278322443689 Centerline is valid? [True, True] Translation: X:155.93, Y:-23.59, Z:-6.73 [[ 9.78551043e-01 2.03428478e-01 3.24762937e-02 1.55928437e+02] [-2.03333782e-01 9.79089676e-01 -6.22723848e-03 -2.35856548e+01] [-3.30640016e-02 -5.09856933e-04 9.99453106e-01 -6.73477489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.00264 meters 0.02459782329483629 Centerline is valid? [True, True] Translation: X:155.96, Y:-23.59, Z:-6.74 [[ 9.78849355e-01 2.01977092e-01 3.25452692e-02 1.55956659e+02] [-2.01881245e-01 9.79390136e-01 -6.23886257e-03 -2.35918859e+01] [-3.31346230e-02 -4.63372877e-04 9.99450790e-01 -6.73584656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.03264000000001 meters 0.01655457182722412 Centerline is valid? [True, True] Translation: X:155.98, Y:-23.60, Z:-6.74 [[ 9.79637364e-01 1.98078567e-01 3.27950824e-02 1.55983248e+02] [-1.97979107e-01 9.80186089e-01 -6.28525684e-03 -2.36020329e+01] [-3.33902583e-02 -3.35468678e-04 9.99442334e-01 -6.73786633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06264000000002 meters 0.014835980971923807 Centerline is valid? [True, True] Translation: X:156.01, Y:-23.61, Z:-6.74 [[ 9.80086547e-01 1.95881467e-01 3.25700945e-02 1.56009740e+02] [-1.95782219e-01 9.80627546e-01 -6.24016395e-03 -2.36107835e+01] [-3.31614643e-02 -2.60744631e-04 9.99449973e-01 -6.73939620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.09264000000002 meters 0.012885918027744943 Centerline is valid? [True, True] Translation: X:156.04, Y:-23.62, Z:-6.74 [[ 9.80519682e-01 1.93696837e-01 3.25989023e-02 1.56036972e+02] [-1.93596275e-01 9.81061415e-01 -6.24361047e-03 -2.36204126e+01] [-3.31908928e-02 -1.89043100e-04 9.99449013e-01 -6.74004105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12264000000002 meters 0.011695823494781587 Centerline is valid? [True, True] Translation: X:156.06, Y:-23.63, Z:-6.74 [[ 9.80922565e-01 1.91673822e-01 3.24355995e-02 1.56064190e+02] [-1.91573211e-01 9.81458675e-01 -6.21076530e-03 -2.36296156e+01] [-3.30246417e-02 -1.21512115e-04 9.99454530e-01 -6.74053013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.15264000000002 meters 0.011259572320632403 Centerline is valid? [True, True] Translation: X:156.09, Y:-23.64, Z:-6.74 [[ 9.81714370e-01 1.87722245e-01 3.15793271e-02 1.56090900e+02] [-1.87624890e-01 9.82222153e-01 -6.04498144e-03 -2.36424322e+01] [-3.21526922e-02 9.37736993e-06 9.99482968e-01 -6.74332763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18264000000002 meters 0.011360910359532763 Centerline is valid? [True, True] Translation: X:156.12, Y:-23.65, Z:-6.74 [[ 9.82031828e-01 1.86104847e-01 3.12805920e-02 1.56119613e+02] [-1.86008531e-01 9.82529889e-01 -5.98700145e-03 -2.36507425e+01] [-3.18483265e-02 6.09690067e-05 9.99492712e-01 -6.74401735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.21264000000002 meters 0.012065171347613209 Centerline is valid? [True, True] Translation: X:156.15, Y:-23.66, Z:-6.75 [[ 9.82409486e-01 1.84027051e-01 3.17119408e-02 1.56148198e+02] [-1.83927008e-01 9.82921171e-01 -6.06858475e-03 -2.36598855e+01] [-3.22871217e-02 1.29152829e-04 9.99478627e-01 -6.74502525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24264000000002 meters 0.01324022688540741 Centerline is valid? [True, True] Translation: X:156.18, Y:-23.67, Z:-6.75 [[ 9.82543589e-01 1.83270054e-01 3.19403008e-02 1.56176622e+02] [-1.83168188e-01 9.83062594e-01 -6.11159026e-03 -2.36679676e+01] [-3.25193864e-02 1.54456799e-04 9.99471093e-01 -6.74841152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27264000000002 meters 0.012472795085292275 Centerline is valid? [True, True] Translation: X:156.21, Y:-23.67, Z:-6.75 [[ 9.82696494e-01 1.82447508e-01 3.19453895e-02 1.56206014e+02] [-1.82345157e-01 9.83215578e-01 -6.11308909e-03 -2.36747577e+01] [-3.25245225e-02 1.82224151e-04 9.99470921e-01 -6.74657303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30264000000003 meters 0.013791839587964764 Centerline is valid? [True, True] Translation: X:156.23, Y:-23.69, Z:-6.75 [[ 9.82933156e-01 1.81249495e-01 3.14806432e-02 1.56234607e+02] [-1.81149492e-01 9.83437122e-01 -6.02400520e-03 -2.36872528e+01] [-3.20510810e-02 2.18491916e-04 9.99486208e-01 -6.74972174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.33264000000003 meters 0.021202604796420284 Centerline is valid? [True, True] Translation: X:156.26, Y:-23.69, Z:-6.75 [[ 9.82995279e-01 1.80947931e-01 3.12750471e-02 1.56264022e+02] [-1.80849060e-01 9.83492651e-01 -5.98520815e-03 -2.36937187e+01] [-3.18417900e-02 2.27368475e-04 9.99492896e-01 -6.75058821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36264000000003 meters 0.013680007827645247 Centerline is valid? [True, True] Translation: X:156.29, Y:-23.70, Z:-6.75 [[ 9.83016253e-01 1.80849662e-01 3.11840538e-02 1.56293638e+02] [-1.80751317e-01 9.83510725e-01 -5.96779447e-03 -2.37002978e+01] [-3.17491250e-02 2.29880159e-04 9.99495843e-01 -6.75182841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.39264000000003 meters 0.013873225670155389 Centerline is valid? [True, True] Translation: X:156.32, Y:-23.71, Z:-6.75 [[ 9.82918620e-01 1.81283706e-01 3.17364766e-02 1.56322982e+02] [-1.81182075e-01 9.83430816e-01 -6.07336818e-03 -2.37078126e+01] [-3.23116318e-02 2.19545973e-04 9.99477819e-01 -6.75293838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42264000000003 meters 0.015521987538205932 Centerline is valid? [True, True] Translation: X:156.35, Y:-23.71, Z:-6.75 [[ 9.82905821e-01 1.81279389e-01 3.21547820e-02 1.56353793e+02] [-1.81175050e-01 9.83431611e-01 -6.15368863e-03 -2.37149388e+01] [-3.27375660e-02 2.22852150e-04 9.99463957e-01 -6.75264387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.45264000000003 meters 0.013384543458788633 Centerline is valid? [True, True] Translation: X:156.38, Y:-23.72, Z:-6.75 [[ 9.82887599e-01 1.81290025e-01 3.26480403e-02 1.56384241e+02] [-1.81182486e-01 9.83429650e-01 -6.24745759e-03 -2.37239404e+01] [-3.32396525e-02 2.25295507e-04 9.99447385e-01 -6.75348223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48264000000003 meters 0.01328362517686317 Centerline is valid? [True, True] Translation: X:156.42, Y:-23.73, Z:-6.75 [[ 9.82869396e-01 1.81405061e-01 3.25569436e-02 1.56415200e+02] [-1.81298014e-01 9.83408436e-01 -6.23516440e-03 -2.37346532e+01] [-3.31478634e-02 2.25843056e-04 9.99450433e-01 -6.75366400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.51264000000003 meters 0.013175006010440703 Centerline is valid? [True, True] Translation: X:156.45, Y:-23.74, Z:-6.76 [[ 9.82772856e-01 1.82050391e-01 3.18617080e-02 1.56446311e+02] [-1.81948030e-01 9.83289181e-01 -6.10749922e-03 -2.37422844e+01] [-3.24411454e-02 2.05109454e-04 9.99473626e-01 -6.75587032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54264000000003 meters 0.013342682156157578 Centerline is valid? [True, True] Translation: X:156.48, Y:-23.75, Z:-6.76 [[ 9.82622371e-01 1.82887436e-01 3.17090110e-02 1.56477092e+02] [-1.82786304e-01 9.83133843e-01 -6.08397118e-03 -2.37494485e+01] [-3.22868837e-02 1.82273268e-04 9.99478626e-01 -6.75837936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.57264000000004 meters 0.011728168735594078 Centerline is valid? [True, True] Translation: X:156.51, Y:-23.75, Z:-6.76 [[ 9.82083084e-01 1.85784635e-01 3.15734944e-02 1.56507831e+02] [-1.85685644e-01 9.82590485e-01 -6.06472603e-03 -2.37535624e+01] [-3.21505481e-02 9.33201993e-05 9.99483033e-01 -6.75811186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60264000000004 meters 0.014346029249381463 Centerline is valid? [True, True] Translation: X:156.54, Y:-23.76, Z:-6.76 [[ 9.81721153e-01 1.87677792e-01 3.16326402e-02 1.56537168e+02] [-1.87579382e-01 9.82230648e-01 -6.07702604e-03 -2.37578496e+01] [-3.22110715e-02 3.23139273e-05 9.99481088e-01 -6.76055003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.63264000000004 meters 0.01225611495146408 Centerline is valid? [True, True] Translation: X:156.57, Y:-23.76, Z:-6.76 [[ 9.80790832e-01 1.92392128e-01 3.21654156e-02 1.56567347e+02] [-1.92292877e-01 9.81318121e-01 -6.18024590e-03 -2.37585017e+01] [-3.27535358e-02 -1.23651791e-04 9.99463451e-01 -6.75996227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66264000000004 meters 0.022888888459127447 Centerline is valid? [True, True] Translation: X:156.60, Y:-23.76, Z:-6.76 [[ 9.80351777e-01 1.94576473e-01 3.24097116e-02 1.56596098e+02] [-1.94476927e-01 9.80887331e-01 -6.22640792e-03 -2.37608076e+01] [-3.30017880e-02 -1.98871046e-04 9.99455273e-01 -6.76145872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.69264000000004 meters 0.024799788590964607 Centerline is valid? [True, True] Translation: X:156.63, Y:-23.76, Z:-6.76 [[ 9.79939452e-01 1.96688547e-01 3.21291906e-02 1.56625552e+02] [-1.96591879e-01 9.80465983e-01 -6.17169098e-03 -2.37649715e+01] [-3.27154794e-02 -2.68454477e-04 9.99464669e-01 -6.76135597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.72264 meters 0.01773725229844341 Centerline is valid? [True, True] Translation: X:156.65, Y:-23.77, Z:-6.76 [[ 9.79245184e-01 2.00124962e-01 3.20759906e-02 1.56654299e+02] [-2.00030477e-01 9.79770306e-01 -6.16080582e-03 -2.37661609e+01] [-3.26600341e-02 -3.83236266e-04 9.99466445e-01 -6.76332042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.75264 meters 0.01750829217669925 Centerline is valid? [True, True] Translation: X:156.68, Y:-23.77, Z:-6.76 [[ 9.78966899e-01 2.01497137e-01 3.19799113e-02 1.56683659e+02] [-2.01403992e-01 9.79489009e-01 -6.14102832e-03 -2.37718824e+01] [-3.25613713e-02 -4.29018368e-04 9.99469646e-01 -6.76283762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.78264000000001 meters 0.020373705795678834 Centerline is valid? [True, True] Translation: X:156.71, Y:-23.77, Z:-6.77 [[ 9.78499096e-01 2.03830934e-01 3.15034887e-02 1.56712071e+02] [-2.03741774e-01 9.79005976e-01 -6.04888898e-03 -2.37733981e+01] [-3.20750543e-02 -4.99744264e-04 9.99485338e-01 -6.76598331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.81264000000002 meters 0.021234313885929085 Centerline is valid? [True, True] Translation: X:156.74, Y:-23.78, Z:-6.77 [[ 9.78261966e-01 2.05008236e-01 3.12273900e-02 1.56740835e+02] [-2.04921265e-01 9.78760102e-01 -5.99482640e-03 -2.37774681e+01] [-3.17931123e-02 -5.34645617e-04 9.99494328e-01 -6.76782671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.84264000000002 meters 0.023230790490033244 Centerline is valid? [True, True] Translation: X:156.77, Y:-23.78, Z:-6.77 [[ 9.78042820e-01 2.06130785e-01 3.06975881e-02 1.56768693e+02] [-2.06047336e-01 9.78524288e-01 -5.89174552e-03 -2.37795632e+01] [-3.12528057e-02 -5.62776838e-04 9.99511353e-01 -6.77049506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.87264000000002 meters 0.023230790490033244 Centerline is valid? [True, True] Translation: X:156.80, Y:-23.78, Z:-6.77 [[ 9.78052751e-01 2.06083602e-01 3.06979784e-02 1.56796511e+02] [-2.06000194e-01 9.78534226e-01 -5.88971102e-03 -2.37848102e+01] [-3.12527954e-02 -5.63341433e-04 9.99511353e-01 -6.77174446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.90264000000002 meters 0.023676853262317034 Centerline is valid? [True, True] Translation: X:156.83, Y:-23.79, Z:-6.77 [[ 9.77933735e-01 2.06674587e-01 3.05159722e-02 1.56825058e+02] [-2.06592499e-01 9.78409566e-01 -5.85328356e-03 -2.37885007e+01] [-3.10668440e-02 -5.80247506e-04 9.99517141e-01 -6.77347635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.93264000000002 meters 0.02656725674780515 Centerline is valid? [True, True] Translation: X:156.85, Y:-23.79, Z:-6.78 [[ 9.77822797e-01 2.07287957e-01 2.99045098e-02 1.56853421e+02] [-2.07209453e-01 9.78279794e-01 -5.73470389e-03 -2.37879040e+01] [-3.04437127e-02 -5.88972909e-04 9.99536309e-01 -6.77777896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.96264000000002 meters 0.030253385952738604 Centerline is valid? [True, True] Translation: X:156.88, Y:-23.79, Z:-6.78 [[ 9.77875576e-01 2.07141140e-01 2.91874315e-02 1.56881775e+02] [-2.07066349e-01 9.78310902e-01 -5.59523954e-03 -2.37944204e+01] [-2.97133868e-02 -5.72286798e-04 9.99558296e-01 -6.77888846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99264000000002 meters 0.02342050281887421 Centerline is valid? [True, True] Translation: X:156.91, Y:-23.80, Z:-6.78 [[ 9.78119842e-01 2.05967765e-01 2.93062307e-02 1.56909940e+02] [-2.05891880e-01 9.78558628e-01 -5.61657124e-03 -2.38016623e+01] [-2.98346975e-02 -5.40235160e-04 9.99554700e-01 -6.77842734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02264000000002 meters 0.022118415583760345 Centerline is valid? [True, True] Translation: X:156.94, Y:-23.81, Z:-6.78 [[ 9.78349899e-01 2.04855497e-01 2.94227950e-02 1.56938277e+02] [-2.04778548e-01 9.78792095e-01 -5.63743676e-03 -2.38080521e+01] [-2.99536591e-02 -5.09771560e-04 9.99551158e-01 -6.77914692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.05264000000003 meters 0.02105705287135222 Centerline is valid? [True, True] Translation: X:156.97, Y:-23.81, Z:-6.78 [[ 9.78642225e-01 2.03513309e-01 2.90125683e-02 1.56966382e+02] [-2.03437944e-01 9.79072070e-01 -5.55740229e-03 -2.38147175e+01] [-2.95364007e-02 -4.63548713e-04 9.99563598e-01 -6.78081934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08264000000003 meters 0.03403495600588538 Centerline is valid? [True, True] Translation: X:156.99, Y:-23.82, Z:-6.78 [[ 9.79276883e-01 2.00386492e-01 2.93605243e-02 1.56994180e+02] [-2.00307947e-01 9.79716854e-01 -5.62253939e-03 -2.38238118e+01] [-2.98916815e-02 -3.75123517e-04 9.99553073e-01 -6.78155355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.11264000000003 meters 0.02574021518226618 Centerline is valid? [True, True] Translation: X:157.02, Y:-23.83, Z:-6.78 [[ 9.79603379e-01 1.98695045e-01 2.99582924e-02 1.57021695e+02] [-1.98612521e-01 9.80061309e-01 -5.73560079e-03 -2.38300157e+01] [-3.05005987e-02 -3.31478065e-04 9.99534694e-01 -6.78308362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14264000000003 meters 0.016053966464357534 Centerline is valid? [True, True] Translation: X:157.05, Y:-23.84, Z:-6.78 [[ 9.79976172e-01 1.96753092e-01 3.05765103e-02 1.57049847e+02] [-1.96666249e-01 9.80453030e-01 -5.85176042e-03 -2.38383038e+01] [-3.11301842e-02 -2.78781833e-04 9.99515299e-01 -6.78334728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.17264000000003 meters 0.01401609960516188 Centerline is valid? [True, True] Translation: X:157.08, Y:-23.85, Z:-6.79 [[ 9.80671741e-01 1.93337768e-01 3.00573437e-02 1.57076772e+02] [-1.93252289e-01 9.81132243e-01 -5.75097369e-03 -2.38490349e+01] [-3.06021095e-02 -1.68833092e-04 9.99531632e-01 -6.78550224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20264000000003 meters 0.013233461861051827 Centerline is valid? [True, True] Translation: X:157.10, Y:-23.86, Z:-6.79 [[ 9.80999828e-01 1.91660646e-01 3.00921107e-02 1.57104619e+02] [-1.91574225e-01 9.81461249e-01 -5.75616495e-03 -2.38571745e+01] [-3.06374708e-02 -1.18075959e-04 9.99530556e-01 -6.78668904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.23264000000003 meters 0.01222265392817148 Centerline is valid? [True, True] Translation: X:157.13, Y:-23.87, Z:-6.79 [[ 9.81497768e-01 1.89159322e-01 2.96796683e-02 1.57134118e+02] [-1.89074173e-01 9.81946408e-01 -5.67520010e-03 -2.38675654e+01] [-3.02173607e-02 -4.14625136e-05 9.99543350e-01 -6.78724447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26264000000003 meters 0.01738875942885419 Centerline is valid? [True, True] Translation: X:157.16, Y:-23.87, Z:-6.79 [[ 9.81678359e-01 1.88282576e-01 2.92791971e-02 1.57163023e+02] [-1.88199315e-01 9.82114897e-01 -5.59879789e-03 -2.38740154e+01] [-2.98096918e-02 -1.41061261e-05 9.99555592e-01 -6.79106858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.29264000000003 meters 0.012584670843123709 Centerline is valid? [True, True] Translation: X:157.19, Y:-23.88, Z:-6.79 [[ 9.81784171e-01 1.87729992e-01 2.92795275e-02 1.57192408e+02] [-1.87646489e-01 9.82220673e-01 -5.59866367e-03 -2.38806715e+01] [-2.98099943e-02 2.47882957e-06 9.99555583e-01 -6.79202195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32264000000004 meters 0.0124595388512476 Centerline is valid? [True, True] Translation: X:157.22, Y:-23.89, Z:-6.79 [[ 9.81719565e-01 1.88211698e-01 2.83381679e-02 1.57222750e+02] [-1.88133709e-01 9.82128483e-01 -5.41764723e-03 -2.38857490e+01] [-2.88513864e-02 -1.27543443e-05 9.99583712e-01 -6.79252037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.35264000000004 meters 0.01284549547853658 Centerline is valid? [True, True] Translation: X:157.25, Y:-23.89, Z:-6.79 [[ 9.81547133e-01 1.89088294e-01 2.84752949e-02 1.57251535e+02] [-1.89009923e-01 9.81960089e-01 -5.44367227e-03 -2.38899409e+01] [-2.89909378e-02 -3.88923911e-05 9.99579674e-01 -6.79489201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38264000000004 meters 0.012822977522811637 Centerline is valid? [True, True] Translation: X:157.28, Y:-23.89, Z:-6.80 [[ 9.81308610e-01 1.90358254e-01 2.82338020e-02 1.57280720e+02] [-1.90281705e-01 9.81714688e-01 -5.39843981e-03 -2.38938667e+01] [-2.87451758e-02 -7.48405272e-05 9.99586769e-01 -6.79505046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.41264000000004 meters 0.013201859198424783 Centerline is valid? [True, True] Translation: X:157.31, Y:-23.90, Z:-6.80 [[ 9.81114695e-01 1.91380818e-01 2.80595308e-02 1.57309943e+02] [-1.91305650e-01 9.81515854e-01 -5.36441501e-03 -2.38978666e+01] [-2.85675205e-02 -1.04840376e-04 9.99591860e-01 -6.79670630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.44264000000004 meters 0.020209781012432704 Centerline is valid? [True, True] Translation: X:157.34, Y:-23.90, Z:-6.80 [[ 9.80814507e-01 1.92947373e-01 2.78247008e-02 1.57338666e+02] [-1.92874102e-01 9.81209095e-01 -5.31901489e-03 -2.39006229e+01] [-2.83281395e-02 -1.49697224e-04 9.99598667e-01 -6.79839565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.47264 meters 0.014407392769273157 Centerline is valid? [True, True] Translation: X:157.37, Y:-23.90, Z:-6.80 [[ 9.80745365e-01 1.93309534e-01 2.77480338e-02 1.57366050e+02] [-1.93236830e-01 9.81137808e-01 -5.30369804e-03 -2.39047019e+01] [-2.82499005e-02 -1.60364814e-04 9.99600879e-01 -6.79998021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.50264 meters 0.01492459312960637 Centerline is valid? [True, True] Translation: X:157.39, Y:-23.91, Z:-6.80 [[ 9.80679481e-01 1.93605500e-01 2.80118753e-02 1.57393901e+02] [-1.93531578e-01 9.81079447e-01 -5.35233968e-03 -2.39076936e+01] [-2.85181175e-02 -1.72252724e-04 9.99593261e-01 -6.80173452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.53264000000001 meters 0.015101054529611156 Centerline is valid? [True, True] Translation: X:157.42, Y:-23.91, Z:-6.80 [[ 9.80684470e-01 1.93561850e-01 2.81385863e-02 1.57421338e+02] [-1.93487291e-01 9.81088059e-01 -5.37476312e-03 -2.39124453e+01] [-2.86467801e-02 -1.73512123e-04 9.99589582e-01 -6.80293451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56264000000002 meters 0.014369196462689533 Centerline is valid? [True, True] Translation: X:157.45, Y:-23.92, Z:-6.80 [[ 9.80659342e-01 1.93658527e-01 2.83483518e-02 1.57450014e+02] [-1.93582948e-01 9.81068980e-01 -5.41292648e-03 -2.39180772e+01] [-2.88599479e-02 -1.79520587e-04 9.99583449e-01 -6.80184714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.59264000000002 meters 0.014556126176100763 Centerline is valid? [True, True] Translation: X:157.48, Y:-23.92, Z:-6.80 [[ 9.80502378e-01 1.94413816e-01 2.86069006e-02 1.57478262e+02] [-1.94337214e-01 9.80919582e-01 -5.46084663e-03 -2.39220133e+01] [-2.91227330e-02 -2.05012271e-04 9.99575822e-01 -6.80147694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62264000000002 meters 0.015614410847409122 Centerline is valid? [True, True] Translation: X:157.51, Y:-23.93, Z:-6.80 [[ 9.80377653e-01 1.94986396e-01 2.89821120e-02 1.57505933e+02] [-1.94908061e-01 9.80805921e-01 -5.53114045e-03 -2.39251714e+01] [-2.95043241e-02 -2.26240770e-04 9.99564627e-01 -6.80423646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.65264000000002 meters 0.01525771324172833 Centerline is valid? [True, True] Translation: X:157.53, Y:-23.93, Z:-6.80 [[ 9.80294215e-01 1.95355748e-01 2.93152451e-02 1.57533932e+02] [-1.95275828e-01 9.80732417e-01 -5.59263687e-03 -2.39298307e+01] [-2.98429649e-02 -2.42129191e-04 9.99554570e-01 -6.80400044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68264000000002 meters 0.015480492398246141 Centerline is valid? [True, True] Translation: X:157.56, Y:-23.93, Z:-6.81 [[ 9.80218190e-01 1.95731402e-01 2.93516272e-02 1.57562160e+02] [-1.95651497e-01 9.80657511e-01 -5.59810412e-03 -2.39336566e+01] [-2.98796184e-02 -2.55326311e-04 9.99553472e-01 -6.80561562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.71264000000002 meters 0.015483473523350928 Centerline is valid? [True, True] Translation: X:157.59, Y:-23.94, Z:-6.81 [[ 9.80207245e-01 1.95790506e-01 2.93229309e-02 1.57590642e+02] [-1.95710827e-01 9.80645711e-01 -5.59115846e-03 -2.39378760e+01] [-2.98501022e-02 -2.58321016e-04 9.99554353e-01 -6.80690067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74264000000002 meters 0.0151445307034303 Centerline is valid? [True, True] Translation: X:157.62, Y:-23.94, Z:-6.81 [[ 9.80301444e-01 1.95285469e-01 2.95408865e-02 1.57618545e+02] [-1.95204417e-01 9.80746412e-01 -5.63119870e-03 -2.39437174e+01] [-3.00718098e-02 -2.46239324e-04 9.99547711e-01 -6.80786244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.77264000000002 meters 0.015590164208909444 Centerline is valid? [True, True] Translation: X:157.65, Y:-23.95, Z:-6.81 [[ 9.80388574e-01 1.94998810e-01 2.85255730e-02 1.57645637e+02] [-1.94923148e-01 9.80803452e-01 -5.43646645e-03 -2.39477776e+01] [-2.90380850e-02 -2.30444902e-04 9.99578279e-01 -6.81140366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80264000000003 meters 0.01570547557870855 Centerline is valid? [True, True] Translation: X:157.67, Y:-23.95, Z:-6.81 [[ 9.80366103e-01 1.95240927e-01 2.76276199e-02 1.57673996e+02] [-1.95170103e-01 9.80755284e-01 -5.26349139e-03 -2.39523254e+01] [-2.81235832e-02 -2.31936884e-04 9.99604427e-01 -6.81345440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.83264000000003 meters 0.016793339797163815 Centerline is valid? [True, True] Translation: X:157.70, Y:-23.95, Z:-6.82 [[ 9.80184271e-01 1.96353286e-01 2.61568922e-02 1.57702728e+02] [-1.96290231e-01 9.80533184e-01 -4.98208577e-03 -2.39539395e+01] [-2.66259497e-02 -2.50980290e-04 9.99645435e-01 -6.81701103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86264000000003 meters 0.018242265650444466 Centerline is valid? [True, True] Translation: X:157.73, Y:-23.96, Z:-6.82 [[ 9.79956223e-01 1.97557402e-01 2.56295587e-02 1.57730924e+02] [-1.97497300e-01 9.80291281e-01 -4.88073538e-03 -2.39554602e+01] [-2.60886583e-02 -2.78861629e-04 9.99659594e-01 -6.81967893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.89264000000003 meters 0.018362805839076367 Centerline is valid? [True, True] Translation: X:157.76, Y:-23.96, Z:-6.82 [[ 9.79725081e-01 1.98644223e-01 2.60622037e-02 1.57760005e+02] [-1.98582519e-01 9.80071616e-01 -4.96085159e-03 -2.39586503e+01] [-2.65282706e-02 -3.15227328e-04 9.99648014e-01 -6.81973340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92264000000003 meters 0.018116490117192345 Centerline is valid? [True, True] Translation: X:157.79, Y:-23.96, Z:-6.82 [[ 9.79555149e-01 1.99400407e-01 2.66681083e-02 1.57788218e+02] [-1.99336117e-01 9.79918037e-01 -5.07477721e-03 -2.39630162e+01] [-2.71444730e-02 -3.44893014e-04 9.99631461e-01 -6.81868253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.95264000000003 meters 0.03336271707428926 Centerline is valid? [True, True] Translation: X:157.82, Y:-23.96, Z:-6.82 [[ 9.79457740e-01 1.99718263e-01 2.78415381e-02 1.57816755e+02] [-1.99648358e-01 9.79853294e-01 -5.29669964e-03 -2.39627105e+01] [-2.83384705e-02 -3.70623913e-04 9.99598316e-01 -6.82165975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98264000000003 meters 0.020080367286675317 Centerline is valid? [True, True] Translation: X:157.85, Y:-23.97, Z:-6.82 [[ 9.79543475e-01 1.99244164e-01 2.82195740e-02 1.57845240e+02] [-1.99172213e-01 9.79949810e-01 -5.36644566e-03 -2.39673429e+01] [-2.87229992e-02 -3.63888185e-04 9.99587343e-01 -6.82236823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.01264000000003 meters 0.01916698357450825 Centerline is valid? [True, True] Translation: X:157.87, Y:-23.97, Z:-6.82 [[ 9.79691779e-01 1.98482139e-01 2.84404416e-02 1.57873160e+02] [-1.98408777e-01 9.80104444e-01 -5.40705347e-03 -2.39722659e+01] [-2.89478067e-02 -3.45587394e-04 9.99580865e-01 -6.82322132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04264000000003 meters 0.015757931186260024 Centerline is valid? [True, True] Translation: X:157.90, Y:-23.98, Z:-6.82 [[ 9.80230001e-01 1.95706999e-01 2.91190014e-02 1.57901156e+02] [-1.95628912e-01 9.80662377e-01 -5.53461747e-03 -2.39802123e+01] [-2.96390725e-02 -2.71320465e-04 9.99560629e-01 -6.82159120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.07264000000004 meters 0.025135201310412743 Centerline is valid? [True, True] Translation: X:157.93, Y:-23.99, Z:-6.82 [[ 9.80545775e-01 1.94110667e-01 2.91724662e-02 1.57928385e+02] [-1.94031625e-01 9.80979612e-01 -5.54345772e-03 -2.39852285e+01] [-2.96936389e-02 -2.24766994e-04 9.99559021e-01 -6.82391144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10264000000004 meters 0.022512745694178334 Centerline is valid? [True, True] Translation: X:157.96, Y:-23.99, Z:-6.82 [[ 9.81225415e-01 1.90661312e-01 2.90680243e-02 1.57955819e+02] [-1.90581381e-01 9.81655871e-01 -5.52158829e-03 -2.39945138e+01] [-2.95875500e-02 -1.21901448e-04 9.99562185e-01 -6.82441304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.13264000000004 meters 0.012570444449301759 Centerline is valid? [True, True] Translation: X:157.98, Y:-24.00, Z:-6.83 [[ 9.81590468e-01 1.88718300e-01 2.94203244e-02 1.57982602e+02] [-1.88635588e-01 9.82031262e-01 -5.58713984e-03 -2.40019666e+01] [-2.99460738e-02 -6.54369672e-05 9.99551514e-01 -6.82586036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16264000000004 meters 0.025036939831263268 Centerline is valid? [True, True] Translation: X:158.01, Y:-24.01, Z:-6.83 [[ 9.82244819e-01 1.85292773e-01 2.93547919e-02 1.58010507e+02] [-1.85208970e-01 9.82683361e-01 -5.57229515e-03 -2.40112738e+01] [-2.98789715e-02 3.65872833e-05 9.99553523e-01 -6.82709648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.19264000000004 meters 0.016192844892046036 Centerline is valid? [True, True] Translation: X:158.04, Y:-24.02, Z:-6.83 [[ 9.82507544e-01 1.83960246e-01 2.89405333e-02 1.58038320e+02] [-1.83878230e-01 9.82933682e-01 -5.49311564e-03 -2.40179816e+01] [-2.94571399e-02 7.54935164e-05 9.99566041e-01 -6.82887665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.22264 meters 0.022946377723414537 Centerline is valid? [True, True] Translation: X:158.07, Y:-24.02, Z:-6.83 [[ 9.82768238e-01 1.82605155e-01 2.86696243e-02 1.58066358e+02] [-1.82524122e-01 9.83186322e-01 -5.44062523e-03 -2.40236107e+01] [-2.91810687e-02 1.13975670e-04 9.99574135e-01 -6.83169340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.25264 meters 0.028796842109776042 Centerline is valid? [True, True] Translation: X:158.09, Y:-24.03, Z:-6.83 [[ 9.83030919e-01 1.81276425e-01 2.80904064e-02 1.58094942e+02] [-1.81198126e-01 9.83432171e-01 -5.32950192e-03 -2.40299302e+01] [-2.85911224e-02 1.49136174e-04 9.99591179e-01 -6.83387416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.28264000000001 meters 0.016146097616531973 Centerline is valid? [True, True] Translation: X:158.12, Y:-24.04, Z:-6.84 [[ 9.83648440e-01 1.77831669e-01 2.84893712e-02 1.58121854e+02] [-1.77749704e-01 9.84060889e-01 -5.40452090e-03 -2.40407604e+01] [-2.89963709e-02 2.52171262e-04 9.99579485e-01 -6.83536261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.31264000000002 meters 0.01847322926767101 Centerline is valid? [True, True] Translation: X:158.15, Y:-24.05, Z:-6.84 [[ 9.84202601e-01 1.74564691e-01 2.95365530e-02 1.58149428e+02] [-1.74475149e-01 9.84645641e-01 -5.60208773e-03 -2.40517004e+01] [-3.00609648e-02 3.60194829e-04 9.99548002e-01 -6.83505677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34264000000002 meters 0.021350073667477813 Centerline is valid? [True, True] Translation: X:158.18, Y:-24.06, Z:-6.83 [[ 9.84351513e-01 1.73638411e-01 3.00299860e-02 1.58180727e+02] [-1.73545448e-01 9.84809396e-01 -5.69479879e-03 -2.40577820e+01] [-3.05626482e-02 3.94116439e-04 9.99532775e-01 -6.83421363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.37264000000002 meters 0.04138619440568591 Centerline is valid? [True, True] Translation: X:158.21, Y:-24.07, Z:-6.84 [[ 9.84487632e-01 1.72797836e-01 3.04139951e-02 1.58210545e+02] [-1.72702109e-01 9.84957221e-01 -5.76661841e-03 -2.40675660e+01] [-3.09529432e-02 4.24603413e-04 9.99520753e-01 -6.83664195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.40264000000002 meters 0.020622446660600778 Centerline is valid? [True, True] Translation: X:158.24, Y:-24.08, Z:-6.84 [[ 9.84580531e-01 1.72249425e-01 3.05174176e-02 1.58241982e+02] [-1.72152628e-01 9.85053265e-01 -5.79118678e-03 -2.40758486e+01] [-3.10588104e-02 4.48236116e-04 9.99517458e-01 -6.83755128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.43264000000002 meters 0.02061821453193809 Centerline is valid? [True, True] Translation: X:158.27, Y:-24.08, Z:-6.84 [[ 9.84461183e-01 1.72949721e-01 3.04067950e-02 1.58272168e+02] [-1.72853794e-01 9.84930561e-01 -5.77553122e-03 -2.40825863e+01] [-3.09474581e-02 4.29856421e-04 9.99520920e-01 -6.84010342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46264000000002 meters 0.01873672682577276 Centerline is valid? [True, True] Translation: X:158.30, Y:-24.09, Z:-6.84 [[ 9.84309739e-01 1.73827604e-01 3.03035014e-02 1.58303353e+02] [-1.73732544e-01 9.84776014e-01 -5.76238159e-03 -2.40856794e+01] [-3.08438223e-02 4.07263926e-04 9.99524133e-01 -6.84021536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.49264000000002 meters 0.015939937804186302 Centerline is valid? [True, True] Translation: X:158.33, Y:-24.09, Z:-6.84 [[ 9.83727080e-01 1.77113388e-01 3.01973445e-02 1.58334615e+02] [-1.77020516e-01 9.84190406e-01 -5.74293861e-03 -2.40880091e+01] [-3.07370881e-02 3.03934717e-04 9.99527458e-01 -6.84103773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52264000000002 meters 0.015638784813480872 Centerline is valid? [True, True] Translation: X:158.36, Y:-24.09, Z:-6.84 [[ 9.83351135e-01 1.79210653e-01 3.00680365e-02 1.58364164e+02] [-1.79119527e-01 9.83810696e-01 -5.71926956e-03 -2.40929429e+01] [-3.06062100e-02 2.38277732e-04 9.99531492e-01 -6.84469886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.55264000000003 meters 0.014111011333831388 Centerline is valid? [True, True] Translation: X:158.39, Y:-24.10, Z:-6.85 [[ 9.82937616e-01 1.81478577e-01 2.99861365e-02 1.58393829e+02] [-1.81388975e-01 9.83394884e-01 -5.70455621e-03 -2.40951409e+01] [-3.05234680e-02 1.68068326e-04 9.99534036e-01 -6.84626997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58264000000003 meters 0.012775671622172668 Centerline is valid? [True, True] Translation: X:158.42, Y:-24.10, Z:-6.85 [[ 9.82554363e-01 1.83601666e-01 2.96201184e-02 1.58423454e+02] [-1.83515224e-01 9.83000721e-01 -5.63424069e-03 -2.40967983e+01] [-3.01510537e-02 1.00205124e-04 9.99545349e-01 -6.84600139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.61264000000003 meters 0.0122500229307528 Centerline is valid? [True, True] Translation: X:158.45, Y:-24.10, Z:-6.85 [[ 9.81703590e-01 1.88022899e-01 3.00907233e-02 1.58451823e+02] [-1.87935769e-01 9.82164644e-01 -5.72352131e-03 -2.40954375e+01] [-3.06301976e-02 -3.63218092e-05 9.99530785e-01 -6.84613231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64264000000003 meters 0.012544556051503834 Centerline is valid? [True, True] Translation: X:158.48, Y:-24.10, Z:-6.85 [[ 9.81314714e-01 1.89963776e-01 3.05809631e-02 1.58481315e+02] [-1.89874796e-01 9.81791095e-01 -5.81448710e-03 -2.40972299e+01] [-3.11286592e-02 -1.00712390e-04 9.99515381e-01 -6.84644694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.67264000000003 meters 0.015173209773805894 Centerline is valid? [True, True] Translation: X:158.51, Y:-24.09, Z:-6.85 [[ 9.80527885e-01 1.93993082e-01 3.05246079e-02 1.58510347e+02] [-1.93906419e-01 9.81002870e-01 -5.80250193e-03 -2.40946235e+01] [-3.10703732e-02 -2.29402485e-04 9.99517173e-01 -6.84921036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70264000000003 meters 0.023062467703854644 Centerline is valid? [True, True] Translation: X:158.54, Y:-24.10, Z:-6.85 [[ 9.80139091e-01 1.95972437e-01 3.03671787e-02 1.58539196e+02] [-1.95887689e-01 9.80609361e-01 -5.77019821e-03 -2.40974266e+01] [-3.09091395e-02 -2.92959634e-04 9.99522155e-01 -6.84903413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.73264000000003 meters 0.016815819911850865 Centerline is valid? [True, True] Translation: X:158.57, Y:-24.10, Z:-6.85 [[ 9.79833761e-01 1.97483168e-01 3.04335115e-02 1.58568146e+02] [-1.97398826e-01 9.80306218e-01 -5.78124091e-03 -2.41002504e+01] [-3.09758583e-02 -3.42884418e-04 9.99520074e-01 -6.85022150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76264000000003 meters 0.016815819911850865 Centerline is valid? [True, True] Translation: X:158.60, Y:-24.11, Z:-6.85 [[ 9.79843581e-01 1.97434396e-01 3.04337995e-02 1.58595969e+02] [-1.97350077e-01 9.80316042e-01 -5.77972423e-03 -2.41054451e+01] [-3.09758583e-02 -3.42886990e-04 9.99520074e-01 -6.85147076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.79264000000003 meters 0.03022735193175391 Centerline is valid? [True, True] Translation: X:158.62, Y:-24.10, Z:-6.85 [[ 9.79300662e-01 2.00123899e-01 3.03420238e-02 1.58623997e+02] [-2.00041421e-01 9.79770505e-01 -5.76090044e-03 -2.41048322e+01] [-3.08811139e-02 -4.28007964e-04 9.99522973e-01 -6.85358368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82264000000004 meters 0.019674883500993536 Centerline is valid? [True, True] Translation: X:158.65, Y:-24.11, Z:-6.85 [[ 9.79314551e-01 2.00053172e-01 3.03601615e-02 1.58651379e+02] [-1.99970603e-01 9.79784949e-01 -5.76300973e-03 -2.41076413e+01] [-3.08993377e-02 -4.27340528e-04 9.99522410e-01 -6.85489155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.85264000000004 meters 0.01954681395857507 Centerline is valid? [True, True] Translation: X:158.68, Y:-24.11, Z:-6.86 [[ 9.79461674e-01 1.99346710e-01 3.02608434e-02 1.58678811e+02] [-1.99264466e-01 9.79928938e-01 -5.74016558e-03 -2.41095535e+01] [-3.07977592e-02 -4.07638617e-04 9.99525553e-01 -6.85680846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88264000000004 meters 0.01839023502344498 Centerline is valid? [True, True] Translation: X:158.71, Y:-24.12, Z:-6.86 [[ 9.79668846e-01 1.98313690e-01 3.03419272e-02 1.58707325e+02] [-1.98230573e-01 9.80138530e-01 -5.75348160e-03 -2.41159184e+01] [-3.08802861e-02 -3.78190933e-04 9.99523019e-01 -6.85788081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.91264000000004 meters 0.018287232688674163 Centerline is valid? [True, True] Translation: X:158.73, Y:-24.12, Z:-6.86 [[ 9.79938047e-01 1.97013245e-01 3.01198372e-02 1.58734610e+02] [-1.96930768e-01 9.80400769e-01 -5.71002442e-03 -2.41210906e+01] [-3.06544620e-02 -3.36052503e-04 9.99529985e-01 -6.86078747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.94264000000004 meters 0.01715243886648107 Centerline is valid? [True, True] Translation: X:158.76, Y:-24.13, Z:-6.86 [[ 9.80224332e-01 1.95661647e-01 2.96104656e-02 1.58762430e+02] [-1.95581380e-01 9.80671421e-01 -5.61144765e-03 -2.41275754e+01] [-3.01360824e-02 -2.90778204e-04 9.99545763e-01 -6.86244631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.97264 meters 0.02225585402341145 Centerline is valid? [True, True] Translation: X:158.79, Y:-24.14, Z:-6.86 [[ 9.80815878e-01 1.92632299e-01 2.98833013e-02 1.58789085e+02] [-1.92549180e-01 9.81270991e-01 -5.66182224e-03 -2.41353124e+01] [-3.04142666e-02 -2.00800013e-04 9.99537359e-01 -6.86440316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.00264 meters 0.013414340246679734 Centerline is valid? [True, True] Translation: X:158.82, Y:-24.14, Z:-6.86 [[ 9.81297364e-01 1.90177137e-01 2.98016827e-02 1.58817372e+02] [-1.90093404e-01 9.81749785e-01 -5.64422156e-03 -2.41441024e+01] [-3.03311975e-02 -1.26443559e-04 9.99539895e-01 -6.86323686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.03264000000001 meters 0.01257303786881672 Centerline is valid? [True, True] Translation: X:158.84, Y:-24.16, Z:-6.86 [[ 9.82183366e-01 1.85515408e-01 2.99978030e-02 1.58844513e+02] [-1.85428423e-01 9.82641355e-01 -5.68037607e-03 -2.41552988e+01] [-3.05308791e-02 1.67255694e-05 9.99533824e-01 -6.86421276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06264000000002 meters 0.013216313072383811 Centerline is valid? [True, True] Translation: X:158.87, Y:-24.16, Z:-6.87 [[ 9.82661915e-01 1.83026630e-01 2.96110293e-02 1.58871931e+02] [-1.82940794e-01 9.83107951e-01 -5.60549908e-03 -2.41649103e+01] [-3.01367940e-02 9.12452432e-05 9.99545780e-01 -6.86635440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.09264000000002 meters 0.0144837486625404 Centerline is valid? [True, True] Translation: X:158.90, Y:-24.17, Z:-6.87 [[ 9.83090356e-01 1.80794856e-01 2.90959058e-02 1.58898823e+02] [-1.80711035e-01 9.83520816e-01 -5.50691654e-03 -2.41746460e+01] [-2.96120512e-02 1.55845309e-04 9.99561455e-01 -6.86923253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12264000000002 meters 0.015717593409290263 Centerline is valid? [True, True] Translation: X:158.93, Y:-24.18, Z:-6.87 [[ 9.83631240e-01 1.77861141e-01 2.88963394e-02 1.58927601e+02] [-1.77777236e-01 9.84055566e-01 -5.46790901e-03 -2.41841729e+01] [-2.94081321e-02 2.41294778e-04 9.99567458e-01 -6.86892455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.15264000000002 meters 0.01660287793057069 Centerline is valid? [True, True] Translation: X:158.96, Y:-24.19, Z:-6.87 [[ 9.83725601e-01 1.77281088e-01 2.92465105e-02 1.58955242e+02] [-1.77194898e-01 9.84160225e-01 -5.53360038e-03 -2.41913056e+01] [-2.97642550e-02 2.61211927e-04 9.99556912e-01 -6.87102838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18264000000002 meters 0.02297577347466205 Centerline is valid? [True, True] Translation: X:158.98, Y:-24.20, Z:-6.87 [[ 9.83764542e-01 1.76967379e-01 2.98307485e-02 1.58984542e+02] [-1.76877605e-01 9.84216679e-01 -5.64283817e-03 -2.41975792e+01] [-3.03585185e-02 2.74832742e-04 9.99539036e-01 -6.87087307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.21264000000002 meters 0.01599616340285417 Centerline is valid? [True, True] Translation: X:159.01, Y:-24.20, Z:-6.87 [[ 9.83678353e-01 1.77413343e-01 3.00233701e-02 1.59013040e+02] [-1.77322641e-01 9.84136392e-01 -5.67835766e-03 -2.42044992e+01] [-3.05545076e-02 2.61854220e-04 9.99533068e-01 -6.87032038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24264000000002 meters 0.015327328867851929 Centerline is valid? [True, True] Translation: X:159.04, Y:-24.21, Z:-6.87 [[ 9.83549712e-01 1.78024879e-01 3.06121947e-02 1.59042444e+02] [-1.77930886e-01 9.84025956e-01 -5.78949185e-03 -2.42094688e+01] [-3.11538677e-02 2.47398107e-04 9.99514570e-01 -6.87065704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27264000000002 meters 0.025075995386431446 Centerline is valid? [True, True] Translation: X:159.07, Y:-24.21, Z:-6.87 [[ 9.83271987e-01 1.79497607e-01 3.09323255e-02 1.59070988e+02] [-1.79402386e-01 9.83758389e-01 -5.84941260e-03 -2.42146729e+01] [-3.14798902e-02 2.02230567e-04 9.99504365e-01 -6.87313858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30264000000003 meters 0.026101211043656737 Centerline is valid? [True, True] Translation: X:159.10, Y:-24.22, Z:-6.87 [[ 9.83165207e-01 1.80018210e-01 3.12988682e-02 1.59099786e+02] [-1.79921024e-01 9.83663260e-01 -5.91741116e-03 -2.42202306e+01] [-3.18527885e-02 1.86468341e-04 9.99492554e-01 -6.87454118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.33264000000003 meters 0.01969652225263223 Centerline is valid? [True, True] Translation: X:159.13, Y:-24.23, Z:-6.88 [[ 9.83008928e-01 1.80858526e-01 3.13630573e-02 1.59127900e+02] [-1.80761389e-01 9.83509109e-01 -5.92892828e-03 -2.42250218e+01] [-3.19181498e-02 1.58959637e-04 9.99490473e-01 -6.87586134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36264000000003 meters 0.013806600865071768 Centerline is valid? [True, True] Translation: X:159.16, Y:-24.23, Z:-6.88 [[ 9.82875017e-01 1.81823123e-01 2.99508540e-02 1.59156009e+02] [-1.81735021e-01 9.83331245e-01 -5.66081783e-03 -2.42295441e+01] [-3.04808781e-02 1.20757351e-04 9.99535343e-01 -6.87862907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.39264000000003 meters 0.013832007786968557 Centerline is valid? [True, True] Translation: X:159.19, Y:-24.23, Z:-6.88 [[ 9.82786281e-01 1.82433027e-01 2.91430322e-02 1.59185569e+02] [-1.82349906e-01 9.83218277e-01 -5.50734978e-03 -2.42346677e+01] [-2.96586844e-02 9.83186253e-05 9.99560080e-01 -6.88140509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42264000000003 meters 0.013161955548065025 Centerline is valid? [True, True] Translation: X:159.21, Y:-24.24, Z:-6.88 [[ 9.82626893e-01 1.83327381e-01 2.89043330e-02 1.59214476e+02] [-1.83246023e-01 9.83051914e-01 -5.46157126e-03 -2.42390619e+01] [-2.94157154e-02 7.00827405e-05 9.99567262e-01 -6.88160077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.45264000000003 meters 0.01280196152093516 Centerline is valid? [True, True] Translation: X:159.24, Y:-24.24, Z:-6.88 [[ 9.82395935e-01 1.84494856e-01 2.93236239e-02 1.59242656e+02] [-1.84411652e-01 9.82833479e-01 -5.54039151e-03 -2.42429693e+01] [-2.98424131e-02 3.52401752e-05 9.99554615e-01 -6.88212703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48264000000003 meters 0.0132958947992516 Centerline is valid? [True, True] Translation: X:159.27, Y:-24.24, Z:-6.88 [[ 9.81586480e-01 1.88766341e-01 2.92446565e-02 1.59271053e+02] [-1.88685517e-01 9.82022026e-01 -5.52415791e-03 -2.42404150e+01] [-2.97616719e-02 -9.56044162e-05 9.99557019e-01 -6.88337174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.51264000000003 meters 0.014251755026749207 Centerline is valid? [True, True] Translation: X:159.30, Y:-24.24, Z:-6.89 [[ 9.81216041e-01 1.90730067e-01 2.89330684e-02 1.59299309e+02] [-1.90651863e-01 9.81642510e-01 -5.46349006e-03 -2.42416417e+01] [-2.94439817e-02 -1.55279324e-04 9.99566420e-01 -6.88535169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54264000000003 meters 0.01688733826078345 Centerline is valid? [True, True] Translation: X:159.33, Y:-24.24, Z:-6.89 [[ 9.80499183e-01 1.94258792e-01 2.97468389e-02 1.59327674e+02] [-1.94177808e-01 9.80950278e-01 -5.61519852e-03 -2.42399480e+01] [-3.02709716e-02 -2.70478420e-04 9.99541693e-01 -6.88699036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.57264000000004 meters 0.017246024613939467 Centerline is valid? [True, True] Translation: X:159.36, Y:-24.24, Z:-6.89 [[ 9.80189995e-01 1.95789490e-01 2.99006609e-02 1.59356639e+02] [-1.95708440e-01 9.80645895e-01 -5.64219780e-03 -2.42423913e+01] [-3.04266434e-02 -3.21385862e-04 9.99536951e-01 -6.88647182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60264000000004 meters 0.018940334207979637 Centerline is valid? [True, True] Translation: X:159.38, Y:-24.24, Z:-6.89 [[ 9.80041096e-01 1.96534116e-01 2.98963368e-02 1.59384530e+02] [-1.96453476e-01 9.80496926e-01 -5.64003086e-03 -2.42428032e+01] [-3.04217248e-02 -3.45777252e-04 9.99537092e-01 -6.88947587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.63264000000004 meters 0.01989406542324319 Centerline is valid? [True, True] Translation: X:159.41, Y:-24.24, Z:-6.89 [[ 9.80009612e-01 1.96543315e-01 3.08526418e-02 1.59412802e+02] [-1.96457502e-01 9.80495077e-01 -5.81837892e-03 -2.42445290e+01] [-3.13944269e-02 -3.59165661e-04 9.99507009e-01 -6.89077474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66264000000004 meters 0.016935503532624314 Centerline is valid? [True, True] Translation: X:159.44, Y:-24.25, Z:-6.89 [[ 9.80147939e-01 1.95758227e-01 3.14441627e-02 1.59440411e+02] [-1.95668753e-01 9.80652130e-01 -5.92786971e-03 -2.42536635e+01] [-3.19962144e-02 -3.42450837e-04 9.99487931e-01 -6.88788000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.69264000000004 meters 0.01578934187020983 Centerline is valid? [True, True] Translation: X:159.47, Y:-24.26, Z:-6.89 [[ 9.80557366e-01 1.93582975e-01 3.21385066e-02 1.59467546e+02] [-1.93488387e-01 9.81083867e-01 -6.05722462e-03 -2.42595435e+01] [-3.27031459e-02 -2.78971591e-04 9.99465070e-01 -6.88913383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.72264 meters 0.01479587866004757 Centerline is valid? [True, True] Translation: X:159.50, Y:-24.27, Z:-6.89 [[ 9.80807127e-01 1.92226950e-01 3.26523963e-02 1.59495319e+02] [-1.92128636e-01 9.81350469e-01 -6.15182741e-03 -2.42651209e+01] [-3.32259914e-02 -2.39704200e-04 9.99447836e-01 -6.88947043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.75264 meters 0.013357783144200046 Centerline is valid? [True, True] Translation: X:159.52, Y:-24.27, Z:-6.89 [[ 9.81052337e-01 1.90868824e-01 3.32476023e-02 1.59523109e+02] [-1.90766168e-01 9.81615532e-01 -6.26232107e-03 -2.42716051e+01] [-3.38316447e-02 -1.98852984e-04 9.99427526e-01 -6.88901937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.78264000000001 meters 0.012297160862146292 Centerline is valid? [True, True] Translation: X:159.55, Y:-24.28, Z:-6.89 [[ 9.81522296e-01 1.88493062e-01 3.29294494e-02 1.59550826e+02] [-1.88391079e-01 9.82074514e-01 -6.20076148e-03 -2.42789187e+01] [-3.35079735e-02 -1.17428858e-04 9.99438443e-01 -6.89053873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.81264000000002 meters 0.014923485890681277 Centerline is valid? [True, True] Translation: X:159.58, Y:-24.28, Z:-6.89 [[ 9.81624791e-01 1.87953749e-01 3.29569062e-02 1.59578490e+02] [-1.87851344e-01 9.82177875e-01 -6.20437902e-03 -2.42844569e+01] [-3.35356804e-02 -1.00626864e-04 9.99437516e-01 -6.89362285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84264000000002 meters 0.01255337916179623 Centerline is valid? [True, True] Translation: X:159.61, Y:-24.29, Z:-6.90 [[ 9.81777502e-01 1.87307474e-01 3.20756538e-02 1.59605898e+02] [-1.87210193e-01 9.82301331e-01 -6.03649896e-03 -2.42904778e+01] [-3.26386388e-02 -7.83904860e-05 9.99467215e-01 -6.89591389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.87264000000002 meters 0.012666680819713788 Centerline is valid? [True, True] Translation: X:159.63, Y:-24.30, Z:-6.90 [[ 9.81746580e-01 1.87516925e-01 3.17970939e-02 1.59633859e+02] [-1.87421503e-01 9.82261368e-01 -5.98203435e-03 -2.42950172e+01] [-3.23547897e-02 -8.66173767e-05 9.99476443e-01 -6.89713088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.90264000000002 meters 0.012996404325426657 Centerline is valid? [True, True] Translation: X:159.66, Y:-24.30, Z:-6.90 [[ 9.81582651e-01 1.88369495e-01 3.18187601e-02 1.59662116e+02] [-1.88274441e-01 9.82098223e-01 -5.98456701e-03 -2.42982144e+01] [-3.23764576e-02 -1.16312103e-04 9.99475738e-01 -6.89808957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.93264000000002 meters 0.013526937498853146 Centerline is valid? [True, True] Translation: X:159.69, Y:-24.30, Z:-6.90 [[ 9.81096129e-01 1.90795221e-01 3.23661896e-02 1.59691815e+02] [-1.90698238e-01 9.81629840e-01 -6.08594089e-03 -2.42970727e+01] [-3.29327859e-02 -2.01282283e-04 9.99457548e-01 -6.89683494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96264000000002 meters 0.03234483127666779 Centerline is valid? [True, True] Translation: X:159.72, Y:-24.30, Z:-6.90 [[ 9.80754860e-01 1.92428802e-01 3.30312014e-02 1.59721126e+02] [-1.92328776e-01 9.81310902e-01 -6.20926881e-03 -2.42978894e+01] [-3.36087202e-02 -2.63079963e-04 9.99435033e-01 -6.89800848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.99264000000002 meters 0.017829622141993507 Centerline is valid? [True, True] Translation: X:159.75, Y:-24.29, Z:-6.90 [[ 9.80165916e-01 1.95413031e-01 3.29928071e-02 1.59750550e+02] [-1.95314979e-01 9.80720966e-01 -6.20049297e-03 -2.42928158e+01] [-3.35683948e-02 -3.66477551e-04 9.99436355e-01 -6.90070504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02264000000002 meters 0.030218741089751484 Centerline is valid? [True, True] Translation: X:159.78, Y:-24.30, Z:-6.90 [[ 9.79973493e-01 1.96356425e-01 3.31075071e-02 1.59779760e+02] [-1.96258304e-01 9.80532504e-01 -6.21980387e-03 -2.42959058e+01] [-3.36842853e-02 -4.02380263e-04 9.99432442e-01 -6.90123047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.05264000000003 meters 0.017902867634651966 Centerline is valid? [True, True] Translation: X:159.81, Y:-24.30, Z:-6.90 [[ 9.79880351e-01 1.96957607e-01 3.22830975e-02 1.59808483e+02] [-1.96864690e-01 9.80411918e-01 -6.06332608e-03 -2.42987654e+01] [-3.28449517e-02 -4.14067906e-04 9.99460373e-01 -6.90258518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08264000000003 meters 0.018386681941613615 Centerline is valid? [True, True] Translation: X:159.84, Y:-24.30, Z:-6.90 [[ 9.79854836e-01 1.97116369e-01 3.20879574e-02 1.59836793e+02] [-1.97024706e-01 9.80380009e-01 -6.02518760e-03 -2.42994014e+01] [-3.26460551e-02 -4.18311171e-04 9.99466888e-01 -6.90429204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.11264000000003 meters 0.028377786772096254 Centerline is valid? [True, True] Translation: X:159.87, Y:-24.30, Z:-6.91 [[ 9.79913735e-01 1.96777716e-01 3.23666945e-02 1.59865042e+02] [-1.96684342e-01 9.80448041e-01 -6.07530414e-03 -2.43027252e+01] [-3.29293467e-02 -4.12748052e-04 9.99457597e-01 -6.90637891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14264000000003 meters 0.017504420137017945 Centerline is valid? [True, True] Translation: X:159.89, Y:-24.30, Z:-6.91 [[ 9.80272507e-01 1.95277452e-01 3.05373265e-02 1.59892571e+02] [-1.95193640e-01 9.80747979e-01 -5.73094683e-03 -2.43044609e+01] [-3.10685460e-02 -3.42802296e-04 9.99517197e-01 -6.90985678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.17264000000003 meters 0.016307948917819667 Centerline is valid? [True, True] Translation: X:159.92, Y:-24.31, Z:-6.91 [[ 9.80543449e-01 1.93886489e-01 3.07013789e-02 1.59920828e+02] [-1.93801190e-01 9.81023923e-01 -5.75859350e-03 -2.43095759e+01] [-3.12353007e-02 -3.03412649e-04 9.99512013e-01 -6.91025701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20264000000003 meters 0.025451572870876352 Centerline is valid? [True, True] Translation: X:159.95, Y:-24.31, Z:-6.91 [[ 9.80785639e-01 1.92437167e-01 3.20541296e-02 1.59949122e+02] [-1.92343466e-01 9.81309260e-01 -6.01060479e-03 -2.43145271e+01] [-3.26116779e-02 -2.70287517e-04 9.99468061e-01 -6.91099014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.23264000000003 meters 0.014264457667221769 Centerline is valid? [True, True] Translation: X:159.98, Y:-24.32, Z:-6.91 [[ 9.81127963e-01 1.90677106e-01 3.20961289e-02 1.59976942e+02] [-1.90582258e-01 9.81652788e-01 -6.01722938e-03 -2.43195277e+01] [-3.26546023e-02 -2.13280707e-04 9.99466674e-01 -6.91133096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26264000000003 meters 0.03211742938349431 Centerline is valid? [True, True] Translation: X:160.01, Y:-24.33, Z:-6.91 [[ 9.81796468e-01 1.87138270e-01 3.24801935e-02 1.60005000e+02] [-1.87039303e-01 9.82333578e-01 -6.08614118e-03 -2.43263161e+01] [-3.30453346e-02 -9.97208348e-05 9.99453849e-01 -6.91073613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.29264000000003 meters 0.01188316839103115 Centerline is valid? [True, True] Translation: X:160.03, Y:-24.33, Z:-6.91 [[ 9.82127556e-01 1.85474381e-01 3.20112136e-02 1.60032338e+02] [-1.85377418e-01 9.82649099e-01 -5.99673507e-03 -2.43317507e+01] [-3.25680309e-02 -4.45973730e-05 9.99469520e-01 -6.91241058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32264000000004 meters 0.012268811355214834 Centerline is valid? [True, True] Translation: X:160.06, Y:-24.34, Z:-6.92 [[ 9.82744919e-01 1.82259293e-01 3.15273730e-02 1.60059416e+02] [-1.82163651e-01 9.83250500e-01 -5.90404356e-03 -2.43382249e+01] [-3.20753721e-02 5.90274388e-05 9.99485451e-01 -6.91580617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.35264000000004 meters 0.012611352668372208 Centerline is valid? [True, True] Translation: X:160.09, Y:-24.34, Z:-6.92 [[ 9.83058745e-01 1.80588595e-01 3.13570191e-02 1.60087905e+02] [-1.80493202e-01 9.83558716e-01 -5.86999452e-03 -2.43445182e+01] [-3.19015234e-02 1.10820660e-04 9.99491011e-01 -6.91711918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38264000000004 meters 0.012978021115373849 Centerline is valid? [True, True] Translation: X:160.12, Y:-24.35, Z:-6.92 [[ 9.83341424e-01 1.79072912e-01 3.11855018e-02 1.60116362e+02] [-1.78977846e-01 9.83835793e-01 -5.83635824e-03 -2.43502830e+01] [-3.17265466e-02 1.57618868e-04 9.99496574e-01 -6.91756309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.41264000000004 meters 0.015121965169962491 Centerline is valid? [True, True] Translation: X:160.14, Y:-24.36, Z:-6.92 [[ 9.83895881e-01 1.75944371e-01 3.15035445e-02 1.60143037e+02] [-1.75845799e-01 9.84400077e-01 -5.89439811e-03 -2.43590163e+01] [-3.20491778e-02 2.59708051e-04 9.99486259e-01 -6.91998984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44264000000004 meters 0.028572658648068343 Centerline is valid? [True, True] Translation: X:160.17, Y:-24.37, Z:-6.92 [[ 9.84153929e-01 1.74393863e-01 3.20596966e-02 1.60171715e+02] [-1.74291028e-01 9.84675928e-01 -5.99625257e-03 -2.43650838e+01] [-3.26141211e-02 3.13518039e-04 9.99467969e-01 -6.91941943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.47264000000004 meters 0.01646968029523112 Centerline is valid? [True, True] Translation: X:160.20, Y:-24.37, Z:-6.92 [[ 9.84451906e-01 1.72674439e-01 3.22177272e-02 1.60198953e+02] [-1.72569717e-01 9.84978883e-01 -6.02430249e-03 -2.43732755e+01] [-3.27740240e-02 3.70832020e-04 9.99462719e-01 -6.91979502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.50264 meters 0.018793825621651977 Centerline is valid? [True, True] Translation: X:160.23, Y:-24.38, Z:-6.92 [[ 9.84787407e-01 1.70766694e-01 3.21325165e-02 1.60225454e+02] [-1.70661577e-01 9.85311398e-01 -6.00632399e-03 -2.43831508e+01] [-3.26862148e-02 4.31166308e-04 9.99465570e-01 -6.92210066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.53264000000001 meters 0.019417556045525457 Centerline is valid? [True, True] Translation: X:160.25, Y:-24.39, Z:-6.92 [[ 9.84893586e-01 1.70168451e-01 3.20518684e-02 1.60253676e+02] [-1.70063614e-01 9.85414886e-01 -5.98908959e-03 -2.43893286e+01] [-3.26035424e-02 4.47759344e-04 9.99468263e-01 -6.92341670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56264000000002 meters 0.019407011813793607 Centerline is valid? [True, True] Translation: X:160.28, Y:-24.40, Z:-6.93 [[ 9.84908519e-01 1.70211816e-01 3.13551780e-02 1.60281946e+02] [-1.70111557e-01 9.85407402e-01 -5.85743939e-03 -2.43952491e+01] [-3.18946299e-02 4.35163797e-04 9.99491142e-01 -6.92595699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.59264000000002 meters 0.018603748991618985 Centerline is valid? [True, True] Translation: X:160.31, Y:-24.40, Z:-6.93 [[ 9.84792980e-01 1.71077883e-01 3.02513609e-02 1.60309999e+02] [-1.70985012e-01 9.85257431e-01 -5.64985140e-03 -2.44017076e+01] [-3.07719427e-02 3.91404690e-04 9.99526355e-01 -6.92877782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62264000000002 meters 0.018079981170671076 Centerline is valid? [True, True] Translation: X:160.34, Y:-24.41, Z:-6.93 [[ 9.84624993e-01 1.71994442e-01 3.05210585e-02 1.60337823e+02] [-1.71900390e-01 9.85097853e-01 -5.69885870e-03 -2.44065522e+01] [-3.10464012e-02 3.64656867e-04 9.99517878e-01 -6.92963982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.65264000000002 meters 0.01580229789605424 Centerline is valid? [True, True] Translation: X:160.37, Y:-24.41, Z:-6.93 [[ 9.84197935e-01 1.74430792e-01 3.04684044e-02 1.60367228e+02] [-1.74338293e-01 9.84669395e-01 -5.68700898e-03 -2.44075179e+01] [-3.09932948e-02 2.85332867e-04 9.99519552e-01 -6.92989294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68264000000002 meters 0.01580229789605424 Centerline is valid? [True, True] Translation: X:160.40, Y:-24.41, Z:-6.93 [[ 9.84206219e-01 1.74383996e-01 3.04686759e-02 1.60395066e+02] [-1.74291520e-01 9.84677684e-01 -5.68555406e-03 -2.44126240e+01] [-3.09932949e-02 2.85325836e-04 9.99519552e-01 -6.93114219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.71264000000002 meters 0.01461860711348693 Centerline is valid? [True, True] Translation: X:160.42, Y:-24.42, Z:-6.93 [[ 9.83899965e-01 1.76082259e-01 3.05924226e-02 1.60424334e+02] [-1.75989902e-01 9.84375429e-01 -5.70698030e-03 -2.44156916e+01] [-3.11193271e-02 2.31140261e-04 9.99515650e-01 -6.93158648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74264000000002 meters 0.01346485550881431 Centerline is valid? [True, True] Translation: X:160.45, Y:-24.42, Z:-6.93 [[ 9.83556408e-01 1.77930342e-01 3.09448746e-02 1.60453621e+02] [-1.77836795e-01 9.84043070e-01 -5.77156278e-03 -2.44183034e+01] [-3.14780255e-02 1.73520227e-04 9.99504429e-01 -6.93239937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77264000000002 meters 0.012883175871233488 Centerline is valid? [True, True] Translation: X:160.48, Y:-24.42, Z:-6.93 [[ 9.83213130e-01 1.79849280e-01 3.07599827e-02 1.60481654e+02] [-1.79757818e-01 9.83694172e-01 -5.73608650e-03 -2.44208267e+01] [-3.12900468e-02 1.10448191e-04 9.99510341e-01 -6.93435669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80264000000003 meters 0.01220804503232258 Centerline is valid? [True, True] Translation: X:160.51, Y:-24.42, Z:-6.93 [[ 9.82367082e-01 1.84402584e-01 3.08318693e-02 1.60511274e+02] [-1.84312981e-01 9.82850795e-01 -5.74796123e-03 -2.44177118e+01] [-3.13630662e-02 -3.61058597e-05 9.99508057e-01 -6.93447588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.83264000000003 meters 0.02835283132818757 Centerline is valid? [True, True] Translation: X:160.54, Y:-24.42, Z:-6.94 [[ 9.81944837e-01 1.86455377e-01 3.19175298e-02 1.60539297e+02] [-1.86360486e-01 9.82463425e-01 -5.94881224e-03 -2.44194896e+01] [-3.24669937e-02 -1.06760906e-04 9.99472802e-01 -6.93520525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86264000000003 meters 0.015791510020210186 Centerline is valid? [True, True] Translation: X:160.57, Y:-24.42, Z:-6.94 [[ 9.81646202e-01 1.88016528e-01 3.19455703e-02 1.60566677e+02] [-1.87922366e-01 9.82165851e-01 -5.95187546e-03 -2.44216091e+01] [-3.24948992e-02 -1.60651222e-04 9.99471888e-01 -6.93734260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.89264000000003 meters 0.013125867318845767 Centerline is valid? [True, True] Translation: X:160.60, Y:-24.43, Z:-6.94 [[ 9.81717059e-01 1.87745150e-01 3.13587898e-02 1.60595021e+02] [-1.87654327e-01 9.82217764e-01 -5.84104332e-03 -2.44266211e+01] [-3.18977879e-02 -1.50360703e-04 9.99491125e-01 -6.93821039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92264000000003 meters 0.012889931814177698 Centerline is valid? [True, True] Translation: X:160.62, Y:-24.43, Z:-6.94 [[ 9.81908528e-01 1.86765216e-01 3.12153396e-02 1.60621689e+02] [-1.86674762e-01 9.82404570e-01 -5.81320536e-03 -2.44318702e+01] [-3.17517969e-02 -1.19080167e-04 9.99495777e-01 -6.94046090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.95264000000003 meters 0.026755181397049615 Centerline is valid? [True, True] Translation: X:160.65, Y:-24.44, Z:-6.94 [[ 9.82699644e-01 1.82469358e-01 3.17229132e-02 1.60649229e+02] [-1.82373804e-01 9.83211540e-01 -5.90444400e-03 -2.44432332e+01] [-3.22677144e-02 1.68666563e-05 9.99479262e-01 -6.94132030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98264000000003 meters 0.012628384433088042 Centerline is valid? [True, True] Translation: X:160.68, Y:-24.45, Z:-6.94 [[ 9.83345546e-01 1.78925856e-01 3.18916193e-02 1.60675572e+02] [-1.78827466e-01 9.83862552e-01 -5.93436598e-03 -2.44547214e+01] [-3.24387815e-02 1.32434881e-04 9.99473715e-01 -6.94235995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.01264000000003 meters 0.022116141884867362 Centerline is valid? [True, True] Translation: X:160.70, Y:-24.47, Z:-6.94 [[ 9.83939020e-01 1.75596061e-01 3.20940563e-02 1.60702520e+02] [-1.75494717e-01 9.84462272e-01 -5.96987479e-03 -2.44660550e+01] [-3.26436741e-02 2.41655414e-04 9.99467024e-01 -6.94334178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04264000000003 meters 0.018664898590301786 Centerline is valid? [True, True] Translation: X:160.73, Y:-24.48, Z:-6.94 [[ 9.85097012e-01 1.69030466e-01 3.18210408e-02 1.60729443e+02] [-1.68927471e-01 9.85610722e-01 -5.91723343e-03 -2.44825338e+01] [-3.23633517e-02 4.53601025e-04 9.99476067e-01 -6.94364153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.07264000000004 meters 0.022599295552308944 Centerline is valid? [True, True] Translation: X:160.76, Y:-24.49, Z:-6.95 [[ 9.85517063e-01 1.66563485e-01 3.18233327e-02 1.60756790e+02] [-1.66459211e-01 9.86030588e-01 -5.91699643e-03 -2.44931153e+01] [-3.23643350e-02 5.34014094e-04 9.99475995e-01 -6.94565991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10264000000004 meters 0.03071866751252435 Centerline is valid? [True, True] Translation: X:160.78, Y:-24.51, Z:-6.95 [[ 9.86037576e-01 1.63503310e-01 3.15684456e-02 1.60783881e+02] [-1.63399179e-01 9.86542586e-01 -5.86813420e-03 -2.45097630e+01] [-3.21030754e-02 6.27942723e-04 9.99484366e-01 -6.94887122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.13264000000004 meters 0.024648846011228034 Centerline is valid? [True, True] Translation: X:160.81, Y:-24.52, Z:-6.95 [[ 9.86211511e-01 1.62477632e-01 3.14304715e-02 1.60813784e+02] [-1.62373906e-01 9.86712008e-01 -5.84195012e-03 -2.45165740e+01] [-3.19620099e-02 6.57910036e-04 9.99488868e-01 -6.94833757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16264000000004 meters 0.027319324507317007 Centerline is valid? [True, True] Translation: X:160.84, Y:-24.53, Z:-6.95 [[ 9.86304836e-01 1.61897634e-01 3.14948712e-02 1.60842861e+02] [-1.61793208e-01 9.86807325e-01 -5.85326325e-03 -2.45274562e+01] [-3.20269991e-02 6.77445603e-04 9.99486774e-01 -6.95060232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.19264000000004 meters 0.02723997075917485 Centerline is valid? [True, True] Translation: X:160.87, Y:-24.54, Z:-6.95 [[ 9.86280312e-01 1.62048269e-01 3.14881607e-02 1.60871555e+02] [-1.61943887e-01 9.86782602e-01 -5.85441776e-03 -2.45376757e+01] [-3.20206674e-02 6.74781828e-04 9.99486979e-01 -6.95184406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.22264000000004 meters 0.024797577380441266 Centerline is valid? [True, True] Translation: X:160.90, Y:-24.54, Z:-6.95 [[ 9.86196079e-01 1.62575918e-01 3.14064359e-02 1.60902558e+02] [-1.62472355e-01 9.86695820e-01 -5.83892520e-03 -2.45428785e+01] [-3.19378676e-02 6.55647543e-04 9.99489641e-01 -6.95184756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.25264 meters 0.023801383613087836 Centerline is valid? [True, True] Translation: X:160.93, Y:-24.55, Z:-6.95 [[ 9.86066543e-01 1.63391456e-01 3.12410888e-02 1.60933089e+02] [-1.63289365e-01 9.86561118e-01 -5.80895558e-03 -2.45498241e+01] [-3.17703772e-02 6.26679180e-04 9.99494998e-01 -6.95280591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.28264000000001 meters 0.02377514998764127 Centerline is valid? [True, True] Translation: X:160.96, Y:-24.56, Z:-6.96 [[ 9.85724643e-01 1.65383388e-01 3.15477882e-02 1.60962409e+02] [-1.65280275e-01 9.86229188e-01 -5.86679081e-03 -2.45606184e+01] [-3.20836193e-02 5.68813155e-04 9.99485026e-01 -6.95551786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.31264000000002 meters 0.02129803114455269 Centerline is valid? [True, True] Translation: X:160.99, Y:-24.57, Z:-6.96 [[ 9.85533605e-01 1.66512982e-01 3.15743518e-02 1.60993417e+02] [-1.66410249e-01 9.86039118e-01 -5.87252190e-03 -2.45659081e+01] [-3.21113971e-02 5.33271919e-04 9.99484154e-01 -6.95546203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34264000000002 meters 0.021491788264821503 Centerline is valid? [True, True] Translation: X:161.02, Y:-24.58, Z:-6.96 [[ 9.85041940e-01 1.69294192e-01 3.21224795e-02 1.61022175e+02] [-1.69189306e-01 9.85565458e-01 -5.97543407e-03 -2.45757914e+01] [-3.26704125e-02 4.51273149e-04 9.99466078e-01 -6.95852372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.37264000000002 meters 0.017373340173252063 Centerline is valid? [True, True] Translation: X:161.05, Y:-24.58, Z:-6.96 [[ 9.84720497e-01 1.71153272e-01 3.21263086e-02 1.61053562e+02] [-1.71049342e-01 9.85244338e-01 -5.97640451e-03 -2.45778474e+01] [-3.26751448e-02 3.89904086e-04 9.99465949e-01 -6.95652383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.40264000000002 meters 0.023899483282378085 Centerline is valid? [True, True] Translation: X:161.08, Y:-24.58, Z:-6.96 [[ 9.84366384e-01 1.73100718e-01 3.25417239e-02 1.61082413e+02] [-1.72995103e-01 9.84904073e-01 -6.05492203e-03 -2.45837241e+01] [-3.30985878e-02 3.30702816e-04 9.99452037e-01 -6.95854659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.43264000000002 meters 0.014831435314899943 Centerline is valid? [True, True] Translation: X:161.11, Y:-24.59, Z:-6.96 [[ 9.83933086e-01 1.75582576e-01 3.23487443e-02 1.61111439e+02] [-1.75479565e-01 9.84464676e-01 -6.01860970e-03 -2.45888539e+01] [-3.29029591e-02 2.45365642e-04 9.99458521e-01 -6.96028826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.46264000000002 meters 0.012180214560086647 Centerline is valid? [True, True] Translation: X:161.14, Y:-24.59, Z:-6.96 [[ 9.82855684e-01 1.81541996e-01 3.22057151e-02 1.61141622e+02] [-1.81443097e-01 9.83383192e-01 -5.99174469e-03 -2.45896691e+01] [-3.27583122e-02 4.55156413e-05 9.99463301e-01 -6.96076736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49264000000002 meters 0.012420642438008334 Centerline is valid? [True, True] Translation: X:161.17, Y:-24.59, Z:-6.96 [[ 9.82249592e-01 1.84777267e-01 3.22970694e-02 1.61170917e+02] [-1.84679575e-01 9.82780422e-01 -6.00807681e-03 -2.45913936e+01] [-3.28510835e-02 -6.31780503e-05 9.99460255e-01 -6.96227083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52264000000002 meters 0.01592732726140768 Centerline is valid? [True, True] Translation: X:161.20, Y:-24.59, Z:-6.96 [[ 9.81003027e-01 1.91301406e-01 3.21998853e-02 1.61201116e+02] [-1.91207844e-01 9.81531300e-01 -5.98894737e-03 -2.45880995e+01] [-3.27508893e-02 -2.81695149e-04 9.99463506e-01 -6.96338875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.55264000000003 meters 0.018392011352195054 Centerline is valid? [True, True] Translation: X:161.23, Y:-24.59, Z:-6.97 [[ 9.80413236e-01 1.94353100e-01 3.18866720e-02 1.61230204e+02] [-1.94263012e-01 9.80931561e-01 -5.92916801e-03 -2.45896765e+01] [-3.24309951e-02 -3.81366150e-04 9.99473904e-01 -6.96524244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58264000000003 meters 0.021293057468553814 Centerline is valid? [True, True] Translation: X:161.26, Y:-24.59, Z:-6.97 [[ 9.79905128e-01 1.96969323e-01 3.14487893e-02 1.61257769e+02] [-1.96883080e-01 9.80409543e-01 -5.84645977e-03 -2.45905774e+01] [-3.19842663e-02 -4.62758582e-04 9.99488265e-01 -6.96759455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.61264000000003 meters 0.02557064992539583 Centerline is valid? [True, True] Translation: X:161.29, Y:-24.59, Z:-6.97 [[ 9.79126589e-01 2.00960201e-01 3.04322161e-02 1.61287975e+02] [-2.00881449e-01 9.79599237e-01 -5.65491612e-03 -2.45890619e+01] [-3.09477887e-02 -5.76388916e-04 9.99520836e-01 -6.97060447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64264000000003 meters 0.02732980457003745 Centerline is valid? [True, True] Translation: X:161.32, Y:-24.59, Z:-6.97 [[ 9.78882357e-01 2.02193187e-01 3.01205263e-02 1.61315701e+02] [-2.02116631e-01 9.79345467e-01 -5.59675672e-03 -2.45910678e+01] [-3.06300270e-02 -6.09292880e-04 9.99530605e-01 -6.97309616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.67264000000003 meters 0.028985555668875815 Centerline is valid? [True, True] Translation: X:161.34, Y:-24.59, Z:-6.97 [[ 9.78607219e-01 2.03490565e-01 3.03232810e-02 1.61343791e+02] [-2.03413655e-01 9.79076687e-01 -5.63256782e-03 -2.45933453e+01] [-3.08349919e-02 -6.56097873e-04 9.99524273e-01 -6.97411454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70264000000003 meters 0.029290812844402794 Centerline is valid? [True, True] Translation: X:161.37, Y:-24.60, Z:-6.97 [[ 9.78602884e-01 2.03440163e-01 3.07976602e-02 1.61371840e+02] [-2.03360865e-01 9.79087154e-01 -5.71865107e-03 -2.45974743e+01] [-3.13169968e-02 -6.66750394e-04 9.99509280e-01 -6.97487463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.73264000000003 meters 0.02880321952747656 Centerline is valid? [True, True] Translation: X:161.40, Y:-24.60, Z:-6.98 [[ 9.78676554e-01 2.03076283e-01 3.08581484e-02 1.61399841e+02] [-2.02996538e-01 9.79162699e-01 -5.72841900e-03 -2.46028709e+01] [-3.13784539e-02 -6.57827929e-04 9.99507359e-01 -6.97572365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76264000000003 meters 0.02573174396087293 Centerline is valid? [True, True] Translation: X:161.43, Y:-24.61, Z:-6.98 [[ 9.78977622e-01 2.01650844e-01 3.06553757e-02 1.61427788e+02] [-2.01571490e-01 9.79457281e-01 -5.68936100e-03 -2.46112609e+01] [-3.11728954e-02 -6.09492635e-04 9.99513821e-01 -6.97667134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.79264000000003 meters 0.02534787967091814 Centerline is valid? [True, True] Translation: X:161.45, Y:-24.62, Z:-6.98 [[ 9.79193451e-01 2.00712587e-01 2.99105927e-02 1.61454976e+02] [-2.00636643e-01 9.79650007e-01 -5.54987944e-03 -2.46152988e+01] [-3.04158430e-02 -5.66755318e-04 9.99537171e-01 -6.97936539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82264000000004 meters 0.02207259969547572 Centerline is valid? [True, True] Translation: X:161.48, Y:-24.62, Z:-6.98 [[ 9.79676454e-01 1.98416905e-01 2.94071127e-02 1.61482739e+02] [-1.98342520e-01 9.80117591e-01 -5.45454310e-03 -2.46218139e+01] [-2.99047020e-02 -4.88993400e-04 9.99552635e-01 -6.98042245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.85264000000004 meters 0.020642927364588608 Centerline is valid? [True, True] Translation: X:161.51, Y:-24.63, Z:-6.98 [[ 9.79936952e-01 1.97214959e-01 2.88067649e-02 1.61510751e+02] [-1.97143103e-01 9.80360170e-01 -5.34178450e-03 -2.46291463e+01] [-2.92944847e-02 -4.44442978e-04 9.99570726e-01 -6.98199717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88264000000004 meters 0.021404654629103265 Centerline is valid? [True, True] Translation: X:161.54, Y:-24.63, Z:-6.99 [[ 9.80173164e-01 1.96111459e-01 2.82995396e-02 1.61537877e+02] [-1.96041686e-01 9.80581527e-01 -5.24649578e-03 -2.46332237e+01] [-2.87789037e-02 -4.05415088e-04 9.99585719e-01 -6.98667078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.91264000000004 meters 0.021237061599005964 Centerline is valid? [True, True] Translation: X:161.56, Y:-24.64, Z:-6.99 [[ 9.80367739e-01 1.95217165e-01 2.77372443e-02 1.61564913e+02] [-1.95149813e-01 9.80759970e-01 -5.14110493e-03 -2.46375073e+01] [-2.82072108e-02 -3.72744625e-04 9.99602028e-01 -6.98923729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94264000000004 meters 0.02047832766734069 Centerline is valid? [True, True] Translation: X:161.59, Y:-24.64, Z:-6.99 [[ 9.80521146e-01 1.94485712e-01 2.74516023e-02 1.61593915e+02] [-1.94419552e-01 9.80905288e-01 -5.08461653e-03 -2.46414566e+01] [-2.79163071e-02 -3.51554202e-04 9.99610202e-01 -6.99018125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.97264000000004 meters 0.02976577652906425 Centerline is valid? [True, True] Translation: X:161.62, Y:-24.65, Z:-6.99 [[ 9.80601007e-01 1.94063644e-01 2.75856236e-02 1.61621321e+02] [-1.93996703e-01 9.80988881e-01 -5.10826804e-03 -2.46454038e+01] [-2.80525191e-02 -3.42347252e-04 9.99606392e-01 -6.99229821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.00264 meters 0.01927042864298806 Centerline is valid? [True, True] Translation: X:161.65, Y:-24.65, Z:-6.99 [[ 9.80663433e-01 1.93679910e-01 2.80592972e-02 1.61649921e+02] [-1.93610547e-01 9.81064716e-01 -5.19406566e-03 -2.46488144e+01] [-2.85339726e-02 -3.38945628e-04 9.99592766e-01 -6.99020174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.03264000000001 meters 0.0192675416342479 Centerline is valid? [True, True] Translation: X:161.68, Y:-24.65, Z:-6.99 [[ 9.80683092e-01 1.93518448e-01 2.84830206e-02 1.61678026e+02] [-1.93446948e-01 9.81096577e-01 -5.27105374e-03 -2.46526654e+01] [-2.89646402e-02 -3.40720130e-04 9.99580379e-01 -6.99047673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06264000000002 meters 0.01887177035291795 Centerline is valid? [True, True] Translation: X:161.71, Y:-24.66, Z:-6.99 [[ 9.80662944e-01 1.93507233e-01 2.92428065e-02 1.61706620e+02] [-1.93431906e-01 9.81098786e-01 -5.41016218e-03 -2.46550459e+01] [-2.97369874e-02 -3.50946234e-04 9.99557696e-01 -6.98932902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.09264000000002 meters 0.019404570800797986 Centerline is valid? [True, True] Translation: X:161.73, Y:-24.66, Z:-6.99 [[ 9.80651224e-01 1.93565394e-01 2.92508963e-02 1.61733768e+02] [-1.93490080e-01 9.81087312e-01 -5.41072446e-03 -2.46575341e+01] [-2.97450122e-02 -3.53724682e-04 9.99557457e-01 -6.99126304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12264000000002 meters 0.019146047526627945 Centerline is valid? [True, True] Translation: X:161.76, Y:-24.66, Z:-6.99 [[ 9.80646728e-01 1.93614632e-01 2.90752284e-02 1.61762024e+02] [-1.93540331e-01 9.81077595e-01 -5.37522235e-03 -2.46612429e+01] [-2.95657769e-02 -3.56035110e-04 9.99562773e-01 -6.99223433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.15264000000002 meters 0.02146989476460928 Centerline is valid? [True, True] Translation: X:161.79, Y:-24.67, Z:-6.99 [[ 9.80719957e-01 1.93212748e-01 2.92779655e-02 1.61790503e+02] [-1.93137270e-01 9.81156824e-01 -5.41125902e-03 -2.46661905e+01] [-2.97717998e-02 -3.47736619e-04 9.99556661e-01 -6.99297391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18264000000002 meters 0.01763720477994179 Centerline is valid? [True, True] Translation: X:161.82, Y:-24.67, Z:-6.99 [[ 9.80825933e-01 1.92600785e-01 2.97561215e-02 1.61817573e+02] [-1.92522578e-01 9.81277140e-01 -5.49839674e-03 -2.46706351e+01] [-3.02579973e-02 -3.35755093e-04 9.99542066e-01 -6.99305575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.21264000000002 meters 0.01803160299626073 Centerline is valid? [True, True] Translation: X:161.85, Y:-24.68, Z:-7.00 [[ 9.80935731e-01 1.91905550e-01 3.06161953e-02 1.61845423e+02] [-1.91822501e-01 9.81413345e-01 -5.65462644e-03 -2.46754375e+01] [-3.11322968e-02 -3.26050010e-04 9.99515219e-01 -6.99535722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24264000000002 meters 0.016265912801681912 Centerline is valid? [True, True] Translation: X:161.87, Y:-24.68, Z:-6.99 [[ 9.81228381e-01 1.90289822e-01 3.13152895e-02 1.61873521e+02] [-1.90202164e-01 9.81727917e-01 -5.78210331e-03 -2.46825339e+01] [-3.18433693e-02 -2.82671963e-04 9.99492831e-01 -6.99462766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27264000000002 meters 0.016071417942420528 Centerline is valid? [True, True] Translation: X:161.90, Y:-24.69, Z:-7.00 [[ 9.81339009e-01 1.89741714e-01 3.11742127e-02 1.61901937e+02] [-1.89654617e-01 9.81834004e-01 -5.75454137e-03 -2.46869392e+01] [-3.16997786e-02 -2.65177426e-04 9.99497401e-01 -6.99670854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30264000000003 meters 0.016397191385436573 Centerline is valid? [True, True] Translation: X:161.93, Y:-24.69, Z:-7.00 [[ 9.81336570e-01 1.89820591e-01 3.07681480e-02 1.61929575e+02] [-1.89735829e-01 9.81818758e-01 -5.67826294e-03 -2.46903729e+01] [-3.12865960e-02 -2.65532970e-04 9.99510419e-01 -6.99891327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.33264000000003 meters 0.01721778036013421 Centerline is valid? [True, True] Translation: X:161.96, Y:-24.69, Z:-7.00 [[ 9.81033965e-01 1.91484169e-01 3.01027066e-02 1.61958641e+02] [-1.91403875e-01 9.81495652e-01 -5.55354837e-03 -2.46936524e+01] [-3.06090922e-02 -3.13555116e-04 9.99531383e-01 -7.00013822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36264000000003 meters 0.018763684872931622 Centerline is valid? [True, True] Translation: X:161.99, Y:-24.70, Z:-7.00 [[ 9.80799744e-01 1.92758891e-01 2.95951409e-02 1.61986060e+02] [-1.92681895e-01 9.81246090e-01 -5.45881487e-03 -2.46954186e+01] [-3.00923514e-02 -3.48443622e-04 9.99547062e-01 -7.00248517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.39264000000003 meters 0.019039348682100443 Centerline is valid? [True, True] Translation: X:162.02, Y:-24.70, Z:-7.00 [[ 9.80519400e-01 1.94278547e-01 2.89404998e-02 1.62015119e+02] [-1.94205653e-01 9.80946326e-01 -5.33565029e-03 -2.46989464e+01] [-2.94256793e-02 -3.88700050e-04 9.99566895e-01 -7.00275989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42264000000003 meters 0.02205006162532574 Centerline is valid? [True, True] Translation: X:162.04, Y:-24.70, Z:-7.01 [[ 9.80195834e-01 1.95920605e-01 2.88312895e-02 1.62043186e+02] [-1.95849008e-01 9.80619664e-01 -5.31422737e-03 -2.46984907e+01] [-2.93136960e-02 -4.37595907e-04 9.99570165e-01 -7.00628383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.45264000000003 meters 0.023476942878239416 Centerline is valid? [True, True] Translation: X:162.07, Y:-24.70, Z:-7.01 [[ 9.79588618e-01 1.98922523e-01 2.89131482e-02 1.62072367e+02] [-1.98851885e-01 9.80015075e-01 -5.32726775e-03 -2.46976250e+01] [-2.93950346e-02 -5.30903171e-04 9.99567732e-01 -7.00569900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48264000000003 meters 0.02755670933660309 Centerline is valid? [True, True] Translation: X:162.10, Y:-24.69, Z:-7.01 [[ 9.78992734e-01 2.01662871e-01 3.00884264e-02 1.62101961e+02] [-2.01587710e-01 9.79454786e-01 -5.54235002e-03 -2.46913379e+01] [-3.05879395e-02 -6.39536588e-04 9.99531875e-01 -7.00608193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.51264000000003 meters 0.029046404901780613 Centerline is valid? [True, True] Translation: X:162.13, Y:-24.69, Z:-7.01 [[ 9.78762615e-01 2.02677978e-01 3.07470417e-02 1.62130478e+02] [-2.02600055e-01 9.79245201e-01 -5.66162657e-03 -2.46925963e+01] [-3.12563801e-02 -6.87963906e-04 9.99511163e-01 -7.00679933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54264000000003 meters 0.030004683196283664 Centerline is valid? [True, True] Translation: X:162.16, Y:-24.70, Z:-7.01 [[ 9.78684836e-01 2.03059693e-01 3.07042729e-02 1.62158449e+02] [-2.02982233e-01 9.79166109e-01 -5.65186581e-03 -2.46952750e+01] [-3.12122496e-02 -7.01026516e-04 9.99512533e-01 -7.00873591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.57264000000004 meters 0.030004683196283664 Centerline is valid? [True, True] Translation: X:162.19, Y:-24.70, Z:-7.01 [[ 9.78698989e-01 2.02991422e-01 3.07045761e-02 1.62185491e+02] [-2.02913979e-01 9.79180265e-01 -5.65021842e-03 -2.47001108e+01] [-3.12122608e-02 -7.00524655e-04 9.99512533e-01 -7.00994853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60264000000004 meters 0.027108753519327934 Centerline is valid? [True, True] Translation: X:162.21, Y:-24.71, Z:-7.01 [[ 9.78816034e-01 2.02487100e-01 3.03009283e-02 1.62213262e+02] [-2.02411514e-01 9.79284696e-01 -5.57351541e-03 -2.47075938e+01] [-3.08018003e-02 -6.77810528e-04 9.99525282e-01 -7.00987717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.63264000000004 meters 0.025486289810563896 Centerline is valid? [True, True] Translation: X:162.24, Y:-24.71, Z:-7.01 [[ 9.79340400e-01 1.99857884e-01 3.08091927e-02 1.62240872e+02] [-1.99778485e-01 9.79824708e-01 -5.66556357e-03 -2.47112867e+01] [-3.13199158e-02 -6.06498548e-04 9.99509227e-01 -7.01262029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66264000000004 meters 0.02560365474031819 Centerline is valid? [True, True] Translation: X:162.27, Y:-24.71, Z:-7.02 [[ 9.79801145e-01 1.97659868e-01 3.03363425e-02 1.62268153e+02] [-1.97581881e-01 9.80270522e-01 -5.57710218e-03 -2.47149472e+01] [-3.08401916e-02 -5.29460526e-04 9.99524188e-01 -7.01692344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.69264000000004 meters 0.01874472972346352 Centerline is valid? [True, True] Translation: X:162.30, Y:-24.73, Z:-7.02 [[ 9.80970426e-01 1.91827569e-01 2.99867763e-02 1.62296277e+02] [-1.91748756e-01 9.81428583e-01 -5.50910915e-03 -2.47278944e+01] [-3.04866784e-02 -3.45653907e-04 9.99535113e-01 -7.01777228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72264000000004 meters 0.015405706757985856 Centerline is valid? [True, True] Translation: X:162.32, Y:-24.74, Z:-7.02 [[ 9.81648314e-01 1.88346956e-01 2.98665640e-02 1.62324295e+02] [-1.88267162e-01 9.82102524e-01 -5.48700792e-03 -2.47375413e+01] [-3.03654892e-02 -2.36581188e-04 9.99538834e-01 -7.01782633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.75264 meters 0.026449920672205744 Centerline is valid? [True, True] Translation: X:162.35, Y:-24.75, Z:-7.02 [[ 9.83104281e-01 1.80592119e-01 2.98740634e-02 1.62349771e+02] [-1.80508724e-01 9.83558075e-01 -5.48760758e-03 -2.47531281e+01] [-3.03738950e-02 2.36143222e-06 9.99538607e-01 -7.02071065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.78264000000001 meters 0.013163226394084727 Centerline is valid? [True, True] Translation: X:162.38, Y:-24.76, Z:-7.02 [[ 9.83857077e-01 1.76403607e-01 3.01167744e-02 1.62376721e+02] [-1.76316951e-01 9.84317911e-01 -5.53014112e-03 -2.47648653e+01] [-3.06200173e-02 1.30770634e-04 9.99531089e-01 -7.01949671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.81264000000002 meters 0.015419949476172168 Centerline is valid? [True, True] Translation: X:162.40, Y:-24.78, Z:-7.02 [[ 9.84556124e-01 1.72363067e-01 3.06628733e-02 1.62403129e+02] [-1.72271323e-01 9.85033454e-01 -5.62899461e-03 -2.47772666e+01] [-3.11741868e-02 2.59727376e-04 9.99513933e-01 -7.02067783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84264000000002 meters 0.03035437125943309 Centerline is valid? [True, True] Translation: X:162.43, Y:-24.79, Z:-7.02 [[ 9.85190836e-01 1.68618684e-01 3.10926983e-02 1.62430120e+02] [-1.68522546e-01 9.85681284e-01 -5.70593416e-03 -2.47877050e+01] [-3.16096179e-02 3.81613369e-04 9.99500218e-01 -7.02084680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.87264000000002 meters 0.023210873460258907 Centerline is valid? [True, True] Translation: X:162.46, Y:-24.81, Z:-7.02 [[ 9.86117504e-01 1.63012007e-01 3.16125657e-02 1.62456814e+02] [-1.62909828e-01 9.86623922e-01 -5.79872978e-03 -2.48067139e+01] [-3.21349761e-02 5.68231290e-04 9.99483377e-01 -7.02175800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.90264000000002 meters 0.025127498030513243 Centerline is valid? [True, True] Translation: X:162.48, Y:-24.82, Z:-7.02 [[ 9.86343993e-01 1.61646650e-01 3.15577047e-02 1.62484825e+02] [-1.61544147e-01 9.86848513e-01 -5.78805620e-03 -2.48174568e+01] [-3.20782939e-02 6.11051980e-04 9.99485172e-01 -7.02308923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.93264000000002 meters 0.02356772052930281 Centerline is valid? [True, True] Translation: X:162.51, Y:-24.82, Z:-7.02 [[ 9.86331492e-01 1.61769973e-01 3.13155577e-02 1.62514172e+02] [-1.61669091e-01 9.86828310e-01 -5.74391877e-03 -2.48245605e+01] [-3.18322725e-02 6.02650223e-04 9.99493043e-01 -7.02320459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96264000000002 meters 0.021384808854764934 Centerline is valid? [True, True] Translation: X:162.54, Y:-24.83, Z:-7.02 [[ 9.86076582e-01 1.63377998e-01 3.09936079e-02 1.62544869e+02] [-1.63279973e-01 9.86563395e-01 -5.68486653e-03 -2.48283022e+01] [-3.15059411e-02 5.45078284e-04 9.99503416e-01 -7.02398856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99264000000002 meters 0.02072334722523417 Centerline is valid? [True, True] Translation: X:162.57, Y:-24.83, Z:-7.03 [[ 9.85686712e-01 1.65744674e-01 3.08287002e-02 1.62573795e+02] [-1.65648841e-01 9.86168589e-01 -5.65477649e-03 -2.48344310e+01] [-3.13395449e-02 4.67099583e-04 9.99508687e-01 -7.02670211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02264000000002 meters 0.015605336881843792 Centerline is valid? [True, True] Translation: X:162.60, Y:-24.83, Z:-7.03 [[ 9.84588630e-01 1.72063105e-01 3.12972499e-02 1.62602678e+02] [-1.71967528e-01 9.85085892e-01 -5.74060620e-03 -2.48349406e+01] [-3.18182259e-02 2.70024904e-04 9.99493636e-01 -7.02781310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.05264000000003 meters 0.013548358425573592 Centerline is valid? [True, True] Translation: X:162.63, Y:-24.84, Z:-7.03 [[ 9.83901156e-01 1.75924625e-01 3.14490165e-02 1.62630731e+02] [-1.75830116e-01 9.84403629e-01 -5.76756939e-03 -2.48351498e+01] [-3.19731834e-02 1.45033970e-04 9.99488717e-01 -7.02977807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08264000000003 meters 0.011903906324565809 Centerline is valid? [True, True] Translation: X:162.66, Y:-24.83, Z:-7.03 [[ 9.83190887e-01 1.79850259e-01 3.14573506e-02 1.62660046e+02] [-1.79757771e-01 9.83693999e-01 -5.76711218e-03 -2.48340174e+01] [-3.19816237e-02 1.54689117e-05 9.99488457e-01 -7.02870167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.11264000000003 meters 0.014656235197137065 Centerline is valid? [True, True] Translation: X:162.69, Y:-24.83, Z:-7.03 [[ 9.81701386e-01 1.87764115e-01 3.17336621e-02 1.62689920e+02] [-1.87674174e-01 9.82214120e-01 -5.81616059e-03 -2.48290435e+01] [-3.22613172e-02 -2.45855917e-04 9.99479438e-01 -7.02965475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14264000000003 meters 0.018295045220866737 Centerline is valid? [True, True] Translation: X:162.72, Y:-24.83, Z:-7.03 [[ 9.81002071e-01 1.91419180e-01 3.15219601e-02 1.62718761e+02] [-1.91332365e-01 9.81508311e-01 -5.77594531e-03 -2.48274199e+01] [-3.20446925e-02 -3.64956874e-04 9.99486370e-01 -7.03267304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.17264000000003 meters 0.029117528620009766 Centerline is valid? [True, True] Translation: X:162.75, Y:-24.82, Z:-7.04 [[ 9.79655787e-01 1.98345315e-01 3.05560826e-02 1.62750912e+02] [-1.98267184e-01 9.80132034e-01 -5.59634298e-03 -2.48215182e+01] [-3.10590038e-02 -5.75778671e-04 9.99517387e-01 -7.03537591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20264000000003 meters 0.026632255353029658 Centerline is valid? [True, True] Translation: X:162.78, Y:-24.82, Z:-7.04 [[ 9.79035014e-01 2.01397070e-01 3.04903544e-02 1.62780589e+02] [-2.01320733e-01 9.79509454e-01 -5.58496938e-03 -2.48214515e+01] [-3.09903869e-02 -6.70459907e-04 9.99519458e-01 -7.03664366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.23264000000003 meters 0.031893568766771116 Centerline is valid? [True, True] Translation: X:162.81, Y:-24.82, Z:-7.04 [[ 9.78502966e-01 2.03999646e-01 3.02669899e-02 1.62809812e+02] [-2.03925714e-01 9.78970676e-01 -5.54251908e-03 -2.48184156e+01] [-3.07611675e-02 -7.48846167e-04 9.99526483e-01 -7.04002833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26264000000003 meters 0.030908253038100877 Centerline is valid? [True, True] Translation: X:162.84, Y:-24.82, Z:-7.04 [[ 9.78111196e-01 2.05881556e-01 3.01872908e-02 1.62838617e+02] [-2.05808957e-01 9.78576585e-01 -5.52633347e-03 -2.48233345e+01] [-3.06783461e-02 -8.07446204e-04 9.99528983e-01 -7.03932368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.29264000000003 meters 0.03565611858053577 Centerline is valid? [True, True] Translation: X:162.87, Y:-24.82, Z:-7.04 [[ 9.77774514e-01 2.07549104e-01 2.96710293e-02 1.62867386e+02] [-2.07479773e-01 9.78224235e-01 -5.43051369e-03 -2.48185170e+01] [-3.01520182e-02 -8.46320553e-04 9.99544966e-01 -7.04316563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32264000000004 meters 0.03436010585970594 Centerline is valid? [True, True] Translation: X:162.90, Y:-24.82, Z:-7.04 [[ 9.77940978e-01 2.06805244e-01 2.93774616e-02 1.62895564e+02] [-2.06736953e-01 9.78381789e-01 -5.37648524e-03 -2.48238124e+01] [-2.98542588e-02 -8.15521654e-04 9.99553930e-01 -7.04487324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.35264000000004 meters 0.031507160593545726 Centerline is valid? [True, True] Translation: X:162.92, Y:-24.83, Z:-7.05 [[ 9.78719054e-01 2.03183894e-01 2.87283715e-02 1.62923356e+02] [-2.03117225e-01 9.79140348e-01 -5.25091289e-03 -2.48308134e+01] [-2.91960086e-02 -6.96058610e-04 9.99573463e-01 -7.04832326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38264000000004 meters 0.03161837216379123 Centerline is valid? [True, True] Translation: X:162.95, Y:-24.84, Z:-7.05 [[ 9.79270445e-01 2.00432114e-01 2.92636804e-02 1.62951287e+02] [-2.00361688e-01 9.79707394e-01 -5.34944258e-03 -2.48403411e+01] [-2.97420441e-02 -6.24769388e-04 9.99557412e-01 -7.04815333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.41264000000004 meters 0.02150091876704174 Centerline is valid? [True, True] Translation: X:162.98, Y:-24.85, Z:-7.05 [[ 9.80470436e-01 1.94232255e-01 3.08472768e-02 1.62979256e+02] [-1.94151154e-01 9.80955459e-01 -5.63176220e-03 -2.48501495e+01] [-3.13536745e-02 -4.67258056e-04 9.99508243e-01 -7.04705835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44264000000004 meters 0.02006424464889658 Centerline is valid? [True, True] Translation: X:163.01, Y:-24.86, Z:-7.05 [[ 9.81095713e-01 1.91102958e-01 3.05100041e-02 1.63007390e+02] [-1.91022126e-01 9.81569930e-01 -5.56958923e-03 -2.48593948e+01] [-3.10120675e-02 -3.63785733e-04 9.99518944e-01 -7.04866796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.47264000000004 meters 0.01801468027294002 Centerline is valid? [True, True] Translation: X:163.03, Y:-24.87, Z:-7.05 [[ 9.81657365e-01 1.88202808e-01 3.04716315e-02 1.63034804e+02] [-1.88120812e-01 9.82130149e-01 -5.56160852e-03 -2.48679867e+01] [-3.09738183e-02 -2.72754080e-04 9.99520159e-01 -7.05025619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.50264 meters 0.014607706084667323 Centerline is valid? [True, True] Translation: X:163.06, Y:-24.88, Z:-7.05 [[ 9.82139734e-01 1.85622933e-01 3.07517341e-02 1.63061274e+02] [-1.85538200e-01 9.82621030e-01 -5.61134660e-03 -2.48755598e+01] [-3.12588953e-02 -1.94494952e-04 9.99511302e-01 -7.05188384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.53264000000001 meters 0.012064687039896882 Centerline is valid? [True, True] Translation: X:163.09, Y:-24.89, Z:-7.05 [[ 9.82936913e-01 1.81260977e-01 3.12966884e-02 1.63088468e+02] [-1.81171069e-01 9.83435028e-01 -5.70868094e-03 -2.48865752e+01] [-3.18130207e-02 -5.87812734e-05 9.99493836e-01 -7.05095758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.56264000000002 meters 0.011988716125617707 Centerline is valid? [True, True] Translation: X:163.12, Y:-24.89, Z:-7.05 [[ 9.83251464e-01 1.79613900e-01 3.09096255e-02 1.63116144e+02] [-1.79525436e-01 9.83737184e-01 -5.63656184e-03 -2.48933889e+01] [-3.14193528e-02 -6.90631935e-06 9.99506290e-01 -7.05305452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.59264000000002 meters 0.012472862490746235 Centerline is valid? [True, True] Translation: X:163.14, Y:-24.90, Z:-7.06 [[ 9.83493509e-01 1.78395079e-01 3.02607568e-02 1.63142865e+02] [-1.78309755e-01 9.83958940e-01 -5.51692977e-03 -2.48998351e+01] [-3.07595353e-02 3.00764905e-05 9.99526813e-01 -7.05665561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.62264000000002 meters 0.012656564129928454 Centerline is valid? [True, True] Translation: X:163.17, Y:-24.91, Z:-7.06 [[ 9.83831776e-01 1.76672780e-01 2.93558524e-02 1.63171065e+02] [-1.76591773e-01 9.84269639e-01 -5.35005255e-03 -2.49062807e+01] [-2.98392829e-02 7.95496801e-05 9.99554706e-01 -7.05776731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.65264000000002 meters 0.013234561368277995 Centerline is valid? [True, True] Translation: X:163.20, Y:-24.91, Z:-7.06 [[ 9.83925614e-01 1.76209352e-01 2.89939729e-02 1.63198451e+02] [-1.76130166e-01 9.84352709e-01 -5.28283624e-03 -2.49113303e+01] [-2.94711809e-02 9.12046256e-05 9.99565626e-01 -7.06066844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68264000000002 meters 0.017408487306382555 Centerline is valid? [True, True] Translation: X:163.23, Y:-24.92, Z:-7.06 [[ 9.83985342e-01 1.75898651e-01 2.88532662e-02 1.63226472e+02] [-1.75820157e-01 9.84408277e-01 -5.25522309e-03 -2.49162172e+01] [-2.93277807e-02 9.80766876e-05 9.99569843e-01 -7.06128124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71264000000002 meters 0.026767225501762346 Centerline is valid? [True, True] Translation: X:163.25, Y:-24.92, Z:-7.06 [[ 9.84001232e-01 1.75746591e-01 2.92354520e-02 1.63253940e+02] [-1.75665976e-01 9.84435435e-01 -5.32350540e-03 -2.49209333e+01] [-2.97160028e-02 1.02661674e-04 9.99558377e-01 -7.06183902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74264000000002 meters 0.015429837612589882 Centerline is valid? [True, True] Translation: X:163.28, Y:-24.93, Z:-7.06 [[ 9.84026883e-01 1.75589339e-01 2.93168362e-02 1.63282112e+02] [-1.75508265e-01 9.84463495e-01 -5.33629956e-03 -2.49256492e+01] [-2.97983524e-02 1.05715160e-04 9.99555925e-01 -7.06275886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.77264000000002 meters 0.013406885732670916 Centerline is valid? [True, True] Translation: X:163.31, Y:-24.93, Z:-7.06 [[ 9.84144470e-01 1.74807922e-01 3.00308509e-02 1.63308867e+02] [-1.74722529e-01 9.84602546e-01 -5.46487557e-03 -2.49333936e+01] [-3.05237558e-02 1.31160854e-04 9.99534033e-01 -7.06482665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80264000000003 meters 0.013012658359069245 Centerline is valid? [True, True] Translation: X:163.34, Y:-24.94, Z:-7.06 [[ 9.84231521e-01 1.74253162e-01 3.03998259e-02 1.63337250e+02] [-1.74165457e-01 9.84700875e-01 -5.52994577e-03 -2.49399458e+01] [-3.08983457e-02 1.48147380e-04 9.99522521e-01 -7.06376621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.83264000000003 meters 0.013337632783827245 Centerline is valid? [True, True] Translation: X:163.36, Y:-24.95, Z:-7.07 [[ 9.84353282e-01 1.73552525e-01 3.04653511e-02 1.63364332e+02] [-1.73464147e-01 9.84824600e-01 -5.54048584e-03 -2.49463683e+01] [-3.09645925e-02 1.69149271e-04 9.99520468e-01 -7.06511213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86264000000003 meters 0.014142135995549214 Centerline is valid? [True, True] Translation: X:163.39, Y:-24.95, Z:-7.07 [[ 9.84478842e-01 1.72810416e-01 3.06263066e-02 1.63391529e+02] [-1.72720804e-01 9.84955087e-01 -5.56781577e-03 -2.49536612e+01] [-3.11277131e-02 1.91596526e-04 9.99515397e-01 -7.06780864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.89264000000003 meters 0.016000249287732443 Centerline is valid? [True, True] Translation: X:163.42, Y:-24.96, Z:-7.07 [[ 9.84546861e-01 1.72481478e-01 3.02922053e-02 1.63419642e+02] [-1.72393716e-01 9.85012741e-01 -5.50509569e-03 -2.49592072e+01] [-3.07877352e-02 1.97838849e-04 9.99525926e-01 -7.06759728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92264000000003 meters 0.013540975449870091 Centerline is valid? [True, True] Translation: X:163.45, Y:-24.96, Z:-7.07 [[ 9.84550101e-01 1.72392900e-01 3.06885449e-02 1.63446582e+02] [-1.72302826e-01 9.85028247e-01 -5.57575260e-03 -2.49647353e+01] [-3.11903037e-02 2.01884775e-04 9.99513444e-01 -7.06817425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.95264000000003 meters 0.012733796016766923 Centerline is valid? [True, True] Translation: X:163.48, Y:-24.97, Z:-7.07 [[ 9.84309963e-01 1.73628730e-01 3.14159193e-02 1.63475058e+02] [-1.73535044e-01 9.84811168e-01 -5.70537613e-03 -2.49674391e+01] [-3.19293654e-02 1.64095614e-04 9.99490114e-01 -7.06765238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98264000000003 meters 0.012638446947647876 Centerline is valid? [True, True] Translation: X:163.50, Y:-24.97, Z:-7.07 [[ 9.84132738e-01 1.74645330e-01 3.13331060e-02 1.63502002e+02] [-1.74552680e-01 9.84631399e-01 -5.68945550e-03 -2.49719862e+01] [-3.18451968e-02 1.29901791e-04 9.99492805e-01 -7.06983929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.01264000000003 meters 0.02521835234527386 Centerline is valid? [True, True] Translation: X:163.53, Y:-24.98, Z:-7.07 [[ 9.83969898e-01 1.75646449e-01 3.08474380e-02 1.63529353e+02] [-1.75557203e-01 9.84453308e-01 -5.59932373e-03 -2.49773692e+01] [-3.13513637e-02 9.40760701e-05 9.99508421e-01 -7.07292942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04264000000003 meters 0.012031945573572315 Centerline is valid? [True, True] Translation: X:163.56, Y:-24.98, Z:-7.07 [[ 9.83728055e-01 1.76935926e-01 3.11896245e-02 1.63558224e+02] [-1.76845402e-01 9.84222371e-01 -5.65936524e-03 -2.49807559e+01] [-3.16988712e-02 5.15346681e-05 9.99497463e-01 -7.07239690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.07264000000004 meters 0.01175734575546319 Centerline is valid? [True, True] Translation: X:163.59, Y:-24.98, Z:-7.07 [[ 9.83641692e-01 1.77426229e-01 3.11280431e-02 1.63587237e+02] [-1.77336355e-01 9.84134103e-01 -5.64668532e-03 -2.49846184e+01] [-3.16360388e-02 3.41814010e-05 9.99499455e-01 -7.07325399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10264000000004 meters 0.02659705946580798 Centerline is valid? [True, True] Translation: X:163.61, Y:-24.99, Z:-7.08 [[ 9.83605556e-01 1.77804758e-01 3.00928151e-02 1.63614088e+02] [-1.77720980e-01 9.84065784e-01 -5.45761638e-03 -2.49895014e+01] [-3.05836999e-02 2.00171977e-05 9.99532209e-01 -7.07806239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.13264000000004 meters 0.01901160319305495 Centerline is valid? [True, True] Translation: X:163.64, Y:-25.00, Z:-7.08 [[ 9.83566488e-01 1.78098226e-01 2.96308151e-02 1.63642469e+02] [-1.78017194e-01 9.84012714e-01 -5.37185846e-03 -2.49951151e+01] [-3.01138173e-02 8.78538921e-06 9.99546476e-01 -7.07864159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16264000000004 meters 0.02232519773304766 Centerline is valid? [True, True] Translation: X:163.67, Y:-25.00, Z:-7.08 [[ 9.83596828e-01 1.77947747e-01 2.95275914e-02 1.63669743e+02] [-1.77867247e-01 9.84039938e-01 -5.35192410e-03 -2.50005996e+01] [-3.00086921e-02 1.21441680e-05 9.99549638e-01 -7.08096445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.19264000000004 meters 0.018882578335781487 Centerline is valid? [True, True] Translation: X:163.70, Y:-25.01, Z:-7.08 [[ 9.83823873e-01 1.76708922e-01 2.94031368e-02 1.63697718e+02] [-1.76628612e-01 9.84263153e-01 -5.32716627e-03 -2.50099987e+01] [-2.98817820e-02 4.75581069e-05 9.99553439e-01 -7.08148475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22264000000004 meters 0.03215495102412346 Centerline is valid? [True, True] Translation: X:163.72, Y:-25.02, Z:-7.08 [[ 9.83976232e-01 1.75900935e-01 2.91485095e-02 1.63724735e+02] [-1.75821694e-01 9.84407871e-01 -5.27975251e-03 -2.50176855e+01] [-2.96227356e-02 7.02106633e-05 9.99561148e-01 -7.08356896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.25264 meters 0.013149251491181709 Centerline is valid? [True, True] Translation: X:163.75, Y:-25.03, Z:-7.08 [[ 9.84196166e-01 1.74552592e-01 2.98211214e-02 1.63751682e+02] [-1.74469091e-01 9.84647846e-01 -5.39962867e-03 -2.50255245e+01] [-3.03058222e-02 1.11429884e-04 9.99540667e-01 -7.08466856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.28264000000001 meters 0.013594842246310784 Centerline is valid? [True, True] Translation: X:163.78, Y:-25.03, Z:-7.08 [[ 9.84562757e-01 1.72384150e-01 3.03295730e-02 1.63779170e+02] [-1.72296812e-01 9.85029783e-01 -5.48961666e-03 -2.50346534e+01] [-3.08218556e-02 1.79183379e-04 9.99524878e-01 -7.08340767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.31264000000002 meters 0.02184683586524835 Centerline is valid? [True, True] Translation: X:163.81, Y:-25.04, Z:-7.08 [[ 9.84732113e-01 1.71451394e-01 3.01178665e-02 1.63806779e+02] [-1.71364880e-01 9.85192559e-01 -5.44981613e-03 -2.50423951e+01] [-3.06062765e-02 2.05464371e-04 9.99531497e-01 -7.08414065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.34264000000002 meters 0.014481523312192756 Centerline is valid? [True, True] Translation: X:163.83, Y:-25.05, Z:-7.08 [[ 9.84848566e-01 1.70617352e-01 3.10325825e-02 1.63833571e+02] [-1.70525135e-01 9.85337335e-01 -5.61385901e-03 -2.50503399e+01] [-3.15353839e-02 2.36965669e-04 9.99502608e-01 -7.08470611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.37264000000002 meters 0.01453223918518609 Centerline is valid? [True, True] Translation: X:163.86, Y:-25.06, Z:-7.08 [[ 9.84899423e-01 1.70175754e-01 3.18330062e-02 1.63859865e+02] [-1.70078553e-01 9.85413694e-01 -5.75658647e-03 -2.50593263e+01] [-3.23483117e-02 2.55547057e-04 9.99476624e-01 -7.08433253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.40264000000002 meters 0.016252054588522694 Centerline is valid? [True, True] Translation: X:163.89, Y:-25.06, Z:-7.08 [[ 9.84798886e-01 1.70771331e-01 3.17538604e-02 1.63889406e+02] [-1.70674998e-01 9.85310661e-01 -5.73991466e-03 -2.50646343e+01] [-3.22676301e-02 2.33071481e-04 9.99479237e-01 -7.08497783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.43264000000002 meters 0.012822187620276312 Centerline is valid? [True, True] Translation: X:163.92, Y:-25.07, Z:-7.09 [[ 9.84393991e-01 1.72971113e-01 3.23954471e-02 1.63917174e+02] [-1.72872051e-01 9.84926884e-01 -5.85547204e-03 -2.50679481e+01] [-3.29199743e-02 1.63824085e-04 9.99457977e-01 -7.08571405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46264000000002 meters 0.012250750763275359 Centerline is valid? [True, True] Translation: X:163.94, Y:-25.07, Z:-7.09 [[ 9.84101351e-01 1.74677439e-01 3.21297962e-02 1.63944925e+02] [-1.74580969e-01 9.84625706e-01 -5.80549643e-03 -2.50712533e+01] [-3.26499125e-02 1.03945924e-04 9.99466844e-01 -7.08759368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49264000000002 meters 0.012250750763275359 Centerline is valid? [True, True] Translation: X:163.97, Y:-25.08, Z:-7.09 [[ 9.84109473e-01 1.74631607e-01 3.21301599e-02 1.63972792e+02] [-1.74535178e-01 9.84633836e-01 -5.80348260e-03 -2.50761960e+01] [-3.26499141e-02 1.03419032e-04 9.99466844e-01 -7.08884288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52264000000002 meters 0.011923442607777592 Centerline is valid? [True, True] Translation: X:164.00, Y:-25.08, Z:-7.09 [[ 9.83739656e-01 1.76826557e-01 3.14429269e-02 1.64001388e+02] [-1.76735377e-01 9.84242027e-01 -5.67789039e-03 -2.50780022e+01] [-3.19514519e-02 2.84883876e-05 9.99489422e-01 -7.09049022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.55264000000003 meters 0.013228939059225992 Centerline is valid? [True, True] Translation: X:164.03, Y:-25.07, Z:-7.09 [[ 9.82694180e-01 1.82612456e-01 3.10618646e-02 1.64031155e+02] [-1.82526406e-01 9.83184960e-01 -5.60761120e-03 -2.50732465e+01] [-3.15635777e-02 -1.59043624e-04 9.99501733e-01 -7.09141716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58264000000003 meters 0.014700655803820697 Centerline is valid? [True, True] Translation: X:164.06, Y:-25.07, Z:-7.09 [[ 9.82097243e-01 1.85759138e-01 3.12817373e-02 1.64060351e+02] [-1.85673509e-01 9.82595274e-01 -5.64576123e-03 -2.50738097e+01] [-3.17860389e-02 -2.63503398e-04 9.99494661e-01 -7.09177672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.61264000000003 meters 0.0173043658436411 Centerline is valid? [True, True] Translation: X:164.09, Y:-25.07, Z:-7.09 [[ 9.81519055e-01 1.88818513e-01 3.11113178e-02 1.64089880e+02] [-1.88735400e-01 9.82011934e-01 -5.61344188e-03 -2.50733160e+01] [-3.16116071e-02 -3.62106841e-04 9.99500163e-01 -7.09320770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64264000000003 meters 0.022826409728184664 Centerline is valid? [True, True] Translation: X:164.12, Y:-25.07, Z:-7.10 [[ 9.80435459e-01 1.94444629e-01 3.06201927e-02 1.64120029e+02] [-1.94366912e-01 9.80913349e-01 -5.52315893e-03 -2.50662954e+01] [-3.11097043e-02 -5.36451428e-04 9.99515832e-01 -7.09535099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.67264000000003 meters 0.0295894255074124 Centerline is valid? [True, True] Translation: X:164.15, Y:-25.07, Z:-7.10 [[ 9.80082282e-01 1.96218369e-01 3.06116523e-02 1.64148799e+02] [-1.96141590e-01 9.80560044e-01 -5.52062517e-03 -2.50670129e+01] [-3.10998112e-02 -5.93551240e-04 9.99516108e-01 -7.09687958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70264000000003 meters 0.026656154846045065 Centerline is valid? [True, True] Translation: X:164.18, Y:-25.06, Z:-7.10 [[ 9.79767356e-01 1.97672648e-01 3.13281519e-02 1.64177769e+02] [-1.97593010e-01 9.80267869e-01 -5.64872997e-03 -2.50646053e+01] [-3.18265801e-02 -6.55782622e-04 9.99493191e-01 -7.09794783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.73264000000003 meters 0.02525323006074907 Centerline is valid? [True, True] Translation: X:164.21, Y:-25.07, Z:-7.10 [[ 9.79853234e-01 1.97239805e-01 3.13703636e-02 1.64205921e+02] [-1.97159841e-01 9.80355059e-01 -5.65289601e-03 -2.50684891e+01] [-3.18690708e-02 -6.45967461e-04 9.99491843e-01 -7.09818484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76264000000003 meters 0.023952509722250197 Centerline is valid? [True, True] Translation: X:164.23, Y:-25.07, Z:-7.10 [[ 9.80131369e-01 1.95858879e-01 3.13336769e-02 1.64234639e+02] [-1.95778447e-01 9.80631907e-01 -5.64469992e-03 -2.50733077e+01] [-3.18323679e-02 -6.01911133e-04 9.99493041e-01 -7.09973928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.79264000000003 meters 0.019591026576362486 Centerline is valid? [True, True] Translation: X:164.26, Y:-25.08, Z:-7.10 [[ 9.81219725e-01 1.90344042e-01 3.12569516e-02 1.64261550e+02] [-1.90261259e-01 9.81717356e-01 -5.62914471e-03 -2.50836502e+01] [-3.17569660e-02 -4.23559125e-04 9.99495531e-01 -7.10212888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82264000000004 meters 0.022499666770071095 Centerline is valid? [True, True] Translation: X:164.29, Y:-25.09, Z:-7.10 [[ 9.81857080e-01 1.87050533e-01 3.11251250e-02 1.64289335e+02] [-1.86966822e-01 9.82350242e-01 -5.60441552e-03 -2.50943303e+01] [-3.16240830e-02 -3.16630647e-04 9.99499783e-01 -7.10164970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.85264000000004 meters 0.019323960830211873 Centerline is valid? [True, True] Translation: X:164.32, Y:-25.10, Z:-7.10 [[ 9.82530885e-01 1.83527514e-01 3.08336216e-02 1.64316627e+02] [-1.83443674e-01 9.83014552e-01 -5.55049353e-03 -2.51013770e+01] [-3.13285671e-02 -2.02701528e-04 9.99509119e-01 -7.10366672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88264000000004 meters 0.01203765341960691 Centerline is valid? [True, True] Translation: X:164.34, Y:-25.11, Z:-7.11 [[ 9.83247349e-01 1.79670594e-01 3.07103990e-02 1.64344247e+02] [-1.79585609e-01 9.83726827e-01 -5.52614141e-03 -2.51101423e+01] [-3.12035285e-02 -8.15818177e-05 9.99513048e-01 -7.10571125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.91264000000004 meters 0.012559407427685718 Centerline is valid? [True, True] Translation: X:164.37, Y:-25.12, Z:-7.11 [[ 9.84561832e-01 1.72297793e-01 3.08459048e-02 1.64370892e+02] [-1.72208483e-01 9.85044896e-01 -5.54893896e-03 -2.51241113e+01] [-3.13406710e-02 1.51347022e-04 9.99508749e-01 -7.10699250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94264000000004 meters 0.025089950358169875 Centerline is valid? [True, True] Translation: X:164.40, Y:-25.13, Z:-7.11 [[ 9.85146321e-01 1.68952846e-01 3.06865235e-02 1.64397194e+02] [-1.68862878e-01 9.85624102e-01 -5.51886423e-03 -2.51339891e+01] [-3.11778050e-02 2.55074119e-04 9.99513822e-01 -7.10972664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.97264000000004 meters 0.020211531491168958 Centerline is valid? [True, True] Translation: X:164.43, Y:-25.15, Z:-7.11 [[ 9.86420601e-01 1.61449767e-01 3.01391953e-02 1.64425606e+02] [-1.61359558e-01 9.86880814e-01 -5.41772569e-03 -2.51486323e+01] [-3.06184842e-02 4.80908993e-04 9.99531029e-01 -7.11077469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.00264 meters 0.0279299817666352 Centerline is valid? [True, True] Translation: X:164.45, Y:-25.16, Z:-7.11 [[ 9.86970852e-01 1.58071336e-01 3.00331430e-02 1.64453592e+02] [-1.57980192e-01 9.87427522e-01 -5.39883034e-03 -2.51590829e+01] [-3.05089523e-02 5.83846494e-04 9.99534323e-01 -7.11159696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.03264000000001 meters 0.02907393940694686 Centerline is valid? [True, True] Translation: X:164.48, Y:-25.17, Z:-7.11 [[ 9.87472301e-01 1.54843171e-01 3.03652259e-02 1.64481126e+02] [-1.54748489e-01 9.87938822e-01 -5.45797555e-03 -2.51710264e+01] [-3.08441158e-02 6.90626838e-04 9.99523968e-01 -7.11356373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06264000000002 meters 0.03223146181916219 Centerline is valid? [True, True] Translation: X:164.51, Y:-25.18, Z:-7.11 [[ 9.88328515e-01 1.49243239e-01 3.05483702e-02 1.64510630e+02] [-1.49144742e-01 9.88800130e-01 -5.49073116e-03 -2.51838694e+01] [-3.10256869e-02 8.70517392e-04 9.99518208e-01 -7.11304146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.09264000000002 meters 0.035600477077647665 Centerline is valid? [True, True] Translation: X:164.54, Y:-25.20, Z:-7.11 [[ 9.88631202e-01 1.47109409e-01 3.10993371e-02 1.64540414e+02] [-1.47006315e-01 9.89119767e-01 -5.58835668e-03 -2.51957303e+01] [-3.15830689e-02 9.53024820e-04 9.99500676e-01 -7.11371582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12264000000002 meters 0.038401319262459196 Centerline is valid? [True, True] Translation: X:164.57, Y:-25.20, Z:-7.11 [[ 9.88814690e-01 1.45803782e-01 3.14128316e-02 1.64571801e+02] [-1.45697785e-01 9.89313013e-01 -5.64954450e-03 -2.52032344e+01] [-3.19008481e-02 1.00957260e-03 9.99490529e-01 -7.11287638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.15264000000002 meters 0.0443814854389963 Centerline is valid? [True, True] Translation: X:164.60, Y:-25.22, Z:-7.11 [[ 9.89112281e-01 1.43691333e-01 3.17757180e-02 1.64602411e+02] [-1.43581556e-01 9.89621947e-01 -5.72186896e-03 -2.52162571e+01] [-3.22681309e-02 1.09716382e-03 9.99478646e-01 -7.11361515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18264000000002 meters 0.04217216685722882 Centerline is valid? [True, True] Translation: X:164.63, Y:-25.23, Z:-7.12 [[ 9.89201888e-01 1.43174506e-01 3.13159066e-02 1.64633590e+02] [-1.43067624e-01 9.89696850e-01 -5.63910538e-03 -2.52262194e+01] [-3.18006303e-02 1.09792133e-03 9.99493629e-01 -7.11608284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21264000000002 meters 0.038217723800867374 Centerline is valid? [True, True] Translation: X:164.66, Y:-25.24, Z:-7.12 [[ 9.89272071e-01 1.42703905e-01 3.12468415e-02 1.64664676e+02] [-1.42597090e-01 9.89764795e-01 -5.63202717e-03 -2.52353270e+01] [-3.17307360e-02 1.11589850e-03 9.99495830e-01 -7.11798498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24264000000002 meters 0.03739737010645135 Centerline is valid? [True, True] Translation: X:164.70, Y:-25.25, Z:-7.12 [[ 9.89215206e-01 1.43217773e-01 3.06911254e-02 1.64696004e+02] [-1.43114819e-01 9.89690605e-01 -5.53673516e-03 -2.52451208e+01] [-3.11676774e-02 1.08466776e-03 9.99513581e-01 -7.11949420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27264000000002 meters 0.03873788142144108 Centerline is valid? [True, True] Translation: X:164.73, Y:-25.25, Z:-7.12 [[ 9.89066589e-01 1.44336773e-01 3.02353809e-02 1.64726190e+02] [-1.44237180e-01 9.89528076e-01 -5.46095213e-03 -2.52547308e+01] [-3.07069745e-02 1.04017923e-03 9.99527888e-01 -7.12249469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30264000000003 meters 0.036722466378978816 Centerline is valid? [True, True] Translation: X:164.76, Y:-25.26, Z:-7.13 [[ 9.88660927e-01 1.47305515e-01 2.91660254e-02 1.64755243e+02] [-1.47213963e-01 9.89090612e-01 -5.27355596e-03 -2.52627343e+01] [-2.96246658e-02 9.20112528e-04 9.99560670e-01 -7.12540103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.33264000000003 meters 0.03957258560504331 Centerline is valid? [True, True] Translation: X:164.79, Y:-25.27, Z:-7.12 [[ 9.88337250e-01 1.49502469e-01 2.89567400e-02 1.64786636e+02] [-1.49413087e-01 9.88760986e-01 -5.23847386e-03 -2.52654143e+01] [-2.94144595e-02 8.50862939e-04 9.99566939e-01 -7.12454818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36264000000003 meters 0.03267557437257762 Centerline is valid? [True, True] Translation: X:164.82, Y:-25.27, Z:-7.13 [[ 9.87972436e-01 1.51836344e-01 2.92607284e-02 1.64815415e+02] [-1.51746069e-01 9.88405332e-01 -5.29440249e-03 -2.52749973e+01] [-2.97253427e-02 7.90523209e-04 9.99557792e-01 -7.12749309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.39264000000003 meters 0.03272389240930494 Centerline is valid? [True, True] Translation: X:164.85, Y:-25.28, Z:-7.13 [[ 9.87502823e-01 1.54847049e-01 2.93353997e-02 1.64846828e+02] [-1.54757634e-01 9.87938206e-01 -5.30810548e-03 -2.52772957e+01] [-2.98035066e-02 7.01892116e-04 9.99555530e-01 -7.12598670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42264000000003 meters 0.022800867952195606 Centerline is valid? [True, True] Translation: X:164.88, Y:-25.28, Z:-7.13 [[ 9.86454660e-01 1.61224336e-01 3.02310511e-02 1.64876214e+02] [-1.61132331e-01 9.86917644e-01 -5.47129643e-03 -2.52821010e+01] [-3.07176638e-02 5.25986128e-04 9.99527963e-01 -7.12777077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.45264000000003 meters 0.018751625550412536 Centerline is valid? [True, True] Translation: X:164.91, Y:-25.28, Z:-7.13 [[ 9.85846916e-01 1.64829942e-01 3.06096089e-02 1.64908414e+02] [-1.64737423e-01 9.86321913e-01 -5.53757467e-03 -2.52845242e+01] [-3.11036861e-02 4.16652812e-04 9.99516076e-01 -7.12696500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48264000000003 meters 0.015869827086564547 Centerline is valid? [True, True] Translation: X:164.94, Y:-25.29, Z:-7.13 [[ 9.85213425e-01 1.68478031e-01 3.11393670e-02 1.64939574e+02] [-1.68383867e-01 9.85705359e-01 -5.64082682e-03 -2.52872957e+01] [-3.16445963e-02 3.14051284e-04 9.99499135e-01 -7.12789821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.51264000000003 meters 0.012247637837184626 Centerline is valid? [True, True] Translation: X:164.97, Y:-25.29, Z:-7.13 [[ 9.84127448e-01 1.74739281e-01 3.09733646e-02 1.64970165e+02] [-1.74649181e-01 9.84614732e-01 -5.61183284e-03 -2.52872276e+01] [-3.14774387e-02 1.13285963e-04 9.99504456e-01 -7.12877111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54264000000003 meters 0.012079834049916612 Centerline is valid? [True, True] Translation: X:165.00, Y:-25.29, Z:-7.13 [[ 9.83648982e-01 1.77478257e-01 3.05965310e-02 1.64998893e+02] [-1.77391666e-01 9.84124722e-01 -5.54339546e-03 -2.52915411e+01] [-3.10946347e-02 2.51856982e-05 9.99516445e-01 -7.13229932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.57264000000004 meters 0.012656578845777778 Centerline is valid? [True, True] Translation: X:165.03, Y:-25.30, Z:-7.13 [[ 9.82879154e-01 1.81779118e-01 3.00818918e-02 1.65028390e+02] [-1.81697401e-01 9.83339382e-01 -5.45102750e-03 -2.52959258e+01] [-3.05715918e-02 -1.08100258e-04 9.99532574e-01 -7.13361760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60264000000004 meters 0.013706274869779822 Centerline is valid? [True, True] Translation: X:165.06, Y:-25.30, Z:-7.14 [[ 9.82493845e-01 1.83846894e-01 3.01025632e-02 1.65058331e+02] [-1.83766059e-01 9.82954877e-01 -5.45401731e-03 -2.52994346e+01] [-3.05921654e-02 -1.73290953e-04 9.99531935e-01 -7.13513810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.63264000000004 meters 0.014921532950319269 Centerline is valid? [True, True] Translation: X:165.09, Y:-25.30, Z:-7.14 [[ 9.82147333e-01 1.85718379e-01 2.99215472e-02 1.65086741e+02] [-1.85639393e-01 9.82602987e-01 -5.42081391e-03 -2.53022706e+01] [-3.04077464e-02 -2.30579943e-04 9.99537551e-01 -7.13687768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66264000000004 meters 0.017624229826300016 Centerline is valid? [True, True] Translation: X:165.11, Y:-25.30, Z:-7.14 [[ 9.81466946e-01 1.89174948e-01 3.05855147e-02 1.65114338e+02] [-1.89094140e-01 9.81943338e-01 -5.53961033e-03 -2.53035126e+01] [-3.10811979e-02 -3.46597161e-04 9.99516803e-01 -7.13744624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.69264000000004 meters 0.018803514315411503 Centerline is valid? [True, True] Translation: X:165.14, Y:-25.31, Z:-7.14 [[ 9.81185646e-01 1.90520180e-01 3.12536201e-02 1.65142320e+02] [-1.90436538e-01 9.81683198e-01 -5.65891986e-03 -2.53067034e+01] [-3.17592921e-02 -3.99380285e-04 9.99495467e-01 -7.13750019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72264000000004 meters 0.01978381529372924 Centerline is valid? [True, True] Translation: X:165.17, Y:-25.31, Z:-7.14 [[ 9.81014022e-01 1.91425732e-01 3.11075111e-02 1.65170845e+02] [-1.91343399e-01 9.81507007e-01 -5.63014505e-03 -2.53099349e+01] [-3.16099947e-02 -4.28965676e-04 9.99500187e-01 -7.13886852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.75264 meters 0.020805686496702138 Centerline is valid? [True, True] Translation: X:165.20, Y:-25.31, Z:-7.14 [[ 9.80901001e-01 1.92134744e-01 3.02897017e-02 1.65199443e+02] [-1.92057066e-01 9.81368455e-01 -5.48070571e-03 -2.53138327e+01] [-3.07783917e-02 -4.41321516e-04 9.99526136e-01 -7.14215764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.78264000000001 meters 0.020649903144846157 Centerline is valid? [True, True] Translation: X:165.23, Y:-25.32, Z:-7.14 [[ 9.80963572e-01 1.91755149e-01 3.06664817e-02 1.65226567e+02] [-1.91675383e-01 9.81442700e-01 -5.54751751e-03 -2.53196089e+01] [-3.11611597e-02 -4.36097046e-04 9.99514278e-01 -7.14336072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.81264000000002 meters 0.018633161434765202 Centerline is valid? [True, True] Translation: X:165.25, Y:-25.33, Z:-7.14 [[ 9.81322252e-01 1.89742076e-01 3.16951426e-02 1.65253473e+02] [-1.89655883e-01 9.81833894e-01 -5.73157488e-03 -2.53279810e+01] [-3.22068862e-02 -3.86648296e-04 9.99481149e-01 -7.14308425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84264000000002 meters 0.03114534395123668 Centerline is valid? [True, True] Translation: X:165.28, Y:-25.34, Z:-7.14 [[ 9.81626915e-01 1.88186670e-01 3.15337560e-02 1.65281781e+02] [-1.88100614e-01 9.82133221e-01 -5.70041331e-03 -2.53354695e+01] [-3.20430911e-02 -3.35839722e-04 9.99486432e-01 -7.14437220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.87264000000002 meters 0.01531924316578638 Centerline is valid? [True, True] Translation: X:165.31, Y:-25.34, Z:-7.15 [[ 9.82162260e-01 1.85389478e-01 3.14330547e-02 1.65309403e+02] [-1.85302585e-01 9.82665091e-01 -5.68071203e-03 -2.53448383e+01] [-3.19413098e-02 -2.45245342e-04 9.99489716e-01 -7.14675315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.90264000000002 meters 0.023614689436374712 Centerline is valid? [True, True] Translation: X:165.34, Y:-25.36, Z:-7.15 [[ 9.83307693e-01 1.79334187e-01 3.07445906e-02 1.65335185e+02] [-1.79248152e-01 9.83788212e-01 -5.55456340e-03 -2.53617774e+01] [-3.12422889e-02 -4.90661121e-05 9.99511839e-01 -7.14927012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.93264000000002 meters 0.012808266095878628 Centerline is valid? [True, True] Translation: X:165.36, Y:-25.37, Z:-7.15 [[ 9.83933241e-01 1.75947333e-01 3.02970966e-02 1.65364142e+02] [-1.75862220e-01 9.84399580e-01 -5.47238747e-03 -2.53747070e+01] [-3.07873011e-02 5.63492830e-05 9.99525957e-01 -7.15264614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96264000000002 meters 0.014560241285450831 Centerline is valid? [True, True] Translation: X:165.39, Y:-25.39, Z:-7.16 [[ 9.84571909e-01 1.72440528e-01 2.97055539e-02 1.65392054e+02] [-1.72357084e-01 9.85019917e-01 -5.36638164e-03 -2.53882657e+01] [-3.01859440e-02 1.63625951e-04 9.99544287e-01 -7.15588933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.99264000000002 meters 0.02696906182026621 Centerline is valid? [True, True] Translation: X:165.42, Y:-25.41, Z:-7.16 [[ 9.85600091e-01 1.66562146e-01 2.91463773e-02 1.65420638e+02] [-1.66479292e-01 9.86030902e-01 -5.26371113e-03 -2.54082298e+01] [-2.96159637e-02 3.35645927e-04 9.99561295e-01 -7.15715385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02264000000002 meters 0.022170795224945222 Centerline is valid? [True, True] Translation: X:165.45, Y:-25.42, Z:-7.16 [[ 9.86007006e-01 1.64125159e-01 2.92081578e-02 1.65450840e+02] [-1.64040725e-01 9.86439435e-01 -5.28023355e-03 -2.54192965e+01] [-2.96786978e-02 4.15019907e-04 9.99559404e-01 -7.15956166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.05264000000003 meters 0.0235332101786264 Centerline is valid? [True, True] Translation: X:165.48, Y:-25.43, Z:-7.16 [[ 9.86196823e-01 1.62956378e-01 2.93435588e-02 1.65481864e+02] [-1.62870598e-01 9.86633170e-01 -5.30616802e-03 -2.54280951e+01] [-2.98160024e-02 4.53723084e-04 9.99555301e-01 -7.16023313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08264000000003 meters 0.02325921701122827 Centerline is valid? [True, True] Translation: X:165.51, Y:-25.44, Z:-7.16 [[ 9.86089504e-01 1.63515714e-01 2.98345753e-02 1.65512100e+02] [-1.63427140e-01 9.86540627e-01 -5.40006276e-03 -2.54361265e+01] [-3.03160157e-02 4.49165906e-04 9.99540263e-01 -7.16062133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.11264000000003 meters 0.018968172528421732 Centerline is valid? [True, True] Translation: X:165.54, Y:-25.44, Z:-7.16 [[ 9.85821705e-01 1.65134646e-01 2.97676640e-02 1.65544718e+02] [-1.65047082e-01 9.86270950e-01 -5.39202109e-03 -2.54388862e+01] [-3.02493917e-02 4.02505346e-04 9.99542301e-01 -7.15832442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14264000000003 meters 0.0191817491070955 Centerline is valid? [True, True] Translation: X:165.57, Y:-25.45, Z:-7.16 [[ 9.85391029e-01 1.67633247e-01 3.00601936e-02 1.65574868e+02] [-1.67544946e-01 9.85849371e-01 -5.45055206e-03 -2.54475749e+01] [-3.05485167e-02 3.34491612e-04 9.99533229e-01 -7.16259128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.17264000000003 meters 0.02713451808148016 Centerline is valid? [True, True] Translation: X:165.61, Y:-25.45, Z:-7.16 [[ 9.84209269e-01 1.74300593e-01 3.08450641e-02 1.65605712e+02] [-1.74210665e-01 9.84692482e-01 -5.59998480e-03 -2.54460670e+01] [-3.13489834e-02 1.38017802e-04 9.99508490e-01 -7.16231443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20264000000003 meters 0.01172873266038469 Centerline is valid? [True, True] Translation: X:165.64, Y:-25.45, Z:-7.16 [[ 9.83545211e-01 1.77986252e-01 3.09792203e-02 1.65639032e+02] [-1.77897420e-01 9.84032974e-01 -5.62268141e-03 -2.54453616e+01] [-3.14853343e-02 1.90380235e-05 9.99504214e-01 -7.16034773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.23264000000003 meters 0.015367019240549016 Centerline is valid? [True, True] Translation: X:165.67, Y:-25.44, Z:-7.17 [[ 9.82303437e-01 1.84781749e-01 3.05886197e-02 1.65670276e+02] [-1.84698195e-01 9.82779563e-01 -5.55939474e-03 -2.54389921e+01] [-3.10891450e-02 -1.88650287e-04 9.99516598e-01 -7.16721726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26264000000003 meters 0.01610861902277489 Centerline is valid? [True, True] Translation: X:165.70, Y:-25.44, Z:-7.17 [[ 9.81730867e-01 1.87857025e-01 3.02364449e-02 1.65701010e+02] [-1.87776858e-01 9.82196344e-01 -5.49485659e-03 -2.54414824e+01] [-3.07303731e-02 -2.83234309e-04 9.99527670e-01 -7.16562168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.29264000000003 meters 0.020968377920867236 Centerline is valid? [True, True] Translation: X:165.73, Y:-25.44, Z:-7.17 [[ 9.81281395e-01 1.90271927e-01 2.97223335e-02 1.65730598e+02] [-1.90195556e-01 9.81731363e-01 -5.40192752e-03 -2.54394553e+01] [-3.02071821e-02 -3.52244768e-04 9.99543597e-01 -7.17208941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32264000000004 meters 0.02187315470589682 Centerline is valid? [True, True] Translation: X:165.76, Y:-25.44, Z:-7.17 [[ 9.80624879e-01 1.93734687e-01 2.90123837e-02 1.65759988e+02] [-1.93663470e-01 9.81053857e-01 -5.27169414e-03 -2.54438030e+01] [-2.94840209e-02 -4.49084475e-04 9.99565151e-01 -7.17112889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.35264000000004 meters 0.023295567151069094 Centerline is valid? [True, True] Translation: X:165.79, Y:-25.45, Z:-7.17 [[ 9.80350343e-01 1.95112316e-01 2.90583591e-02 1.65788119e+02] [-1.95041484e-01 9.80780782e-01 -5.27986152e-03 -2.54475938e+01] [-2.95300462e-02 -4.91471443e-04 9.99563772e-01 -7.17234375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38264000000004 meters 0.023295567151069094 Centerline is valid? [True, True] Translation: X:165.82, Y:-25.45, Z:-7.17 [[ 9.80359476e-01 1.95066375e-01 2.90586993e-02 1.65815988e+02] [-1.94995578e-01 9.80789920e-01 -5.27798810e-03 -2.54525642e+01] [-2.95300374e-02 -4.91992232e-04 9.99563772e-01 -7.17359313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.41264000000004 meters 0.024186716206842214 Centerline is valid? [True, True] Translation: X:165.84, Y:-25.46, Z:-7.17 [[ 9.80170201e-01 1.95993167e-01 2.92071067e-02 1.65844308e+02] [-1.95922099e-01 9.80605121e-01 -5.30352120e-03 -2.54565792e+01] [-2.96800924e-02 -5.23964207e-04 9.99559312e-01 -7.17467043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44264000000004 meters 0.0251069977645151 Centerline is valid? [True, True] Translation: X:165.87, Y:-25.46, Z:-7.17 [[ 9.79783564e-01 1.97824019e-01 2.98299459e-02 1.65873368e+02] [-1.97750779e-01 9.80237372e-01 -5.41514428e-03 -2.54588765e+01] [-3.03116733e-02 -5.93225681e-04 9.99540320e-01 -7.17354515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.47264000000004 meters 0.023958160588295373 Centerline is valid? [True, True] Translation: X:165.90, Y:-25.46, Z:-7.17 [[ 9.79625101e-01 1.98500641e-01 3.05312622e-02 1.65903037e+02] [-1.98424302e-01 9.80100555e-01 -5.54058927e-03 -2.54647850e+01] [-3.10235176e-02 -6.30444087e-04 9.99518456e-01 -7.17194870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.50264 meters 0.03236909293120661 Centerline is valid? [True, True] Translation: X:165.93, Y:-25.46, Z:-7.18 [[ 9.79523131e-01 1.98851326e-01 3.15053464e-02 1.65931827e+02] [-1.98770232e-01 9.80029444e-01 -5.71696452e-03 -2.54581376e+01] [-3.20129931e-02 -6.62426017e-04 9.99487233e-01 -7.17792214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.53264000000001 meters 0.03450220993266369 Centerline is valid? [True, True] Translation: X:165.96, Y:-25.46, Z:-7.18 [[ 9.79245248e-01 2.00082928e-01 3.23352217e-02 1.65960487e+02] [-1.99998253e-01 9.79778699e-01 -5.86518057e-03 -2.54594887e+01] [-3.28548840e-02 -7.23537658e-04 9.99459871e-01 -7.17750940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56264000000002 meters 0.028632862821561873 Centerline is valid? [True, True] Translation: X:165.99, Y:-25.47, Z:-7.17 [[ 9.79094522e-01 2.00770421e-01 3.26367267e-02 1.65988258e+02] [-2.00684586e-01 9.79638029e-01 -5.91851106e-03 -2.54711124e+01] [-3.31604405e-02 -7.54906225e-04 9.99449756e-01 -7.17437445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.59264000000002 meters 0.030141641516282413 Centerline is valid? [True, True] Translation: X:166.02, Y:-25.47, Z:-7.18 [[ 9.78889886e-01 2.01766416e-01 3.26328698e-02 1.66015886e+02] [-2.01681198e-01 9.79433351e-01 -5.91648840e-03 -2.54720802e+01] [-3.31554697e-02 -7.89845627e-04 9.99449894e-01 -7.17576823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62264000000002 meters 0.030067451726366094 Centerline is valid? [True, True] Translation: X:166.04, Y:-25.48, Z:-7.18 [[ 9.78863058e-01 2.01892823e-01 3.26558139e-02 1.66043889e+02] [-2.01807642e-01 9.79407297e-01 -5.91802291e-03 -2.54763859e+01] [-3.31781488e-02 -7.97258817e-04 9.99449136e-01 -7.17725800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.65264000000002 meters 0.028029692707492962 Centerline is valid? [True, True] Translation: X:166.07, Y:-25.48, Z:-7.18 [[ 9.78840109e-01 2.02019449e-01 3.25604543e-02 1.66072362e+02] [-2.01934886e-01 9.79381183e-01 -5.89920010e-03 -2.54833299e+01] [-3.30808494e-02 -8.00717956e-04 9.99452358e-01 -7.17743654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68264000000002 meters 0.031955989754871544 Centerline is valid? [True, True] Translation: X:166.10, Y:-25.48, Z:-7.18 [[ 9.78925557e-01 2.01702722e-01 3.19494367e-02 1.66100151e+02] [-2.01621181e-01 9.79446481e-01 -5.78707355e-03 -2.54842671e+01] [-3.24600319e-02 -7.76568983e-04 9.99472733e-01 -7.18052194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71264000000002 meters 0.027230613453698736 Centerline is valid? [True, True] Translation: X:166.13, Y:-25.49, Z:-7.18 [[ 9.79039844e-01 2.01175133e-01 3.17733947e-02 1.66128592e+02] [-2.01094268e-01 9.79554998e-01 -5.75345122e-03 -2.54917308e+01] [-3.22812389e-02 -7.56589559e-04 9.99478539e-01 -7.18103983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74264000000002 meters 0.027457432675763564 Centerline is valid? [True, True] Translation: X:166.16, Y:-25.50, Z:-7.18 [[ 9.79112828e-01 2.00808248e-01 3.18452303e-02 1.66156305e+02] [-2.00726914e-01 9.79630281e-01 -5.76361542e-03 -2.54954468e+01] [-3.23539334e-02 -7.48965008e-04 9.99476194e-01 -7.18261285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.77264000000002 meters 0.02819168652702703 Centerline is valid? [True, True] Translation: X:166.19, Y:-25.50, Z:-7.18 [[ 9.79200024e-01 2.00445800e-01 3.14450922e-02 1.66185003e+02] [-2.00366383e-01 9.79704521e-01 -5.68894044e-03 -2.54998230e+01] [-3.19472232e-02 -7.29928780e-04 9.99489291e-01 -7.18422103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80264000000003 meters 0.026037939941211098 Centerline is valid? [True, True] Translation: X:166.21, Y:-25.50, Z:-7.19 [[ 9.79525247e-01 1.98956704e-01 3.07655667e-02 1.66213711e+02] [-1.98879996e-01 9.80008053e-01 -5.56450054e-03 -2.55035944e+01] [-3.12575978e-02 -6.68087017e-04 9.99511139e-01 -7.18639995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.83264000000003 meters 0.024844650781618995 Centerline is valid? [True, True] Translation: X:166.24, Y:-25.51, Z:-7.19 [[ 9.79757824e-01 1.97808351e-01 3.07646336e-02 1.66242306e+02] [-1.97731130e-01 9.80240509e-01 -5.56278846e-03 -2.55091401e+01] [-3.12571061e-02 -6.32940255e-04 9.99511177e-01 -7.18754804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86264000000003 meters 0.024836160842698796 Centerline is valid? [True, True] Translation: X:166.27, Y:-25.51, Z:-7.19 [[ 9.80114570e-01 1.96128542e-01 3.01500478e-02 1.66270413e+02] [-1.96053621e-01 9.80578029e-01 -5.45036304e-03 -2.55116119e+01] [-3.06334462e-02 -5.69045838e-04 9.99530524e-01 -7.19107290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.89264000000003 meters 0.028067767791206323 Centerline is valid? [True, True] Translation: X:166.30, Y:-25.51, Z:-7.20 [[ 9.80263777e-01 1.95382711e-01 3.01417328e-02 1.66298878e+02] [-1.95307539e-01 9.80726923e-01 -5.44689628e-03 -2.55103580e+01] [-3.06250382e-02 -5.47512522e-04 9.99530794e-01 -7.19632806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92264000000003 meters 0.03377291225290974 Centerline is valid? [True, True] Translation: X:166.33, Y:-25.52, Z:-7.19 [[ 9.80308634e-01 1.95114029e-01 3.04219925e-02 1.66326885e+02] [-1.95037387e-01 9.80780412e-01 -5.49548122e-03 -2.55161839e+01] [-3.09095398e-02 -5.46158238e-04 9.99522037e-01 -7.19466850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.95264000000003 meters 0.02272028713306329 Centerline is valid? [True, True] Translation: X:166.36, Y:-25.52, Z:-7.20 [[ 9.80591422e-01 1.93661453e-01 3.05892895e-02 1.66355817e+02] [-1.93583307e-01 9.81068289e-01 -5.52414530e-03 -2.55208382e+01] [-3.10799959e-02 -5.04646327e-04 9.99516773e-01 -7.19514037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98264000000003 meters 0.028049412609924086 Centerline is valid? [True, True] Translation: X:166.38, Y:-25.53, Z:-7.20 [[ 9.80787236e-01 1.92639029e-01 3.07669009e-02 1.66384269e+02] [-1.92559500e-01 9.81269575e-01 -5.55525699e-03 -2.55267058e+01] [-3.12607831e-02 -4.75933901e-04 9.99511149e-01 -7.19531973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.01264000000003 meters 0.019006278550853302 Centerline is valid? [True, True] Translation: X:166.41, Y:-25.53, Z:-7.19 [[ 9.81036516e-01 1.91248858e-01 3.14837846e-02 1.66412806e+02] [-1.91164915e-01 9.81541480e-01 -5.68311330e-03 -2.55324911e+01] [-3.19895295e-02 -4.43253318e-04 9.99488106e-01 -7.19498519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04264000000003 meters 0.017113347771503685 Centerline is valid? [True, True] Translation: X:166.44, Y:-25.54, Z:-7.19 [[ 9.81454243e-01 1.88881776e-01 3.27298422e-02 1.66440393e+02] [-1.88789793e-01 9.81999760e-01 -5.90641731e-03 -2.55352299e+01] [-3.32563118e-02 -3.82181792e-04 9.99446783e-01 -7.19383941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.07264000000004 meters 0.02503957828727481 Centerline is valid? [True, True] Translation: X:166.47, Y:-25.54, Z:-7.19 [[ 9.81690866e-01 1.87579473e-01 3.31207604e-02 1.66469197e+02] [-1.87484617e-01 9.82249369e-01 -5.97458706e-03 -2.55408030e+01] [-3.36535559e-02 -3.44435527e-04 9.99433499e-01 -7.19446752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10264000000004 meters 0.021279299503905374 Centerline is valid? [True, True] Translation: X:166.50, Y:-25.55, Z:-7.20 [[ 9.82514320e-01 1.83084955e-01 3.38454041e-02 1.66497121e+02] [-1.82983279e-01 9.83097076e-01 -6.10398865e-03 -2.55487567e+01] [-3.43908663e-02 -1.95886764e-04 9.99408440e-01 -7.19560674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.13264000000004 meters 0.011061923385555955 Centerline is valid? [True, True] Translation: X:166.53, Y:-25.56, Z:-7.20 [[ 9.83099771e-01 1.79880514e-01 3.40270708e-02 1.66525751e+02] [-1.79775872e-01 9.83688464e-01 -6.13535948e-03 -2.55569712e+01] [-3.45756686e-02 -8.55758307e-05 9.99402079e-01 -7.19592380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16264000000004 meters 0.017713099915943484 Centerline is valid? [True, True] Translation: X:166.55, Y:-25.56, Z:-7.20 [[ 9.83610655e-01 1.77054487e-01 3.40850056e-02 1.66554515e+02] [-1.76947825e-01 9.84201051e-01 -6.14480185e-03 -2.55649793e+01] [-3.46344631e-02 1.28249565e-05 9.99400047e-01 -7.19702509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.19264000000004 meters 0.02006937211399722 Centerline is valid? [True, True] Translation: X:166.58, Y:-25.57, Z:-7.20 [[ 9.84130733e-01 1.74037724e-01 3.46059427e-02 1.66584895e+02] [-1.73925938e-01 9.84738979e-01 -6.23792699e-03 -2.55735598e+01] [-3.51634553e-02 1.20064616e-04 9.99381567e-01 -7.19781181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.22264000000004 meters 0.017773435152796196 Centerline is valid? [True, True] Translation: X:166.61, Y:-25.59, Z:-7.20 [[ 9.85248955e-01 1.67468135e-01 3.51982959e-02 1.66613628e+02] [-1.67348260e-01 9.85877423e-01 -6.34561822e-03 -2.55866736e+01] [-3.57638941e-02 3.61640140e-04 9.99360202e-01 -7.19945004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.25264 meters 0.018615589162003048 Centerline is valid? [True, True] Translation: X:166.64, Y:-25.60, Z:-7.20 [[ 9.85791196e-01 1.64277191e-01 3.50531238e-02 1.66643318e+02] [-1.64156293e-01 9.86414101e-01 -6.31923307e-03 -2.55967262e+01] [-3.56150014e-02 4.75253464e-04 9.99365472e-01 -7.20130766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.28264000000001 meters 0.03354600871550456 Centerline is valid? [True, True] Translation: X:166.67, Y:-25.61, Z:-7.20 [[ 9.86730480e-01 1.58434978e-01 3.55150226e-02 1.66673101e+02] [-1.58306843e-01 9.87369163e-01 -6.40924298e-03 -2.56095931e+01] [-3.60818864e-02 7.01924295e-04 9.99348590e-01 -7.20085517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.31264000000002 meters 0.02554210062129727 Centerline is valid? [True, True] Translation: X:166.70, Y:-25.62, Z:-7.20 [[ 9.87167608e-01 1.55797005e-01 3.50343741e-02 1.66704241e+02] [-1.55670633e-01 9.87788779e-01 -6.32314795e-03 -2.56177953e+01] [-3.55916892e-02 7.88183644e-04 9.99366104e-01 -7.20267942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.34264000000002 meters 0.028224281944378784 Centerline is valid? [True, True] Translation: X:166.73, Y:-25.63, Z:-7.20 [[ 9.87693114e-01 1.52425193e-01 3.50552932e-02 1.66734017e+02] [-1.52296476e-01 9.88314590e-01 -6.32889777e-03 -2.56288200e+01] [-3.56103412e-02 9.12211125e-04 9.99365334e-01 -7.20420501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.37264000000002 meters 0.03041616603526341 Centerline is valid? [True, True] Translation: X:166.76, Y:-25.64, Z:-7.21 [[ 9.87803668e-01 1.51552228e-01 3.57188402e-02 1.66763968e+02] [-1.51418025e-01 9.88448784e-01 -6.44856271e-03 -2.56386308e+01] [-3.62835382e-02 9.61437669e-04 9.99341073e-01 -7.20546688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.40264000000002 meters 0.029845024194029218 Centerline is valid? [True, True] Translation: X:166.80, Y:-25.64, Z:-7.21 [[ 9.87860896e-01 1.51087236e-01 3.61039877e-02 1.66795439e+02] [-1.50949596e-01 9.88519933e-01 -6.52396461e-03 -2.56445763e+01] [-3.66751992e-02 9.94887177e-04 9.99326743e-01 -7.20547785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.43264000000002 meters 0.030904748764845422 Centerline is valid? [True, True] Translation: X:166.83, Y:-25.65, Z:-7.21 [[ 9.87838438e-01 1.51025905e-01 3.69647936e-02 1.66826775e+02] [-1.50881330e-01 9.88529271e-01 -6.68610640e-03 -2.56528257e+01] [-3.75505557e-02 1.02749570e-03 9.99294201e-01 -7.20593921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46264000000002 meters 0.03195291494838285 Centerline is valid? [True, True] Translation: X:166.86, Y:-25.66, Z:-7.21 [[ 9.87746474e-01 1.51361793e-01 3.80330240e-02 1.66855974e+02] [-1.51208697e-01 9.88477871e-01 -6.88679162e-03 -2.56639383e+01] [-3.86371998e-02 1.05148013e-03 9.99252751e-01 -7.20677154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.49264000000002 meters 0.03685486119854964 Centerline is valid? [True, True] Translation: X:166.89, Y:-25.67, Z:-7.21 [[ 9.87678477e-01 1.51743324e-01 3.82777923e-02 1.66887449e+02] [-1.51588300e-01 9.88419376e-01 -6.93718703e-03 -2.56697973e+01] [-3.88871834e-02 1.04924485e-03 9.99243057e-01 -7.20703658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52264000000002 meters 0.030409969482612882 Centerline is valid? [True, True] Translation: X:166.92, Y:-25.68, Z:-7.21 [[ 9.87648098e-01 1.52373158e-01 3.65192501e-02 1.66917278e+02] [-1.52232266e-01 9.88322546e-01 -6.62443451e-03 -2.56813609e+01] [-3.71021842e-02 9.83201949e-04 9.99310993e-01 -7.21321944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.55264000000003 meters 0.03429471512782891 Centerline is valid? [True, True] Translation: X:166.95, Y:-25.69, Z:-7.22 [[ 9.87604906e-01 1.52859217e-01 3.56456176e-02 1.66949372e+02] [-1.52725073e-01 9.88247520e-01 -6.47233207e-03 -2.56897821e+01] [-3.62160488e-02 9.48127351e-04 9.99343534e-01 -7.21563316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58264000000003 meters 0.028614245754201264 Centerline is valid? [True, True] Translation: X:166.98, Y:-25.70, Z:-7.22 [[ 9.87497911e-01 1.53657987e-01 3.51724264e-02 1.66981060e+02] [-1.53527636e-01 9.88123671e-01 -6.39347835e-03 -2.56968630e+01] [-3.57371161e-02 9.13607034e-04 9.99360808e-01 -7.21880259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.61264000000003 meters 0.02626951052305041 Centerline is valid? [True, True] Translation: X:167.01, Y:-25.70, Z:-7.22 [[ 9.87041023e-01 1.56752080e-01 3.43337296e-02 1.67010993e+02] [-1.56629491e-01 9.87637667e-01 -6.24824143e-03 -2.57042960e+01] [-3.48887095e-02 7.89596004e-04 9.99390892e-01 -7.22194061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64264000000003 meters 0.02617350379794618 Centerline is valid? [True, True] Translation: X:167.04, Y:-25.71, Z:-7.23 [[ 9.86656674e-01 1.59254308e-01 3.38625716e-02 1.67041550e+02] [-1.59136553e-01 9.87237351e-01 -6.16191541e-03 -2.57122669e+01] [-3.44117070e-02 6.90922030e-04 9.99407503e-01 -7.22546448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.67264000000003 meters 0.023677562608667723 Centerline is valid? [True, True] Translation: X:167.07, Y:-25.71, Z:-7.23 [[ 9.85760957e-01 1.64794154e-01 3.34398413e-02 1.67073230e+02] [-1.64682260e-01 9.86327855e-01 -6.09218234e-03 -2.57123089e+01] [-3.39866030e-02 4.98486829e-04 9.99422164e-01 -7.22541809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70264000000003 meters 0.024386071611209828 Centerline is valid? [True, True] Translation: X:167.10, Y:-25.72, Z:-7.23 [[ 9.85166209e-01 1.68360847e-01 3.31988828e-02 1.67104219e+02] [-1.68252607e-01 9.85725361e-01 -6.04757925e-03 -2.57180556e+01] [-3.37431562e-02 3.72072140e-04 9.99430468e-01 -7.22965449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.73264000000003 meters 0.014731490841913575 Centerline is valid? [True, True] Translation: X:167.14, Y:-25.72, Z:-7.23 [[ 9.84557510e-01 1.71876504e-01 3.32411929e-02 1.67136538e+02] [-1.71769788e-01 9.85118471e-01 -6.06126909e-03 -2.57195084e+01] [-3.37883028e-02 2.57835352e-04 9.99428979e-01 -7.23129226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76264000000003 meters 0.010909862953137762 Centerline is valid? [True, True] Translation: X:167.17, Y:-25.72, Z:-7.23 [[ 9.83365521e-01 1.78419726e-01 3.40389841e-02 1.67169353e+02] [-1.78311539e-01 9.83954470e-01 -6.21252115e-03 -2.57200858e+01] [-3.46012469e-02 3.96354579e-05 9.99401197e-01 -7.23017154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.79264000000003 meters 0.010961687423406493 Centerline is valid? [True, True] Translation: X:167.20, Y:-25.72, Z:-7.23 [[ 9.82843415e-01 1.81241871e-01 3.42082574e-02 1.67202556e+02] [-1.81134070e-01 9.83438550e-01 -6.25038692e-03 -2.57246941e+01] [-3.47745508e-02 -5.31292608e-05 9.99395181e-01 -7.23122031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82264000000004 meters 0.018809429803729155 Centerline is valid? [True, True] Translation: X:167.23, Y:-25.73, Z:-7.23 [[ 9.81951338e-01 1.85897992e-01 3.48354237e-02 1.67234299e+02] [-1.85789037e-01 9.82569025e-01 -6.36752622e-03 -2.57270662e+01] [-3.54119186e-02 -2.19438923e-04 9.99372777e-01 -7.23090234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.85264000000004 meters 0.013435359008337299 Centerline is valid? [True, True] Translation: X:167.27, Y:-25.73, Z:-7.23 [[ 9.81573911e-01 1.87757503e-01 3.54933566e-02 1.67265767e+02] [-1.87645392e-01 9.82215373e-01 -6.49372339e-03 -2.57319108e+01] [-3.60813657e-02 -2.86095351e-04 9.99348815e-01 -7.23299746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88264000000004 meters 0.014434350584991212 Centerline is valid? [True, True] Translation: X:167.30, Y:-25.74, Z:-7.23 [[ 9.81224593e-01 1.89422431e-01 3.62965789e-02 1.67297630e+02] [-1.89306081e-01 9.81895626e-01 -6.64730590e-03 -2.57375187e+01] [-3.68986009e-02 -3.48663073e-04 9.99318954e-01 -7.23307665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.91264000000004 meters 0.015422765198169071 Centerline is valid? [True, True] Translation: X:167.33, Y:-25.74, Z:-7.23 [[ 9.80933402e-01 1.90832705e-01 3.67768977e-02 1.67328880e+02] [-1.90713998e-01 9.81622493e-01 -6.74186533e-03 -2.57436767e+01] [-3.73875984e-02 -4.00548315e-04 9.99300759e-01 -7.23381523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.94264000000004 meters 0.017199404396182606 Centerline is valid? [True, True] Translation: X:167.36, Y:-25.75, Z:-7.24 [[ 9.80536381e-01 1.93064901e-01 3.56980265e-02 1.67359947e+02] [-1.92954316e-01 9.81185878e-01 -6.55015854e-03 -2.57498827e+01] [-3.62910052e-02 -4.65419520e-04 9.99341156e-01 -7.23749447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.97264000000004 meters 0.027473494519966554 Centerline is valid? [True, True] Translation: X:167.39, Y:-25.75, Z:-7.24 [[ 9.80323974e-01 1.94255477e-01 3.50672914e-02 1.67390997e+02] [-1.94149307e-01 9.80950848e-01 -6.44061173e-03 -2.57548648e+01] [-3.56504133e-02 -4.94404218e-04 9.99364200e-01 -7.23963697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.00264 meters 0.019677655233736727 Centerline is valid? [True, True] Translation: X:167.42, Y:-25.76, Z:-7.24 [[ 9.79917262e-01 1.96346822e-01 3.47862853e-02 1.67422588e+02] [-1.96243469e-01 9.80534350e-01 -6.39450158e-03 -2.57619578e+01] [-3.53646877e-02 -5.60498834e-04 9.99374317e-01 -7.24288946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.03264000000001 meters 0.020691338943975537 Centerline is valid? [True, True] Translation: X:167.45, Y:-25.77, Z:-7.25 [[ 9.79752613e-01 1.97267390e-01 3.42110295e-02 1.67453584e+02] [-1.97167776e-01 9.80349551e-01 -6.29485169e-03 -2.57674718e+01] [-3.47805364e-02 -5.77915221e-04 9.99394807e-01 -7.24532434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06264000000002 meters 0.022433649458393195 Centerline is valid? [True, True] Translation: X:167.48, Y:-25.77, Z:-7.25 [[ 9.79697740e-01 1.97616266e-01 3.37660968e-02 1.67483352e+02] [-1.97519197e-01 9.80279287e-01 -6.21987929e-03 -2.57712918e+01] [-3.43293546e-02 -5.75850627e-04 9.99410408e-01 -7.24839538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.09264000000002 meters 0.02157827881093132 Centerline is valid? [True, True] Translation: X:167.51, Y:-25.78, Z:-7.25 [[ 9.79663210e-01 1.97923565e-01 3.29584048e-02 1.67512475e+02] [-1.97831242e-01 9.80217290e-01 -6.07162860e-03 -2.57793844e+01] [-3.35081166e-02 -5.72050989e-04 9.99438282e-01 -7.24977395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12264000000002 meters 0.02120867117333896 Centerline is valid? [True, True] Translation: X:167.54, Y:-25.79, Z:-7.25 [[ 9.79680875e-01 1.97833005e-01 3.29770392e-02 1.67543160e+02] [-1.97740534e-01 9.80235573e-01 -6.07479920e-03 -2.57864843e+01] [-3.35270626e-02 -5.69532742e-04 9.99437648e-01 -7.25114533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.15264000000002 meters 0.021817955403483955 Centerline is valid? [True, True] Translation: X:167.57, Y:-25.79, Z:-7.25 [[ 9.79693304e-01 1.97690385e-01 3.34595486e-02 1.67572933e+02] [-1.97595089e-01 9.80264344e-01 -6.16414281e-03 -2.57921537e+01] [-3.40177942e-02 -5.72473054e-04 9.99421063e-01 -7.25245574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18264000000002 meters 0.020380181107332362 Centerline is valid? [True, True] Translation: X:167.60, Y:-25.80, Z:-7.25 [[ 9.79783617e-01 1.97081281e-01 3.43952447e-02 1.67603091e+02] [-1.96980109e-01 9.80386990e-01 -6.33923369e-03 -2.58001555e+01] [-3.49699947e-02 -5.64101740e-04 9.99388203e-01 -7.25125832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21264000000002 meters 0.03022798128337372 Centerline is valid? [True, True] Translation: X:167.63, Y:-25.81, Z:-7.25 [[ 9.79847977e-01 1.96737053e-01 3.45322279e-02 1.67633813e+02] [-1.96634873e-01 9.80456131e-01 -6.36413930e-03 -2.58053063e+01] [-3.51093965e-02 -5.54351217e-04 9.99383321e-01 -7.25215591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24264000000002 meters 0.031240215038490598 Centerline is valid? [True, True] Translation: X:167.66, Y:-25.81, Z:-7.25 [[ 9.79948332e-01 1.96220107e-01 3.46256691e-02 1.67664968e+02] [-1.96116855e-01 9.80559731e-01 -6.38689085e-03 -2.58147885e+01] [-3.52057732e-02 -5.31854297e-04 9.99379943e-01 -7.25223113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.27264000000002 meters 0.018806911983685504 Centerline is valid? [True, True] Translation: X:167.69, Y:-25.82, Z:-7.26 [[ 9.80273811e-01 1.94652746e-01 3.42573111e-02 1.67694327e+02] [-1.94550511e-01 9.80872108e-01 -6.32501289e-03 -2.58243747e+01] [-3.48332221e-02 -4.64532906e-04 9.99393031e-01 -7.25704341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30264000000003 meters 0.018806911983685504 Centerline is valid? [True, True] Translation: X:167.72, Y:-25.83, Z:-7.26 [[ 9.80269235e-01 1.94676005e-01 3.42560888e-02 1.67724615e+02] [-1.94573553e-01 9.80867495e-01 -6.33162613e-03 -2.58300153e+01] [-3.48332997e-02 -4.58630606e-04 9.99393031e-01 -7.25840335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.33264000000003 meters 0.017130524725620284 Centerline is valid? [True, True] Translation: X:167.76, Y:-25.84, Z:-7.26 [[ 9.80388998e-01 1.94091586e-01 3.41448324e-02 1.67755484e+02] [-1.93989465e-01 9.80983315e-01 -6.31048435e-03 -2.58385224e+01] [-3.47203228e-02 -4.37008350e-04 9.99396972e-01 -7.25940709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36264000000003 meters 0.016542012679663126 Centerline is valid? [True, True] Translation: X:167.79, Y:-25.85, Z:-7.26 [[ 9.80483232e-01 1.93614284e-01 3.41487974e-02 1.67787308e+02] [-1.93511641e-01 9.81077641e-01 -6.31724985e-03 -2.58450607e+01] [-3.47257314e-02 -4.14232250e-04 9.99396794e-01 -7.26079713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.39264000000003 meters 0.015985090551118644 Centerline is valid? [True, True] Translation: X:167.82, Y:-25.85, Z:-7.26 [[ 9.80476825e-01 1.93656206e-01 3.40949949e-02 1.67819377e+02] [-1.93553713e-01 9.81069369e-01 -6.31302273e-03 -2.58522222e+01] [-3.46721112e-02 -4.09440363e-04 9.99398658e-01 -7.26170338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42264000000003 meters 0.017316584887968705 Centerline is valid? [True, True] Translation: X:167.85, Y:-25.86, Z:-7.26 [[ 9.80439070e-01 1.93827717e-01 3.42059274e-02 1.67850734e+02] [-1.93724409e-01 9.81035498e-01 -6.34075221e-03 -2.58567829e+01] [-3.47862425e-02 -4.09801874e-04 9.99394691e-01 -7.26442775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.45264000000003 meters 0.0322793224622374 Centerline is valid? [True, True] Translation: X:167.88, Y:-25.86, Z:-7.26 [[ 9.80209023e-01 1.94908941e-01 3.46522158e-02 1.67883365e+02] [-1.94803358e-01 9.80821240e-01 -6.43017303e-03 -2.58645267e+01] [-3.52409275e-02 -4.47454368e-04 9.99378745e-01 -7.26239215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48264000000003 meters 0.017632721541441743 Centerline is valid? [True, True] Translation: X:167.91, Y:-25.87, Z:-7.26 [[ 9.80074398e-01 1.95499242e-01 3.51314902e-02 1.67914845e+02] [-1.95390815e-01 9.80703741e-01 -6.52699435e-03 -2.58700261e+01] [-3.57296063e-02 -4.67430427e-04 9.99361384e-01 -7.26468548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.51264000000003 meters 0.020043448141529405 Centerline is valid? [True, True] Translation: X:167.95, Y:-25.87, Z:-7.27 [[ 9.79898400e-01 1.96321144e-01 3.54560974e-02 1.67946361e+02] [-1.96211095e-01 9.80539525e-01 -6.59136150e-03 -2.58734149e+01] [-3.60601286e-02 -4.98015105e-04 9.99349498e-01 -7.26702018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54264000000003 meters 0.018327507484687797 Centerline is valid? [True, True] Translation: X:167.98, Y:-25.88, Z:-7.27 [[ 9.79816934e-01 1.96810595e-01 3.49909431e-02 1.67977262e+02] [-1.96703496e-01 9.80441399e-01 -6.51138531e-03 -2.58812915e+01] [-3.55880788e-02 -5.02875241e-04 9.99366417e-01 -7.26740067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.57264000000004 meters 0.01978579329371286 Centerline is valid? [True, True] Translation: X:168.01, Y:-25.88, Z:-7.27 [[ 9.79755431e-01 1.97208246e-01 3.44703129e-02 1.68008693e+02] [-1.97104352e-01 9.80361491e-01 -6.42034122e-03 -2.58846718e+01] [-3.50595115e-02 -5.03884498e-04 9.99385099e-01 -7.27093976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60264000000004 meters 0.018910466081789264 Centerline is valid? [True, True] Translation: X:168.04, Y:-25.89, Z:-7.27 [[ 9.79735977e-01 1.97388587e-01 3.39876530e-02 1.68039811e+02] [-1.97287472e-01 9.80325201e-01 -6.33676725e-03 -2.58915203e+01] [-3.45697583e-02 -4.96979283e-04 9.99402164e-01 -7.27197538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.63264000000004 meters 0.01878634139709776 Centerline is valid? [True, True] Translation: X:168.07, Y:-25.90, Z:-7.27 [[ 9.79798952e-01 1.97071422e-01 3.40127759e-02 1.68070537e+02] [-1.96969755e-01 9.80389017e-01 -6.34754131e-03 -2.58988957e+01] [-3.45966709e-02 -4.80173828e-04 9.99401241e-01 -7.27365466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66264000000004 meters 0.02673380086919776 Centerline is valid? [True, True] Translation: X:168.10, Y:-25.91, Z:-7.27 [[ 9.79894978e-01 1.96594371e-01 3.40071314e-02 1.68102120e+02] [-1.96492229e-01 9.80484801e-01 -6.35292165e-03 -2.59079640e+01] [-3.45924241e-02 -4.56941033e-04 9.99401399e-01 -7.27329437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.69264000000004 meters 0.017956264182046308 Centerline is valid? [True, True] Translation: X:168.13, Y:-25.91, Z:-7.28 [[ 9.80061258e-01 1.95648105e-01 3.46662530e-02 1.68132028e+02] [-1.95541323e-01 9.80674071e-01 -6.47743588e-03 -2.59149799e+01] [-3.52635935e-02 -4.30401032e-04 9.99377953e-01 -7.27629798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72264000000004 meters 0.02155139786687501 Centerline is valid? [True, True] Translation: X:168.16, Y:-25.92, Z:-7.28 [[ 9.80240733e-01 1.94747726e-01 3.46616380e-02 1.68162947e+02] [-1.94640213e-01 9.80853286e-01 -6.48215250e-03 -2.59242732e+01] [-3.52603660e-02 -3.92478671e-04 9.99378083e-01 -7.27525320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.75264 meters 0.015958922983523614 Centerline is valid? [True, True] Translation: X:168.19, Y:-25.93, Z:-7.28 [[ 9.80325056e-01 1.94209219e-01 3.52925391e-02 1.68193395e+02] [-1.94097161e-01 9.80960060e-01 -6.60699457e-03 -2.59312174e+01] [-3.59037106e-02 -3.73179317e-04 9.99355184e-01 -7.27676934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.78264000000001 meters 0.02196567190154086 Centerline is valid? [True, True] Translation: X:168.22, Y:-25.94, Z:-7.28 [[ 9.80579687e-01 1.92842571e-01 3.57102373e-02 1.68224963e+02] [-1.92726798e-01 9.81229656e-01 -6.68901840e-03 -2.59405959e+01] [-3.63298713e-02 -3.23204101e-04 9.99339800e-01 -7.27527377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.81264000000002 meters 0.013633151599403794 Centerline is valid? [True, True] Translation: X:168.26, Y:-25.95, Z:-7.28 [[ 9.80595937e-01 1.92810924e-01 3.54338346e-02 1.68257529e+02] [-1.92696877e-01 9.81235877e-01 -6.63832492e-03 -2.59482882e+01] [-3.60488913e-02 -3.18474817e-04 9.99349977e-01 -7.27763363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84264000000002 meters 0.013490364637347853 Centerline is valid? [True, True] Translation: X:168.29, Y:-25.96, Z:-7.28 [[ 9.80715648e-01 1.92278252e-01 3.50127368e-02 1.68287752e+02] [-1.92166303e-01 9.81340405e-01 -6.56668721e-03 -2.59576818e+01] [-3.56220444e-02 -2.88215285e-04 9.99365292e-01 -7.28040360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.87264000000002 meters 0.013207990277319531 Centerline is valid? [True, True] Translation: X:168.32, Y:-25.97, Z:-7.28 [[ 9.80709507e-01 1.92314497e-01 3.49856816e-02 1.68319736e+02] [-1.92202507e-01 9.81333304e-01 -6.56824592e-03 -2.59658073e+01] [-3.55957834e-02 -2.82794504e-04 9.99366229e-01 -7.28111299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.90264000000002 meters 0.01306913128226688 Centerline is valid? [True, True] Translation: X:168.35, Y:-25.97, Z:-7.28 [[ 9.80734820e-01 1.92051025e-01 3.57157613e-02 1.68350134e+02] [-1.91933833e-01 9.81384904e-01 -6.71366201e-03 -2.59722203e+01] [-3.63402747e-02 -2.70740876e-04 9.99339437e-01 -7.28131636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.93264000000002 meters 0.01280017644990915 Centerline is valid? [True, True] Translation: X:168.38, Y:-25.98, Z:-7.28 [[ 9.80747411e-01 1.91954071e-01 3.58908042e-02 1.68382037e+02] [-1.91835556e-01 9.81403874e-01 -6.74948237e-03 -2.59790906e+01] [-3.65189649e-02 -2.65595012e-04 9.99332925e-01 -7.28276523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96264000000002 meters 0.012640943462103068 Centerline is valid? [True, True] Translation: X:168.41, Y:-25.99, Z:-7.29 [[ 9.80840064e-01 1.91565041e-01 3.54344897e-02 1.68413024e+02] [-1.91449010e-01 9.81479891e-01 -6.67080120e-03 -2.59869851e+01] [-3.60561314e-02 -2.40908881e-04 9.99349737e-01 -7.28500704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.99264000000002 meters 0.012159421935286368 Centerline is valid? [True, True] Translation: X:168.44, Y:-26.00, Z:-7.29 [[ 9.80969921e-01 1.90966455e-01 3.50688811e-02 1.68444663e+02] [-1.90852196e-01 9.81596541e-01 -6.60834982e-03 -2.59964723e+01] [-3.56854655e-02 -2.10380578e-04 9.99363049e-01 -7.28667578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02264000000002 meters 0.011778367468336505 Centerline is valid? [True, True] Translation: X:168.48, Y:-26.01, Z:-7.29 [[ 9.81174600e-01 1.89996803e-01 3.46066484e-02 1.68475177e+02] [-1.89884689e-01 9.81784695e-01 -6.52821381e-03 -2.60055661e+01] [-3.52166175e-02 -1.65955093e-04 9.99379689e-01 -7.28929053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.05264000000003 meters 0.01231390067375452 Centerline is valid? [True, True] Translation: X:168.51, Y:-26.01, Z:-7.29 [[ 9.81094292e-01 1.90432166e-01 3.44902985e-02 1.68506702e+02] [-1.90320847e-01 9.81700341e-01 -6.51273116e-03 -2.60119423e+01] [-3.50993713e-02 -1.74619443e-04 9.99383812e-01 -7.29230300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08264000000003 meters 0.013402554046886625 Centerline is valid? [True, True] Translation: X:168.54, Y:-26.02, Z:-7.30 [[ 9.80907037e-01 1.91744577e-01 3.24869472e-02 1.68537615e+02] [-1.91646345e-01 9.81444841e-01 -6.14022265e-03 -2.60190446e+01] [-3.30615011e-02 -2.03017085e-04 9.99453299e-01 -7.29652174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.11264000000003 meters 0.014519112787407966 Centerline is valid? [True, True] Translation: X:168.57, Y:-26.02, Z:-7.30 [[ 9.80578445e-01 1.93485264e-01 3.20837363e-02 1.68569226e+02] [-1.93390213e-01 9.81103149e-01 -6.06934420e-03 -2.60240687e+01] [-3.26517834e-02 -2.53212506e-04 9.99466756e-01 -7.29842692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14264000000003 meters 0.015046552574414144 Centerline is valid? [True, True] Translation: X:168.60, Y:-26.03, Z:-7.30 [[ 9.80218323e-01 1.95368168e-01 3.16752045e-02 1.68600628e+02] [-1.95276333e-01 9.80729925e-01 -5.99739891e-03 -2.60288582e+01] [-3.22365218e-02 -3.06657478e-04 9.99480221e-01 -7.29872355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.17264000000003 meters 0.023245060561157695 Centerline is valid? [True, True] Translation: X:168.63, Y:-26.03, Z:-7.30 [[ 9.79383058e-01 1.99483828e-01 3.18594986e-02 1.68632276e+02] [-1.99392923e-01 9.79901020e-01 -6.03762411e-03 -2.60286287e+01] [-3.24235636e-02 -4.39411814e-04 9.99474121e-01 -7.29953693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20264000000003 meters 0.01930040387208096 Centerline is valid? [True, True] Translation: X:168.66, Y:-26.03, Z:-7.30 [[ 9.78977502e-01 2.01433054e-01 3.20589263e-02 1.68664106e+02] [-2.01341883e-01 9.79502156e-01 -6.08057124e-03 -2.60328949e+01] [-3.26266155e-02 -5.02062148e-04 9.99467484e-01 -7.30067532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.23264000000003 meters 0.022316313242367092 Centerline is valid? [True, True] Translation: X:168.70, Y:-26.03, Z:-7.30 [[ 9.78605502e-01 2.03138474e-01 3.26501522e-02 1.68695062e+02] [-2.03044645e-01 9.79149857e-01 -6.19910415e-03 -2.60341782e+01] [-3.32286684e-02 -5.62961112e-04 9.99447617e-01 -7.30268589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26264000000003 meters 0.023769912118041883 Centerline is valid? [True, True] Translation: X:168.73, Y:-26.04, Z:-7.30 [[ 9.78159432e-01 2.05180775e-01 3.32411511e-02 1.68727413e+02] [-2.05084545e-01 9.78723884e-01 -6.31575253e-03 -2.60376676e+01] [-3.38297795e-02 -6.39433441e-04 9.99427405e-01 -7.30252698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.29264000000003 meters 0.0225617403924084 Centerline is valid? [True, True] Translation: X:168.76, Y:-26.05, Z:-7.30 [[ 9.78129988e-01 2.05445115e-01 3.24658587e-02 1.68758483e+02] [-2.05353293e-01 9.78668437e-01 -6.17374983e-03 -2.60455904e+01] [-3.30416779e-02 -6.28241148e-04 9.99453777e-01 -7.30378607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32264000000004 meters 0.02190552515436061 Centerline is valid? [True, True] Translation: X:168.79, Y:-26.05, Z:-7.31 [[ 9.78374916e-01 2.04403544e-01 3.16498916e-02 1.68788286e+02] [-2.04315531e-01 9.78886543e-01 -6.02491338e-03 -2.60536852e+01] [-3.22131666e-02 -5.71940293e-04 9.99480858e-01 -7.30681479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.35264000000004 meters 0.02042844931008007 Centerline is valid? [True, True] Translation: X:168.82, Y:-26.06, Z:-7.31 [[ 9.78539827e-01 2.03646760e-01 3.14293412e-02 1.68819355e+02] [-2.03559509e-01 9.79044281e-01 -5.98513266e-03 -2.60622238e+01] [-3.19895697e-02 -5.41050597e-04 9.99488056e-01 -7.30806004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38264000000004 meters 0.02014922319589544 Centerline is valid? [True, True] Translation: X:168.85, Y:-26.07, Z:-7.31 [[ 9.78736544e-01 2.02704364e-01 3.13961595e-02 1.68849759e+02] [-2.02616627e-01 9.79239851e-01 -5.98462743e-03 -2.60683138e+01] [-3.19574806e-02 -5.04010370e-04 9.99489102e-01 -7.30986351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.41264000000004 meters 0.019925358170018847 Centerline is valid? [True, True] Translation: X:168.88, Y:-26.07, Z:-7.31 [[ 9.78923233e-01 2.01725470e-01 3.18769304e-02 1.68880720e+02] [-2.01634329e-01 9.79441989e-01 -6.08171279e-03 -2.60738478e+01] [-3.24484405e-02 -4.73953548e-04 9.99473298e-01 -7.31180473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.44264000000004 meters 0.016401025421584118 Centerline is valid? [True, True] Translation: X:168.91, Y:-26.09, Z:-7.31 [[ 9.79433047e-01 1.99021553e-01 3.31862646e-02 1.68911647e+02] [-1.98921028e-01 9.79995034e-01 -6.33710056e-03 -2.60856673e+01] [-3.37835941e-02 -3.94680166e-04 9.99429094e-01 -7.31034016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.47264000000004 meters 0.015088670554076016 Centerline is valid? [True, True] Translation: X:168.94, Y:-26.10, Z:-7.31 [[ 9.79772879e-01 1.97384015e-01 3.29341075e-02 1.68943034e+02] [-1.97283854e-01 9.80326192e-01 -6.29589652e-03 -2.60950654e+01] [-3.35288775e-02 -3.28818994e-04 9.99437695e-01 -7.31178225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.50264 meters 0.013302680944719968 Centerline is valid? [True, True] Translation: X:168.97, Y:-26.11, Z:-7.31 [[ 9.80383823e-01 1.94210566e-01 3.36127178e-02 1.68973330e+02] [-1.94104331e-01 9.80959839e-01 -6.42671226e-03 -2.61050109e+01] [-3.42208616e-02 -2.23729371e-04 9.99414270e-01 -7.31334778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.53264000000001 meters 0.011684555094297612 Centerline is valid? [True, True] Translation: X:169.00, Y:-26.11, Z:-7.31 [[ 9.80691037e-01 1.92649054e-01 3.36367610e-02 1.69003914e+02] [-1.92541546e-01 9.81267708e-01 -6.43720694e-03 -2.61142167e+01] [-3.42467892e-02 -1.63562816e-04 9.99413393e-01 -7.31317467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.56264000000002 meters 0.011180451677937868 Centerline is valid? [True, True] Translation: X:169.03, Y:-26.12, Z:-7.32 [[ 9.81129790e-01 1.90525667e-01 3.29288035e-02 1.69034307e+02] [-1.90421254e-01 9.81682211e-01 -6.30732792e-03 -2.61244123e+01] [-3.35273285e-02 -8.20367462e-05 9.99437798e-01 -7.31536303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.59264000000002 meters 0.01119579944463828 Centerline is valid? [True, True] Translation: X:169.07, Y:-26.13, Z:-7.32 [[ 9.81253518e-01 1.89933677e-01 3.26608689e-02 1.69065850e+02] [-1.89830422e-01 9.81796922e-01 -6.26222343e-03 -2.61316567e+01] [-3.32557477e-02 -5.51977656e-05 9.99446873e-01 -7.31738125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.62264000000002 meters 0.018273532830953274 Centerline is valid? [True, True] Translation: X:169.10, Y:-26.14, Z:-7.32 [[ 9.81316106e-01 1.89648047e-01 3.24394645e-02 1.69097611e+02] [-1.89545835e-01 9.81852136e-01 -6.22574041e-03 -2.61388447e+01] [-3.30314571e-02 -3.93460442e-05 9.99454312e-01 -7.31853167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.65264000000002 meters 0.011516709645512341 Centerline is valid? [True, True] Translation: X:169.13, Y:-26.15, Z:-7.32 [[ 9.81570902e-01 1.88461546e-01 3.16355890e-02 1.69127222e+02] [-1.88363505e-01 9.82080570e-01 -6.07817845e-03 -2.61499177e+01] [-3.22142002e-02 7.17267636e-06 9.99480988e-01 -7.32271670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68264000000002 meters 0.011408139249602874 Centerline is valid? [True, True] Translation: X:169.16, Y:-26.16, Z:-7.32 [[ 9.81679163e-01 1.87888225e-01 3.16865331e-02 1.69158997e+02] [-1.87789414e-01 9.82190416e-01 -6.09278111e-03 -2.61588314e+01] [-3.22669710e-02 3.07607705e-05 9.99479285e-01 -7.32274553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71264000000002 meters 0.01151116382673151 Centerline is valid? [True, True] Translation: X:169.19, Y:-26.17, Z:-7.32 [[ 9.81765629e-01 1.87398745e-01 3.19054952e-02 1.69191052e+02] [-1.87298089e-01 9.82283924e-01 -6.14153436e-03 -2.61673642e+01] [-3.24911709e-02 5.37090584e-05 9.99472021e-01 -7.32408819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74264000000002 meters 0.01232309504672279 Centerline is valid? [True, True] Translation: X:169.22, Y:-26.18, Z:-7.32 [[ 9.82085837e-01 1.85487631e-01 3.31925829e-02 1.69219933e+02] [-1.85377340e-01 9.82646591e-01 -6.39686147e-03 -2.61808886e+01] [-3.38031171e-02 1.29114321e-04 9.99428503e-01 -7.32462032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77264000000002 meters 0.012372226200820553 Centerline is valid? [True, True] Translation: X:169.25, Y:-26.19, Z:-7.32 [[ 9.82263055e-01 1.84399066e-01 3.40040349e-02 1.69251805e+02] [-1.84282473e-01 9.82851440e-01 -6.55871924e-03 -2.61918616e+01] [-3.46303364e-02 1.76039964e-04 9.99400175e-01 -7.32310842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80264000000003 meters 0.017936570784690613 Centerline is valid? [True, True] Translation: X:169.28, Y:-26.21, Z:-7.32 [[ 9.82442793e-01 1.83365076e-01 3.44006821e-02 1.69282222e+02] [-1.83244860e-01 9.83044861e-01 -6.64243017e-03 -2.62052084e+01] [-3.50354035e-02 2.22059487e-04 9.99386047e-01 -7.32441527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.83264000000003 meters 0.012711165244265714 Centerline is valid? [True, True] Translation: X:169.31, Y:-26.21, Z:-7.33 [[ 9.82369947e-01 1.83904164e-01 3.35938438e-02 1.69314396e+02] [-1.83789631e-01 9.82944158e-01 -6.49264292e-03 -2.62120562e+01] [-3.42148966e-02 2.03977101e-04 9.99414478e-01 -7.32539654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86264000000003 meters 0.012714421053297007 Centerline is valid? [True, True] Translation: X:169.34, Y:-26.22, Z:-7.33 [[ 9.82138869e-01 1.85113940e-01 3.37056418e-02 1.69344399e+02] [-1.84999082e-01 9.82717050e-01 -6.52222899e-03 -2.62201040e+01] [-3.43304644e-02 1.70221806e-04 9.99410521e-01 -7.32847900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.89264000000003 meters 0.01195566722919061 Centerline is valid? [True, True] Translation: X:169.38, Y:-26.23, Z:-7.33 [[ 9.81860578e-01 1.86646842e-01 3.33580794e-02 1.69376648e+02] [-1.86535145e-01 9.82427067e-01 -6.45734040e-03 -2.62280776e+01] [-3.39771223e-02 1.17753810e-04 9.99422604e-01 -7.32963875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92264000000003 meters 0.013806381555357686 Centerline is valid? [True, True] Translation: X:169.41, Y:-26.23, Z:-7.33 [[ 9.80883995e-01 1.91605447e-01 3.39697134e-02 1.69408805e+02] [-1.91492339e-01 9.81472032e-01 -6.58285194e-03 -2.62329416e+01] [-3.46016339e-02 -4.79257641e-05 9.99401183e-01 -7.32928135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.95264000000003 meters 0.011583450457393542 Centerline is valid? [True, True] Translation: X:169.44, Y:-26.24, Z:-7.33 [[ 9.80185977e-01 1.95202770e-01 3.36352276e-02 1.69441151e+02] [-1.95093801e-01 9.80762892e-01 -6.52366962e-03 -2.62366181e+01] [-3.42616214e-02 -1.67614903e-04 9.99412884e-01 -7.32959646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98264000000003 meters 0.0188611919213519 Centerline is valid? [True, True] Translation: X:169.47, Y:-26.23, Z:-7.33 [[ 9.78546261e-01 2.03367803e-01 3.29962277e-02 1.69473125e+02] [-2.03267340e-01 9.79102316e-01 -6.40652847e-03 -2.62319062e+01] [-3.36095646e-02 -4.37970962e-04 9.99434943e-01 -7.33448761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.01264000000003 meters 0.022176368776350312 Centerline is valid? [True, True] Translation: X:169.51, Y:-26.23, Z:-7.34 [[ 9.77628652e-01 2.07765570e-01 3.27976706e-02 1.69505317e+02] [-2.07668671e-01 9.78178475e-01 -6.37134324e-03 -2.62342965e+01] [-3.34057212e-02 -5.82240967e-04 9.99441704e-01 -7.33520534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04264000000003 meters 0.02727477552381394 Centerline is valid? [True, True] Translation: X:169.54, Y:-26.23, Z:-7.34 [[ 9.76687598e-01 2.12201571e-01 3.24319138e-02 1.69535822e+02] [-2.12109215e-01 9.77225649e-01 -6.30174681e-03 -2.62333422e+01] [-3.30305386e-02 -7.24269835e-04 9.99454080e-01 -7.33725164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.07264000000004 meters 0.03425832169911049 Centerline is valid? [True, True] Translation: X:169.57, Y:-26.23, Z:-7.34 [[ 9.74760979e-01 2.20887997e-01 3.23964020e-02 1.69568033e+02] [-2.20800552e-01 9.75298653e-01 -6.29710663e-03 -2.62284835e+01] [-3.29871225e-02 -1.01496961e-03 9.99455261e-01 -7.33742892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10264000000004 meters 0.03993407940381635 Centerline is valid? [True, True] Translation: X:169.60, Y:-26.23, Z:-7.34 [[ 9.73855294e-01 2.24797293e-01 3.27420852e-02 1.69598961e+02] [-2.24710134e-01 9.74404862e-01 -6.36556115e-03 -2.62265241e+01] [-3.33350079e-02 -1.15834291e-03 9.99443563e-01 -7.33900534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.13264000000004 meters 0.042723030721212564 Centerline is valid? [True, True] Translation: X:169.63, Y:-26.23, Z:-7.34 [[ 9.72432609e-01 2.30821849e-01 3.31073301e-02 1.69629987e+02] [-2.30736215e-01 9.72995051e-01 -6.43655035e-03 -2.62276230e+01] [-3.36989648e-02 -1.37994860e-03 9.99431076e-01 -7.33834143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16264000000004 meters 0.052902499248229005 Centerline is valid? [True, True] Translation: X:169.66, Y:-26.22, Z:-7.34 [[ 9.71910227e-01 2.32967013e-01 3.34197662e-02 1.69661596e+02] [-2.32881013e-01 9.72483530e-01 -6.49750099e-03 -2.62192770e+01] [-3.40138756e-02 -1.46784134e-03 9.99420283e-01 -7.34210579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.19264000000004 meters 0.052902499248229005 Centerline is valid? [True, True] Translation: X:169.69, Y:-26.22, Z:-7.34 [[ 9.71920561e-01 2.32923897e-01 3.34197819e-02 1.69689424e+02] [-2.32837874e-01 9.72493860e-01 -6.49742013e-03 -2.62245963e+01] [-3.40139371e-02 -1.46641477e-03 9.99420283e-01 -7.34335616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.22264000000004 meters 0.051978023802711056 Centerline is valid? [True, True] Translation: X:169.72, Y:-26.23, Z:-7.34 [[ 9.71589912e-01 2.34285689e-01 3.35150529e-02 1.69718075e+02] [-2.34200040e-01 9.72166604e-01 -6.51428764e-03 -2.62295552e+01] [-3.41084195e-02 -1.52001057e-03 9.99416983e-01 -7.34411186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.25264 meters 0.04849494288669595 Centerline is valid? [True, True] Translation: X:169.75, Y:-26.24, Z:-7.34 [[ 9.71316244e-01 2.35403357e-01 3.36156682e-02 1.69747452e+02] [-2.35317914e-01 9.71896501e-01 -6.53228060e-03 -2.62361700e+01] [-3.42086711e-02 -1.56545864e-03 9.99413486e-01 -7.34386503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.28264000000001 meters 0.04953300821067691 Centerline is valid? [True, True] Translation: X:169.78, Y:-26.24, Z:-7.35 [[ 9.71323388e-01 2.35358253e-01 3.37248988e-02 1.69776667e+02] [-2.35272213e-01 9.71907420e-01 -6.55390990e-03 -2.62384798e+01] [-3.43199962e-02 -1.56856560e-03 9.99409664e-01 -7.34526077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.31264000000002 meters 0.04937321714700285 Centerline is valid? [True, True] Translation: X:169.81, Y:-26.24, Z:-7.35 [[ 9.71625660e-01 2.34243448e-01 3.27655800e-02 1.69805980e+02] [-2.34161632e-01 9.72176834e-01 -6.36655933e-03 -2.62396215e+01] [-3.33452627e-02 -1.48652927e-03 9.99442787e-01 -7.34839790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34264000000002 meters 0.049917648779897204 Centerline is valid? [True, True] Translation: X:169.83, Y:-26.24, Z:-7.35 [[ 9.71927866e-01 2.33107018e-01 3.18957868e-02 1.69834405e+02] [-2.33028897e-01 9.72450066e-01 -6.19693258e-03 -2.62419405e+01] [-3.24616084e-02 -1.40966855e-03 9.99471989e-01 -7.35170673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.37264000000002 meters 0.04485045542303017 Centerline is valid? [True, True] Translation: X:169.86, Y:-26.25, Z:-7.35 [[ 9.72354114e-01 2.31374135e-01 3.15196138e-02 1.69862934e+02] [-2.31296978e-01 9.72863928e-01 -6.12259310e-03 -2.62520028e+01] [-3.20809050e-02 -1.33706284e-03 9.99484381e-01 -7.35263077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.40264000000002 meters 0.040829319966031265 Centerline is valid? [True, True] Translation: X:169.89, Y:-26.26, Z:-7.35 [[ 9.73637424e-01 2.25889775e-01 3.16855917e-02 1.69891711e+02] [-2.25808930e-01 9.74152173e-01 -6.15390695e-03 -2.62590752e+01] [-3.22566927e-02 -1.16321546e-03 9.99478941e-01 -7.35432123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.43264000000002 meters 0.03481783164038662 Centerline is valid? [True, True] Translation: X:169.92, Y:-26.27, Z:-7.35 [[ 9.74543890e-01 2.21949325e-01 3.16655103e-02 1.69920659e+02] [-2.21866526e-01 9.75057655e-01 -6.14930089e-03 -2.62706513e+01] [-3.22405314e-02 -1.03275317e-03 9.99479605e-01 -7.35424625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46264000000002 meters 0.030448841750940262 Centerline is valid? [True, True] Translation: X:169.95, Y:-26.28, Z:-7.36 [[ 9.75542840e-01 2.17444338e-01 3.21578367e-02 1.69950582e+02] [-2.17356483e-01 9.76072310e-01 -6.24532058e-03 -2.62805402e+01] [-3.27463835e-02 -8.97136510e-04 9.99463291e-01 -7.35507809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49264000000002 meters 0.023073713032649004 Centerline is valid? [True, True] Translation: X:169.98, Y:-26.29, Z:-7.36 [[ 9.77688250e-01 2.07468446e-01 3.29018243e-02 1.69978340e+02] [-2.07370804e-01 9.78241541e-01 -6.39032799e-03 -2.62944974e+01] [-3.35117227e-02 -5.75129181e-04 9.99438159e-01 -7.35707019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52264000000002 meters 0.020212612707732298 Centerline is valid? [True, True] Translation: X:170.01, Y:-26.31, Z:-7.36 [[ 9.78780817e-01 2.02271403e-01 3.27779180e-02 1.70007071e+02] [-2.02171583e-01 9.79329425e-01 -6.36614952e-03 -2.63097347e+01] [-3.33880696e-02 -3.95698549e-04 9.99442385e-01 -7.35617666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.55264000000003 meters 0.011863480418214225 Centerline is valid? [True, True] Translation: X:170.03, Y:-26.33, Z:-7.36 [[ 9.80761950e-01 1.92547548e-01 3.21160137e-02 1.70034674e+02] [-1.92446528e-01 9.81287643e-01 -6.23669332e-03 -2.63291554e+01] [-3.27159073e-02 -6.39038073e-05 9.99464689e-01 -7.36122929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58264000000003 meters 0.011936128900120642 Centerline is valid? [True, True] Translation: X:170.07, Y:-26.34, Z:-7.36 [[ 9.81563307e-01 1.88422642e-01 3.20995666e-02 1.70065172e+02] [-1.88319340e-01 9.82088032e-01 -6.23894237e-03 -2.63430524e+01] [-3.27001582e-02 7.89476985e-05 9.99465204e-01 -7.36188557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.61264000000003 meters 0.022612367746843182 Centerline is valid? [True, True] Translation: X:170.10, Y:-26.36, Z:-7.36 [[ 9.82215007e-01 1.84929094e-01 3.24793698e-02 1.70096005e+02] [-1.84821192e-01 9.82751845e-01 -6.31968689e-03 -2.63557075e+01] [-3.30878546e-02 2.04415442e-04 9.99452426e-01 -7.36130962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64264000000003 meters 0.017410353967976213 Centerline is valid? [True, True] Translation: X:170.12, Y:-26.37, Z:-7.36 [[ 9.83090053e-01 1.80220154e-01 3.24752645e-02 1.70124429e+02] [-1.80109510e-01 9.83626230e-01 -6.32490065e-03 -2.63716195e+01] [-3.30833966e-02 3.68842933e-04 9.99452527e-01 -7.36389156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.67264000000003 meters 0.024883488724117334 Centerline is valid? [True, True] Translation: X:170.16, Y:-26.38, Z:-7.36 [[ 9.83260480e-01 1.79315467e-01 3.23232420e-02 1.70156326e+02] [-1.79205198e-01 9.83791544e-01 -6.30046056e-03 -2.63783976e+01] [-3.29291021e-02 4.02500897e-04 9.99457609e-01 -7.36276153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70264000000003 meters 0.0345033180792821 Centerline is valid? [True, True] Translation: X:170.19, Y:-26.39, Z:-7.37 [[ 9.83331869e-01 1.78949382e-01 3.21800390e-02 1.70185557e+02] [-1.78839693e-01 9.83858193e-01 -6.27860358e-03 -2.63896282e+01] [-3.27841472e-02 4.18882689e-04 9.99462368e-01 -7.36736938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.73264000000003 meters 0.01929361072148291 Centerline is valid? [True, True] Translation: X:170.22, Y:-26.40, Z:-7.37 [[ 9.83288376e-01 1.79311449e-01 3.14860947e-02 1.70217133e+02] [-1.79206469e-01 9.83792276e-01 -6.14813538e-03 -2.63975114e+01] [-3.20782079e-02 4.02878201e-04 9.99485281e-01 -7.36994120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76264000000003 meters 0.01738136619775311 Centerline is valid? [True, True] Translation: X:170.25, Y:-26.40, Z:-7.37 [[ 9.83138096e-01 1.80190352e-01 3.11596078e-02 1.70249768e+02] [-1.80087793e-01 9.83631687e-01 -6.09027141e-03 -2.64028912e+01] [-3.17469857e-02 3.76112859e-04 9.99495867e-01 -7.36969186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.79264000000003 meters 0.01690810262627894 Centerline is valid? [True, True] Translation: X:170.28, Y:-26.41, Z:-7.37 [[ 9.82651115e-01 1.82960381e-01 3.03691331e-02 1.70279738e+02] [-1.82864080e-01 9.83120246e-01 -5.94232956e-03 -2.64105072e+01] [-3.09437205e-02 2.85813207e-04 9.99521088e-01 -7.37411732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82264000000004 meters 0.015757487943689186 Centerline is valid? [True, True] Translation: X:170.31, Y:-26.42, Z:-7.38 [[ 9.82320763e-01 1.84729003e-01 3.03498552e-02 1.70310767e+02] [-1.84633511e-01 9.82789469e-01 -5.94359442e-03 -2.64167354e+01] [-3.09254723e-02 2.34915881e-04 9.99521666e-01 -7.37607379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.85264000000004 meters 0.013593995610170542 Centerline is valid? [True, True] Translation: X:170.34, Y:-26.42, Z:-7.38 [[ 9.81936199e-01 1.86775460e-01 3.02692559e-02 1.70342372e+02] [-1.86681293e-01 9.82402615e-01 -5.93277690e-03 -2.64218444e+01] [-3.08446933e-02 1.74904571e-04 9.99524174e-01 -7.37517477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88264000000004 meters 0.01210299573976193 Centerline is valid? [True, True] Translation: X:170.37, Y:-26.43, Z:-7.38 [[ 9.81184757e-01 1.90644052e-01 3.05175064e-02 1.70374072e+02] [-1.90550030e-01 9.81659229e-01 -5.98700166e-03 -2.64272217e+01] [-3.10991780e-02 5.92430243e-05 9.99516302e-01 -7.37617799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.91264000000004 meters 0.011885968091062914 Centerline is valid? [True, True] Translation: X:170.41, Y:-26.43, Z:-7.38 [[ 9.80784914e-01 1.92698567e-01 3.04666295e-02 1.70406569e+02] [-1.92605689e-01 9.81258000e-01 -5.98216432e-03 -2.64336625e+01] [-3.10483784e-02 -8.29661136e-07 9.99517883e-01 -7.37787003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94264000000004 meters 0.01196186266541389 Centerline is valid? [True, True] Translation: X:170.44, Y:-26.44, Z:-7.38 [[ 9.80124339e-01 1.95945637e-01 3.10094732e-02 1.70438814e+02] [-1.95850837e-01 9.80614755e-01 -6.09523897e-03 -2.64395002e+01] [-3.16026824e-02 -9.91392266e-05 9.99500506e-01 -7.37842214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.97264000000004 meters 0.012787558713149913 Centerline is valid? [True, True] Translation: X:170.47, Y:-26.45, Z:-7.38 [[ 9.79804094e-01 1.97485864e-01 3.13571386e-02 1.70470309e+02] [-1.97389501e-01 9.80305724e-01 -6.17024806e-03 -2.64451761e+01] [-3.19581192e-02 -1.43935634e-04 9.99489198e-01 -7.38095049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.00264 meters 0.013635698948304164 Centerline is valid? [True, True] Translation: X:170.50, Y:-26.45, Z:-7.38 [[ 9.79324767e-01 1.99967550e-01 3.05937874e-02 1.70501024e+02] [-1.99876848e-01 9.79802497e-01 -6.02595326e-03 -2.64526255e+01] [-3.11808644e-02 -2.13624523e-04 9.99513736e-01 -7.38270433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.03264000000001 meters 0.014842777092927712 Centerline is valid? [True, True] Translation: X:170.53, Y:-26.46, Z:-7.39 [[ 9.79058008e-01 2.01278122e-01 3.05374365e-02 1.70531579e+02] [-2.01188235e-01 9.79534101e-01 -6.01987572e-03 -2.64585788e+01] [-3.11241297e-02 -2.49965426e-04 9.99515496e-01 -7.38546150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.06264000000002 meters 0.015548120071768434 Centerline is valid? [True, True] Translation: X:170.56, Y:-26.47, Z:-7.39 [[ 9.78772430e-01 2.02672454e-01 3.04697714e-02 1.70563175e+02] [-2.02583489e-01 9.79246543e-01 -6.01141543e-03 -2.64650394e+01] [-3.10557667e-02 -2.88864927e-04 9.99517612e-01 -7.38695148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.09264000000002 meters 0.027033694511514904 Centerline is valid? [True, True] Translation: X:170.60, Y:-26.47, Z:-7.39 [[ 9.78473531e-01 2.04096622e-01 3.05633505e-02 1.70595171e+02] [-2.04007639e-01 9.78950693e-01 -6.03517057e-03 -2.64713690e+01] [-3.11517711e-02 -3.29902321e-04 9.99514611e-01 -7.38815334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12264000000002 meters 0.01856355263249109 Centerline is valid? [True, True] Translation: X:170.63, Y:-26.48, Z:-7.39 [[ 9.77985185e-01 2.06499214e-01 3.00508327e-02 1.70625868e+02] [-2.06414133e-01 9.78446687e-01 -5.94017533e-03 -2.64773231e+01] [-3.06297792e-02 -3.93513113e-04 9.99530721e-01 -7.39087343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.15264000000002 meters 0.019659769495208066 Centerline is valid? [True, True] Translation: X:170.66, Y:-26.48, Z:-7.39 [[ 9.77688489e-01 2.07850722e-01 3.03857961e-02 1.70657666e+02] [-2.07764331e-01 9.78160460e-01 -6.00815880e-03 -2.64835164e+01] [-3.09709844e-02 -4.38976905e-04 9.99520188e-01 -7.39191994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18264000000002 meters 0.021425906795122393 Centerline is valid? [True, True] Translation: X:170.69, Y:-26.49, Z:-7.39 [[ 9.77078831e-01 2.10528375e-01 3.15398488e-02 1.70689571e+02] [-2.10436507e-01 9.77587599e-01 -6.24202542e-03 -2.64894807e+01] [-3.21470886e-02 -5.38184725e-04 9.99483004e-01 -7.39080707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21264000000002 meters 0.02267069047814306 Centerline is valid? [True, True] Translation: X:170.72, Y:-26.49, Z:-7.39 [[ 9.76761118e-01 2.11904466e-01 3.21592172e-02 1.70721295e+02] [-2.11809512e-01 9.77290208e-01 -6.37031561e-03 -2.64946913e+01] [-3.27787864e-02 -5.89351493e-04 9.99462457e-01 -7.39131517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24264000000002 meters 0.023213100611850983 Centerline is valid? [True, True] Translation: X:170.75, Y:-26.50, Z:-7.39 [[ 9.76543049e-01 2.12859410e-01 3.24737630e-02 1.70752599e+02] [-2.12762929e-01 9.77082640e-01 -6.43826446e-03 -2.65003645e+01] [-3.30999953e-02 -6.21970530e-04 9.99451851e-01 -7.39203463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27264000000002 meters 0.02444470736082486 Centerline is valid? [True, True] Translation: X:170.78, Y:-26.51, Z:-7.39 [[ 9.76262930e-01 2.14188721e-01 3.21540737e-02 1.70784568e+02] [-2.14094671e-01 9.76792078e-01 -6.38035676e-03 -2.65052228e+01] [-3.27744449e-02 -6.55110066e-04 9.99462559e-01 -7.39466511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30264000000003 meters 0.025213935847061813 Centerline is valid? [True, True] Translation: X:170.82, Y:-26.51, Z:-7.40 [[ 9.76226543e-01 2.14466063e-01 3.14013449e-02 1.70815114e+02] [-2.14376337e-01 9.76731229e-01 -6.23638032e-03 -2.65107252e+01] [-3.20081661e-02 -6.43585286e-04 9.99487400e-01 -7.39807955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.33264000000003 meters 0.025051221852557835 Centerline is valid? [True, True] Translation: X:170.85, Y:-26.52, Z:-7.40 [[ 9.76233162e-01 2.14529072e-01 3.07586057e-02 1.70847186e+02] [-2.14442878e-01 9.76717402e-01 -6.11303180e-03 -2.65180232e+01] [-3.13538885e-02 -6.28219585e-04 9.99508149e-01 -7.40093382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36264000000003 meters 0.02380145612952071 Centerline is valid? [True, True] Translation: X:170.88, Y:-26.53, Z:-7.40 [[ 9.76409674e-01 2.13789161e-01 3.03041738e-02 1.70878811e+02] [-2.13704906e-01 9.76879649e-01 -6.03028411e-03 -2.65261169e+01] [-3.08927401e-02 -5.88122880e-04 9.99522532e-01 -7.40326437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.39264000000003 meters 0.03459171213544811 Centerline is valid? [True, True] Translation: X:170.91, Y:-26.53, Z:-7.40 [[ 9.76501760e-01 2.13335273e-01 3.05347999e-02 1.70909702e+02] [-2.13249464e-01 9.76978878e-01 -6.07763225e-03 -2.65320839e+01] [-3.11284278e-02 -5.76711108e-04 9.99515227e-01 -7.40382172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42264000000003 meters 0.022416364965739934 Centerline is valid? [True, True] Translation: X:170.94, Y:-26.54, Z:-7.41 [[ 9.76772638e-01 2.11991618e-01 3.12212737e-02 1.70941156e+02] [-2.11901104e-01 9.77271334e-01 -6.21790017e-03 -2.65408934e+01] [-3.18297985e-02 -5.42347615e-04 9.99493156e-01 -7.40540933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.45264000000003 meters 0.021436073108127365 Centerline is valid? [True, True] Translation: X:170.97, Y:-26.55, Z:-7.41 [[ 9.76916584e-01 2.11307855e-01 3.13524903e-02 1.70972018e+02] [-2.11216207e-01 9.77419418e-01 -6.24464081e-03 -2.65484588e+01] [-3.19640744e-02 -5.21660918e-04 9.99488882e-01 -7.40635048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48264000000003 meters 0.025780180349928558 Centerline is valid? [True, True] Translation: X:171.00, Y:-26.56, Z:-7.41 [[ 9.77052331e-01 2.10593362e-01 3.19245797e-02 1.71003445e+02] [-2.10497776e-01 9.77573621e-01 -6.36415377e-03 -2.65561821e+01] [-3.25488755e-02 -5.01941744e-04 9.99470019e-01 -7.40584792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.51264000000003 meters 0.01914888433532185 Centerline is valid? [True, True] Translation: X:171.03, Y:-26.56, Z:-7.41 [[ 9.77276784e-01 2.09362510e-01 3.31274390e-02 1.71034496e+02] [-2.09258669e-01 9.77837981e-01 -6.61006272e-03 -2.65627267e+01] [-3.37771674e-02 -4.72342965e-04 9.99429277e-01 -7.40674867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54264000000003 meters 0.02722053134785377 Centerline is valid? [True, True] Translation: X:171.06, Y:-26.57, Z:-7.41 [[ 9.77416514e-01 2.08659793e-01 3.34372453e-02 1.71064864e+02] [-2.08553384e-01 9.77988186e-01 -6.67793315e-03 -2.65682583e+01] [-3.40946471e-02 -4.46328519e-04 9.99418509e-01 -7.40779622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.57264000000004 meters 0.017149223062933466 Centerline is valid? [True, True] Translation: X:171.10, Y:-26.58, Z:-7.41 [[ 9.77537060e-01 2.08015791e-01 3.39223826e-02 1.71095208e+02] [-2.07905697e-01 9.78125376e-01 -6.78018332e-03 -2.65791523e+01] [-3.45907284e-02 -4.24776130e-04 9.99401471e-01 -7.40782329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60264000000004 meters 0.01721806959368881 Centerline is valid? [True, True] Translation: X:171.13, Y:-26.59, Z:-7.41 [[ 9.77535500e-01 2.08050902e-01 3.37515735e-02 1.71126173e+02] [-2.07941737e-01 9.78117911e-01 -6.75181084e-03 -2.65854657e+01] [-3.44177389e-02 -4.18226020e-04 9.99407447e-01 -7.40981399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.63264000000004 meters 0.017254759112875696 Centerline is valid? [True, True] Translation: X:171.16, Y:-26.59, Z:-7.41 [[ 9.77455351e-01 2.08456334e-01 3.35707394e-02 1.71158420e+02] [-2.08348363e-01 9.78031583e-01 -6.72178941e-03 -2.65919150e+01] [-3.42344430e-02 -4.24159599e-04 9.99413740e-01 -7.41152553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66264000000004 meters 0.027475834824578813 Centerline is valid? [True, True] Translation: X:171.19, Y:-26.60, Z:-7.41 [[ 9.77337101e-01 2.09072773e-01 3.31778178e-02 1.71189574e+02] [-2.08967435e-01 9.77899989e-01 -6.65008419e-03 -2.65963553e+01] [-3.38349392e-02 -4.33709483e-04 9.99427340e-01 -7.41255544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.69264000000004 meters 0.029501353254541823 Centerline is valid? [True, True] Translation: X:171.22, Y:-26.60, Z:-7.41 [[ 9.77195631e-01 2.09709508e-01 3.33259739e-02 1.71222084e+02] [-2.09603425e-01 9.77763631e-01 -6.68484521e-03 -2.66018349e+01] [-3.39868009e-02 -4.52836740e-04 9.99422179e-01 -7.41376420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.72264000000004 meters 0.024364957074963913 Centerline is valid? [True, True] Translation: X:171.25, Y:-26.61, Z:-7.41 [[ 9.76858397e-01 2.11138140e-01 3.41812586e-02 1.71252983e+02] [-2.11027157e-01 9.77456100e-01 -6.86377978e-03 -2.66057602e+01] [-3.48598854e-02 -5.08232905e-04 9.99392080e-01 -7.41437151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.75264 meters 0.019703517766447395 Centerline is valid? [True, True] Translation: X:171.29, Y:-26.61, Z:-7.42 [[ 9.76616793e-01 2.12094195e-01 3.51524096e-02 1.71285046e+02] [-2.11977236e-01 9.77249071e-01 -7.06429272e-03 -2.66122361e+01] [-3.58509551e-02 -5.52403711e-04 9.99356995e-01 -7.41556014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.78264000000001 meters 0.02140371243773253 Centerline is valid? [True, True] Translation: X:171.32, Y:-26.62, Z:-7.42 [[ 9.76329999e-01 2.13327389e-01 3.56533131e-02 1.71316375e+02] [-2.13207619e-01 9.76980586e-01 -7.17251711e-03 -2.66157640e+01] [-3.63626891e-02 -5.98814357e-04 9.99338479e-01 -7.41648634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.81264000000002 meters 0.022194493092716747 Centerline is valid? [True, True] Translation: X:171.35, Y:-26.62, Z:-7.42 [[ 9.75881260e-01 2.15255032e-01 3.63460698e-02 1.71347835e+02] [-2.15131672e-01 9.76557634e-01 -7.31793232e-03 -2.66201712e+01] [-3.70692537e-02 -6.77757742e-04 9.99312469e-01 -7.41642378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.84264000000002 meters 0.024277575435435052 Centerline is valid? [True, True] Translation: X:171.38, Y:-26.62, Z:-7.42 [[ 9.75651175e-01 2.16307671e-01 3.62736328e-02 1.71378865e+02] [-2.16185310e-01 9.76324990e-01 -7.30922536e-03 -2.66233501e+01] [-3.69958957e-02 -7.10572259e-04 9.99315165e-01 -7.41864099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.87264000000002 meters 0.02664380389247521 Centerline is valid? [True, True] Translation: X:171.41, Y:-26.62, Z:-7.42 [[ 9.75215679e-01 2.18272966e-01 3.62117679e-02 1.71410190e+02] [-2.18152142e-01 9.75887446e-01 -7.30310178e-03 -2.66246924e+01] [-3.69326794e-02 -7.77575348e-04 9.99317453e-01 -7.42125366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.90264000000002 meters 0.02783824447456054 Centerline is valid? [True, True] Translation: X:171.44, Y:-26.63, Z:-7.42 [[ 9.74920021e-01 2.19595113e-01 3.61792497e-02 1.71442295e+02] [-2.19475318e-01 9.75590748e-01 -7.29918765e-03 -2.66281874e+01] [-3.68990072e-02 -8.24328162e-04 9.99318660e-01 -7.42299454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.93264000000002 meters 0.029597029114757527 Centerline is valid? [True, True] Translation: X:171.47, Y:-26.63, Z:-7.43 [[ 9.74589997e-01 2.21121597e-01 3.57711815e-02 1.71474657e+02] [-2.21005301e-01 9.75245861e-01 -7.22276642e-03 -2.66308831e+01] [-3.64828063e-02 -8.66384833e-04 9.99333905e-01 -7.42549973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96264000000002 meters 0.031120362224601295 Centerline is valid? [True, True] Translation: X:171.51, Y:-26.63, Z:-7.43 [[ 9.73849600e-01 2.24453677e-01 3.51781658e-02 1.71505596e+02] [-2.24343124e-01 9.74484279e-01 -7.11002779e-03 -2.66327655e+01] [-3.58764415e-02 -9.67881895e-04 9.99355765e-01 -7.42711153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99264000000002 meters 0.03291124817906987 Centerline is valid? [True, True] Translation: X:171.54, Y:-26.64, Z:-7.43 [[ 9.73431080e-01 2.26313236e-01 3.48461184e-02 1.71537238e+02] [-2.26205980e-01 9.74054035e-01 -7.04210225e-03 -2.66358464e+01] [-3.55357232e-02 -1.02739915e-03 9.99367879e-01 -7.42902786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02264000000002 meters 0.04045403953894724 Centerline is valid? [True, True] Translation: X:171.57, Y:-26.64, Z:-7.43 [[ 9.73068863e-01 2.28009821e-01 3.38896626e-02 1.71568539e+02] [-2.27909218e-01 9.73658261e-01 -6.85407783e-03 -2.66384743e+01] [-3.45597470e-02 -1.05427678e-03 9.99402077e-01 -7.42973475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.05264000000003 meters 0.03813492397361627 Centerline is valid? [True, True] Translation: X:171.60, Y:-26.64, Z:-7.43 [[ 9.72474312e-01 2.30420687e-01 3.46412963e-02 1.71600172e+02] [-2.30316856e-01 9.73090420e-01 -7.01291888e-03 -2.66373251e+01] [-3.53250351e-02 -1.15859100e-03 9.99375205e-01 -7.43264063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08264000000003 meters 0.04230069780806851 Centerline is valid? [True, True] Translation: X:171.63, Y:-26.64, Z:-7.43 [[ 9.72216009e-01 2.31442092e-01 3.50797491e-02 1.71631885e+02] [-2.31336245e-01 9.72847930e-01 -7.10265269e-03 -2.66353775e+01] [-3.57711140e-02 -1.20990478e-03 9.99359277e-01 -7.43450720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.11264000000003 meters 0.04230069780806851 Centerline is valid? [True, True] Translation: X:171.66, Y:-26.64, Z:-7.44 [[ 9.72216008e-01 2.31442115e-01 3.50796475e-02 1.71661278e+02] [-2.31336249e-01 9.72847925e-01 -7.10315410e-03 -2.66413287e+01] [-3.57711313e-02 -1.20939396e-03 9.99359277e-01 -7.43583078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14264000000003 meters 0.04056563602141522 Centerline is valid? [True, True] Translation: X:171.69, Y:-26.64, Z:-7.43 [[ 9.71860125e-01 2.32741570e-01 3.63216049e-02 1.71692741e+02] [-2.32628986e-01 9.72537746e-01 -7.35446706e-03 -2.66441871e+01] [-3.70358219e-02 -1.30194484e-03 9.99313090e-01 -7.43439904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.17264000000003 meters 0.04552199446405767 Centerline is valid? [True, True] Translation: X:171.72, Y:-26.64, Z:-7.44 [[ 9.71742984e-01 2.33158657e-01 3.67778894e-02 1.71723555e+02] [-2.33043482e-01 9.72437794e-01 -7.44799158e-03 -2.66418590e+01] [-3.75007733e-02 -1.33331384e-03 9.99295709e-01 -7.43611693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20264000000003 meters 0.04144691146024504 Centerline is valid? [True, True] Translation: X:171.75, Y:-26.65, Z:-7.44 [[ 9.71709044e-01 2.33166221e-01 3.76171062e-02 1.71752607e+02] [-2.33045755e-01 9.72435937e-01 -7.61741196e-03 -2.66511211e+01] [-3.83563491e-02 -1.36459882e-03 9.99263193e-01 -7.43520086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.23264000000003 meters 0.04095125966276163 Centerline is valid? [True, True] Translation: X:171.78, Y:-26.65, Z:-7.43 [[ 9.71664643e-01 2.33223981e-01 3.83978787e-02 1.71783587e+02] [-2.33098506e-01 9.72422042e-01 -7.77551730e-03 -2.66529198e+01] [-3.91523807e-02 -1.39529292e-03 9.99232277e-01 -7.43495553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26264000000003 meters 0.04263422917026112 Centerline is valid? [True, True] Translation: X:171.81, Y:-26.65, Z:-7.44 [[ 9.71728019e-01 2.32973792e-01 3.83127822e-02 1.71813429e+02] [-2.32848682e-01 9.72482032e-01 -7.75820930e-03 -2.66542542e+01] [-3.90659517e-02 -1.38221147e-03 9.99235678e-01 -7.43676286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.29264000000003 meters 0.039024651284624706 Centerline is valid? [True, True] Translation: X:171.84, Y:-26.66, Z:-7.44 [[ 9.71884289e-01 2.32339408e-01 3.82011526e-02 1.71843723e+02] [-2.32214515e-01 9.72633832e-01 -7.73615108e-03 -2.66624353e+01] [-3.89531462e-02 -1.35221843e-03 9.99240123e-01 -7.43830556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32264000000004 meters 0.03566239005649881 Centerline is valid? [True, True] Translation: X:171.87, Y:-26.67, Z:-7.44 [[ 9.72267781e-01 2.30907064e-01 3.71118626e-02 1.71874875e+02] [-2.30788119e-01 9.72974998e-01 -7.51642997e-03 -2.66669763e+01] [-3.78445113e-02 -1.25699427e-03 9.99282849e-01 -7.44079048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.35264000000004 meters 0.037426026494560526 Centerline is valid? [True, True] Translation: X:171.91, Y:-26.67, Z:-7.44 [[ 9.72519556e-01 2.29913984e-01 3.66779634e-02 1.71905920e+02] [-2.29797061e-01 9.73210210e-01 -7.42954310e-03 -2.66677724e+01] [-3.74035244e-02 -1.20311225e-03 9.99299519e-01 -7.44436469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38264000000004 meters 0.031959513321996987 Centerline is valid? [True, True] Translation: X:171.94, Y:-26.68, Z:-7.45 [[ 9.73221292e-01 2.27054962e-01 3.58658817e-02 1.71936226e+02] [-2.26941207e-01 9.73881360e-01 -7.26539051e-03 -2.66763606e+01] [-3.65787566e-02 -1.06861377e-03 9.99330202e-01 -7.44703397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.41264000000004 meters 0.031281795318968825 Centerline is valid? [True, True] Translation: X:171.97, Y:-26.68, Z:-7.45 [[ 9.73659476e-01 2.25249852e-01 3.53515001e-02 1.71965824e+02] [-2.25138113e-01 9.74300535e-01 -7.16217413e-03 -2.66815465e+01] [-3.60562641e-02 -9.85451324e-04 9.99349276e-01 -7.45002568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44264000000004 meters 0.03180877193583886 Centerline is valid? [True, True] Translation: X:172.00, Y:-26.69, Z:-7.45 [[ 9.74133601e-01 2.23344623e-01 3.43643363e-02 1.71996349e+02] [-2.23237843e-01 9.74739139e-01 -6.96248553e-03 -2.66881598e+01] [-3.50512973e-02 -8.89029231e-04 9.99385119e-01 -7.45146828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.47264000000004 meters 0.02718896024652279 Centerline is valid? [True, True] Translation: X:172.03, Y:-26.70, Z:-7.45 [[ 9.75177933e-01 2.18881494e-01 3.34498256e-02 1.72026983e+02] [-2.18777674e-01 9.75751193e-01 -6.77787259e-03 -2.66977685e+01] [-3.41222581e-02 -7.08443265e-04 9.99417415e-01 -7.45455929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.50264 meters 0.023828715227047888 Centerline is valid? [True, True] Translation: X:172.06, Y:-26.70, Z:-7.46 [[ 9.75631498e-01 2.16835701e-01 3.35478718e-02 1.72057306e+02] [-2.16730060e-01 9.76207904e-01 -6.79780817e-03 -2.67034504e+01] [-3.42237051e-02 -6.38676495e-04 9.99413993e-01 -7.45858484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.53264000000001 meters 0.02176966818569402 Centerline is valid? [True, True] Translation: X:172.09, Y:-26.71, Z:-7.46 [[ 9.76542496e-01 2.12749292e-01 3.32037987e-02 1.72087270e+02] [-2.12643216e-01 9.77106701e-01 -6.73483796e-03 -2.67100823e+01] [-3.38764862e-02 -4.83707073e-04 9.99425910e-01 -7.46322257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.56264000000002 meters 0.01747007715037621 Centerline is valid? [True, True] Translation: X:172.12, Y:-26.72, Z:-7.46 [[ 9.76946948e-01 2.10887856e-01 3.31808996e-02 1.72118279e+02] [-2.10780839e-01 9.77510172e-01 -6.73060865e-03 -2.67222280e+01] [-3.38540705e-02 -4.18450252e-04 9.99426699e-01 -7.46215846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.59264000000002 meters 0.03209605284464313 Centerline is valid? [True, True] Translation: X:172.15, Y:-26.73, Z:-7.46 [[ 9.77201676e-01 2.09744624e-01 3.29253245e-02 1.72148770e+02] [-2.09638566e-01 9.77756131e-01 -6.67980636e-03 -2.67294070e+01] [-3.35939914e-02 -3.74899824e-04 9.99435492e-01 -7.46126616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.62264000000002 meters 0.027691103269867103 Centerline is valid? [True, True] Translation: X:172.18, Y:-26.74, Z:-7.46 [[ 9.77613226e-01 2.07768645e-01 3.32350890e-02 1.72180495e+02] [-2.07659253e-01 9.78177948e-01 -6.74812489e-03 -2.67367307e+01] [-3.39118799e-02 -3.04517617e-04 9.99424780e-01 -7.46226419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.65264000000002 meters 0.019049222600757792 Centerline is valid? [True, True] Translation: X:172.21, Y:-26.74, Z:-7.47 [[ 9.77680570e-01 2.07499742e-01 3.29326713e-02 1.72211814e+02] [-2.07391990e-01 9.78235030e-01 -6.69238224e-03 -2.67421051e+01] [-3.36045603e-02 -2.86960139e-04 9.99435166e-01 -7.46579172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.68264000000002 meters 0.01574036930242386 Centerline is valid? [True, True] Translation: X:172.24, Y:-26.75, Z:-7.47 [[ 9.77645659e-01 2.07721453e-01 3.25693733e-02 1.72242708e+02] [-2.07615975e-01 9.78187976e-01 -6.62497376e-03 -2.67463746e+01] [-3.32351186e-02 -2.85045356e-04 9.99447520e-01 -7.47055427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71264000000002 meters 0.015264780675636384 Centerline is valid? [True, True] Translation: X:172.27, Y:-26.75, Z:-7.47 [[ 9.77567168e-01 2.08139414e-01 3.22554766e-02 1.72274486e+02] [-2.08036033e-01 9.78099125e-01 -6.56579734e-03 -2.67532726e+01] [-3.29156547e-02 -2.91793502e-04 9.99458090e-01 -7.47133189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74264000000002 meters 0.015798290114419484 Centerline is valid? [True, True] Translation: X:172.31, Y:-26.76, Z:-7.47 [[ 9.77499615e-01 2.08456328e-01 3.22561864e-02 1.72305920e+02] [-2.08352912e-01 9.78031631e-01 -6.57212933e-03 -2.67586555e+01] [-3.29175726e-02 -2.96416466e-04 9.99458026e-01 -7.47353845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77264000000002 meters 0.015742798681528974 Centerline is valid? [True, True] Translation: X:172.34, Y:-26.76, Z:-7.47 [[ 9.77387372e-01 2.08913166e-01 3.26988553e-02 1.72337918e+02] [-2.08806930e-01 9.77934146e-01 -6.66878796e-03 -2.67645854e+01] [-3.33705247e-02 -3.09758456e-04 9.99443001e-01 -7.47430949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80264000000003 meters 0.01632654973784639 Centerline is valid? [True, True] Translation: X:172.37, Y:-26.77, Z:-7.48 [[ 9.77315137e-01 2.09288651e-01 3.24558790e-02 1.72368853e+02] [-2.09184005e-01 9.77853855e-01 -6.62498833e-03 -2.67697670e+01] [-3.31236412e-02 -3.14549371e-04 9.99451212e-01 -7.47670611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.83264000000003 meters 0.02155238872783984 Centerline is valid? [True, True] Translation: X:172.40, Y:-26.77, Z:-7.48 [[ 9.77206954e-01 2.09892170e-01 3.18095132e-02 1.72400317e+02] [-2.09791758e-01 9.77724487e-01 -6.49961776e-03 -2.67743719e+01] [-3.24651588e-02 -3.21901997e-04 9.99472816e-01 -7.47654083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86264000000003 meters 0.01791260318632249 Centerline is valid? [True, True] Translation: X:172.43, Y:-26.78, Z:-7.48 [[ 9.77165735e-01 2.10098438e-01 3.17139225e-02 1.72430565e+02] [-2.09998707e-01 9.77680183e-01 -6.48101395e-03 -2.67782670e+01] [-3.23677244e-02 -3.26857955e-04 9.99475974e-01 -7.48246992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.89264000000003 meters 0.017849529510522776 Centerline is valid? [True, True] Translation: X:172.46, Y:-26.78, Z:-7.48 [[ 9.77090203e-01 2.10489888e-01 3.14442647e-02 1.72460049e+02] [-2.10392032e-01 9.77595977e-01 -6.42643711e-03 -2.67843146e+01] [-3.20924867e-02 -3.36414017e-04 9.99484847e-01 -7.48371689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92264000000003 meters 0.02694404716036734 Centerline is valid? [True, True] Translation: X:172.49, Y:-26.79, Z:-7.48 [[ 9.76644784e-01 2.12473774e-01 3.19352744e-02 1.72491130e+02] [-2.12373906e-01 9.77166684e-01 -6.52649948e-03 -2.67903868e+01] [-3.25927962e-02 -4.08147281e-04 9.99468630e-01 -7.47884218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.95264000000003 meters 0.021491698859627102 Centerline is valid? [True, True] Translation: X:172.52, Y:-26.79, Z:-7.48 [[ 9.76398066e-01 2.13516990e-01 3.25163267e-02 1.72521229e+02] [-2.13413990e-01 9.76939247e-01 -6.64650696e-03 -2.67900068e+01] [-3.31856179e-02 -4.49802487e-04 9.99449104e-01 -7.48460037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98264000000003 meters 0.021612022691506236 Centerline is valid? [True, True] Translation: X:172.55, Y:-26.79, Z:-7.48 [[ 9.75718974e-01 2.16579372e-01 3.26475119e-02 1.72551406e+02] [-2.16477261e-01 9.76264854e-01 -6.67303982e-03 -2.67916235e+01] [-3.33178612e-02 -5.56432375e-04 9.99444651e-01 -7.48259823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.01264000000003 meters 0.02622330794044288 Centerline is valid? [True, True] Translation: X:172.58, Y:-26.79, Z:-7.49 [[ 9.75389851e-01 2.18084378e-01 3.24629291e-02 1.72580512e+02] [-2.17984277e-01 9.75929730e-01 -6.63454818e-03 -2.67896750e+01] [-3.31284289e-02 -6.05137157e-04 9.99450920e-01 -7.48671033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04264000000003 meters 0.025748338360183098 Centerline is valid? [True, True] Translation: X:172.61, Y:-26.79, Z:-7.49 [[ 9.75154418e-01 2.19163193e-01 3.22700417e-02 1.72608829e+02] [-2.19064893e-01 9.75688007e-01 -6.59437178e-03 -2.67948526e+01] [-3.29307362e-02 -6.38702440e-04 9.99457432e-01 -7.48745067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.07264000000004 meters 0.025684873679876145 Centerline is valid? [True, True] Translation: X:172.64, Y:-26.80, Z:-7.49 [[ 9.75144635e-01 2.19294335e-01 3.16691666e-02 1.72637152e+02] [-2.19199780e-01 9.75658544e-01 -6.47008500e-03 -2.68003563e+01] [-3.23171460e-02 -6.32605689e-04 9.99477464e-01 -7.48970494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10264000000004 meters 0.023788836967795494 Centerline is valid? [True, True] Translation: X:172.67, Y:-26.81, Z:-7.49 [[ 9.75282217e-01 2.18670707e-01 3.17445935e-02 1.72665964e+02] [-2.18575430e-01 9.75798516e-01 -6.48366905e-03 -2.68090306e+01] [-3.23941157e-02 -6.15181036e-04 9.99474984e-01 -7.48971678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.13264000000004 meters 0.023877167060652547 Centerline is valid? [True, True] Translation: X:172.69, Y:-26.81, Z:-7.49 [[ 9.75629009e-01 2.17041562e-01 3.22644995e-02 1.72694038e+02] [-2.16942276e-01 9.76162197e-01 -6.58899587e-03 -2.68131196e+01] [-3.29254707e-02 -5.71118450e-04 9.99457647e-01 -7.49164951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16264000000004 meters 0.030080173313265485 Centerline is valid? [True, True] Translation: X:172.72, Y:-26.82, Z:-7.49 [[ 9.75844984e-01 2.16107539e-01 3.20015424e-02 1.72722868e+02] [-2.16009385e-01 9.76369420e-01 -6.53459643e-03 -2.68204209e+01] [-3.26575029e-02 -5.35880351e-04 9.99466458e-01 -7.48954668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.19264000000004 meters 0.018791207805394512 Centerline is valid? [True, True] Translation: X:172.75, Y:-26.83, Z:-7.49 [[ 9.76460544e-01 2.13229469e-01 3.25269120e-02 1.72752025e+02] [-2.13126508e-01 9.77002043e-01 -6.64070017e-03 -2.68325090e+01] [-3.31948525e-02 -4.47965464e-04 9.99448799e-01 -7.49245960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22264000000004 meters 0.01829119214331675 Centerline is valid? [True, True] Translation: X:172.78, Y:-26.84, Z:-7.49 [[ 9.76767987e-01 2.11734047e-01 3.30604443e-02 1.72781699e+02] [-2.11626815e-01 9.77327238e-01 -6.74986884e-03 -2.68398192e+01] [-3.37400497e-02 -4.03420723e-04 9.99430561e-01 -7.49423440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.25264 meters 0.01740107716946519 Centerline is valid? [True, True] Translation: X:172.81, Y:-26.85, Z:-7.50 [[ 9.77031876e-01 2.10483960e-01 3.32448008e-02 1.72809946e+02] [-2.10374782e-01 9.77597244e-01 -6.78817690e-03 -2.68468180e+01] [-3.39288280e-02 -3.61602511e-04 9.99424186e-01 -7.49502151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.28264000000001 meters 0.01610748406323955 Centerline is valid? [True, True] Translation: X:172.84, Y:-26.85, Z:-7.50 [[ 9.77394593e-01 2.08868857e-01 3.27659983e-02 1.72839171e+02] [-2.08761912e-01 9.77943613e-01 -6.68989119e-03 -2.68549778e+01] [-3.34406087e-02 -3.01628980e-04 9.99440661e-01 -7.49698512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.31264000000002 meters 0.015181068815133139 Centerline is valid? [True, True] Translation: X:172.87, Y:-26.86, Z:-7.50 [[ 9.77465413e-01 2.08459787e-01 3.32548180e-02 1.72869965e+02] [-2.08349398e-01 9.78030895e-01 -6.78944529e-03 -2.68626364e+01] [-3.39395657e-02 -2.92173350e-04 9.99423844e-01 -7.49686821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.34264000000002 meters 0.014505855369299648 Centerline is valid? [True, True] Translation: X:172.90, Y:-26.87, Z:-7.50 [[ 9.77443394e-01 2.08447767e-01 3.39696801e-02 1.72901848e+02] [-2.08332592e-01 9.78033455e-01 -6.93483703e-03 -2.68699210e+01] [-3.46690349e-02 -2.98580858e-04 9.99398804e-01 -7.49596703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.37264000000002 meters 0.014970355651850587 Centerline is valid? [True, True] Translation: X:172.93, Y:-26.88, Z:-7.50 [[ 9.77334509e-01 2.09022246e-01 3.35702080e-02 1.72933498e+02] [-2.08909898e-01 9.77910837e-01 -6.85925223e-03 -2.68759033e+01] [-3.42624065e-02 -3.09364832e-04 9.99412824e-01 -7.49827988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.40264000000002 meters 0.015789256795812612 Centerline is valid? [True, True] Translation: X:172.96, Y:-26.88, Z:-7.50 [[ 9.77181593e-01 2.09749923e-01 3.34828893e-02 1.72963723e+02] [-2.09638326e-01 9.77755012e-01 -6.84901090e-03 -2.68806648e+01] [-3.41746423e-02 -3.26569480e-04 9.99415823e-01 -7.50054379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.43264000000002 meters 0.018038414782173332 Centerline is valid? [True, True] Translation: X:172.99, Y:-26.88, Z:-7.50 [[ 9.76948270e-01 2.10800633e-01 3.36922882e-02 1.72993865e+02] [-2.10688245e-01 9.77529007e-01 -6.89227857e-03 -2.68829626e+01] [-3.43880858e-02 -3.65169465e-04 9.99408488e-01 -7.50391939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46264000000002 meters 0.025672267818532296 Centerline is valid? [True, True] Translation: X:173.02, Y:-26.89, Z:-7.50 [[ 9.76514652e-01 2.12872048e-01 3.32359097e-02 1.73023658e+02] [-2.12763858e-01 9.77079989e-01 -6.79968871e-03 -2.68853104e+01] [-3.39216060e-02 -4.31404703e-04 9.99424404e-01 -7.50310970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.49264000000002 meters 0.01978296798146112 Centerline is valid? [True, True] Translation: X:173.05, Y:-26.89, Z:-7.51 [[ 9.76361322e-01 2.13627324e-01 3.28927966e-02 1.73052682e+02] [-2.13521810e-01 9.76915125e-01 -6.72872704e-03 -2.68913223e+01] [-3.35709104e-02 -4.53660643e-04 9.99436235e-01 -7.50715520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52264000000002 meters 0.021634450223540547 Centerline is valid? [True, True] Translation: X:173.08, Y:-26.90, Z:-7.51 [[ 9.76396935e-01 2.13463867e-01 3.28968499e-02 1.73080924e+02] [-2.13358258e-01 9.76950856e-01 -6.72887623e-03 -2.68954039e+01] [-3.35749776e-02 -4.48760449e-04 9.99436101e-01 -7.51110442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.55264000000003 meters 0.01909604308630829 Centerline is valid? [True, True] Translation: X:173.11, Y:-26.91, Z:-7.51 [[ 9.76560943e-01 2.12842339e-01 3.20447223e-02 1.73109572e+02] [-2.12741838e-01 9.77086467e-01 -6.55332116e-03 -2.69054226e+01] [-3.27052887e-02 -4.17535608e-04 9.99464952e-01 -7.51082294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58264000000003 meters 0.01867495252321382 Centerline is valid? [True, True] Translation: X:173.14, Y:-26.91, Z:-7.51 [[ 9.76655772e-01 2.12368989e-01 3.22942084e-02 1.73139056e+02] [-2.12266688e-01 9.77189464e-01 -6.60340448e-03 -2.69117563e+01] [-3.29599186e-02 -4.05731585e-04 9.99456592e-01 -7.51190748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.61264000000003 meters 0.01978561458427307 Centerline is valid? [True, True] Translation: X:173.17, Y:-26.91, Z:-7.51 [[ 9.76768986e-01 2.11770618e-01 3.27956434e-02 1.73168001e+02] [-2.11664783e-01 9.77319319e-01 -6.70577846e-03 -2.69145423e+01] [-3.34719028e-02 -3.91686330e-04 9.99439582e-01 -7.51421808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64264000000003 meters 0.018464164020012608 Centerline is valid? [True, True] Translation: X:173.20, Y:-26.92, Z:-7.51 [[ 9.76631189e-01 2.12355810e-01 3.31138946e-02 1.73196544e+02] [-2.12248293e-01 9.77192323e-01 -6.76949710e-03 -2.69239901e+01] [-3.37961856e-02 -4.17065584e-04 9.99428659e-01 -7.51269037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.67264000000003 meters 0.018413361537302005 Centerline is valid? [True, True] Translation: X:173.23, Y:-26.93, Z:-7.51 [[ 9.76435501e-01 2.13182466e-01 3.35700505e-02 1.73226827e+02] [-2.13072495e-01 9.77012298e-01 -6.86154783e-03 -2.69306329e+01] [-3.42611139e-02 -4.52995547e-04 9.99412813e-01 -7.51174747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70264000000003 meters 0.038399827661918295 Centerline is valid? [True, True] Translation: X:173.26, Y:-26.93, Z:-7.51 [[ 9.76171550e-01 2.14309553e-01 3.40664062e-02 1.73256592e+02] [-2.14196968e-01 9.76765666e-01 -6.96367417e-03 -2.69342417e+01] [-3.47672779e-02 -4.99180308e-04 9.99395311e-01 -7.50919965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.73264000000003 meters 0.020533187197901377 Centerline is valid? [True, True] Translation: X:173.29, Y:-26.94, Z:-7.51 [[ 9.75805902e-01 2.15864695e-01 3.47170699e-02 1.73286478e+02] [-2.15748770e-01 9.76423122e-01 -7.09611910e-03 -2.69382087e+01] [-3.54303514e-02 -5.65730218e-04 9.99371988e-01 -7.51179601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76264000000003 meters 0.02984881956656998 Centerline is valid? [True, True] Translation: X:173.32, Y:-26.94, Z:-7.51 [[ 9.75119551e-01 2.19031979e-01 3.41592359e-02 1.73316447e+02] [-2.18921683e-01 9.75717451e-01 -6.98232691e-03 -2.69357632e+01] [-3.48591155e-02 -6.69593931e-04 9.99392012e-01 -7.51301240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.79264000000003 meters 0.028192544258320785 Centerline is valid? [True, True] Translation: X:173.35, Y:-26.94, Z:-7.52 [[ 9.74516889e-01 2.21799449e-01 3.34938462e-02 1.73346972e+02] [-2.21695070e-01 9.75092014e-01 -6.84548317e-03 -2.69350052e+01] [-3.41779063e-02 -7.54381620e-04 9.99415480e-01 -7.51803905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82264000000004 meters 0.027900781762634094 Centerline is valid? [True, True] Translation: X:173.38, Y:-26.94, Z:-7.52 [[ 9.74269380e-01 2.22922215e-01 3.32394582e-02 1.73375543e+02] [-2.22820087e-01 9.74835917e-01 -6.79295017e-03 -2.69393000e+01] [-3.39173172e-02 -7.88255626e-04 9.99424331e-01 -7.51878774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.85264000000004 meters 0.028674365226829784 Centerline is valid? [True, True] Translation: X:173.40, Y:-26.94, Z:-7.52 [[ 9.74077196e-01 2.23798997e-01 3.29791689e-02 1.73404309e+02] [-2.23699019e-01 9.74634981e-01 -6.73812546e-03 -2.69429272e+01] [-3.36506373e-02 -8.13953376e-04 9.99433325e-01 -7.52076072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88264000000004 meters 0.03182368636447409 Centerline is valid? [True, True] Translation: X:173.43, Y:-26.94, Z:-7.53 [[ 9.73873534e-01 2.24864943e-01 3.17190471e-02 1.73432584e+02] [-2.24773070e-01 9.74389596e-01 -6.47929265e-03 -2.69425362e+01] [-3.23636753e-02 -8.19575979e-04 9.99475823e-01 -7.52556190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.91264000000004 meters 0.03142266802983336 Centerline is valid? [True, True] Translation: X:173.46, Y:-26.95, Z:-7.53 [[ 9.73844253e-01 2.25090541e-01 3.10099935e-02 1.73461234e+02] [-2.25002909e-01 9.74337514e-01 -6.33240376e-03 -2.69467758e+01] [-3.16395642e-02 -8.10563746e-04 9.99499015e-01 -7.52753616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.94264000000004 meters 0.031767433687875386 Centerline is valid? [True, True] Translation: X:173.49, Y:-26.95, Z:-7.53 [[ 9.74043401e-01 2.24240187e-01 3.09158665e-02 1.73489697e+02] [-2.24152706e-01 9.74533595e-01 -6.31166997e-03 -2.69471381e+01] [-3.15438806e-02 -7.82034665e-04 9.99502062e-01 -7.52931813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.97264000000004 meters 0.031361569162981814 Centerline is valid? [True, True] Translation: X:173.52, Y:-26.95, Z:-7.53 [[ 9.74292225e-01 2.23099071e-01 3.13283336e-02 1.73518120e+02] [-2.23008705e-01 9.74795482e-01 -6.39418433e-03 -2.69547619e+01] [-3.19652546e-02 -7.56687017e-04 9.99488694e-01 -7.52772103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.00264 meters 0.031361569162981814 Centerline is valid? [True, True] Translation: X:173.55, Y:-26.96, Z:-7.53 [[ 9.74308096e-01 2.23029729e-01 3.13284762e-02 1.73545069e+02] [-2.22939349e-01 9.74811351e-01 -6.39348571e-03 -2.69601261e+01] [-3.19652916e-02 -7.55125203e-04 9.99488694e-01 -7.52893371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.03264000000001 meters 0.02799206783198579 Centerline is valid? [True, True] Translation: X:173.57, Y:-26.97, Z:-7.53 [[ 9.74632077e-01 2.21600556e-01 3.13927975e-02 1.73573431e+02] [-2.21509148e-01 9.75137265e-01 -6.40398312e-03 -2.69664120e+01] [-3.20314129e-02 -7.12264469e-04 9.99486609e-01 -7.53197580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.06264000000002 meters 0.02659348547099243 Centerline is valid? [True, True] Translation: X:173.60, Y:-26.97, Z:-7.53 [[ 9.75060484e-01 2.19701590e-01 3.14366539e-02 1.73600329e+02] [-2.19608985e-01 9.75566905e-01 -6.41152179e-03 -2.69721572e+01] [-3.20771807e-02 -6.52150119e-04 9.99485182e-01 -7.53347876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.09264000000002 meters 0.03125677816930608 Centerline is valid? [True, True] Translation: X:173.63, Y:-26.98, Z:-7.53 [[ 9.75997843e-01 2.15589735e-01 3.08103210e-02 1.73627248e+02] [-2.15498792e-01 9.76483900e-01 -6.28193587e-03 -2.69802811e+01] [-3.14401033e-02 -5.08431103e-04 9.99505508e-01 -7.53348460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.12264000000002 meters 0.0193227041280942 Centerline is valid? [True, True] Translation: X:173.65, Y:-26.99, Z:-7.54 [[ 9.76816744e-01 2.11830320e-01 3.09348454e-02 1.73654751e+02] [-2.11736820e-01 9.77306381e-01 -6.30528489e-03 -2.69898740e+01] [-3.15684723e-02 -3.90937930e-04 9.99501515e-01 -7.53643059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.15264000000002 meters 0.026477575415101724 Centerline is valid? [True, True] Translation: X:173.68, Y:-27.00, Z:-7.53 [[ 9.77141663e-01 2.10356681e-01 3.07284572e-02 1.73682781e+02] [-2.10263741e-01 9.77624647e-01 -6.26176069e-03 -2.69976363e+01] [-3.13581003e-02 -3.42453112e-04 9.99508155e-01 -7.53491177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.18264000000002 meters 0.01902722004323019 Centerline is valid? [True, True] Translation: X:173.71, Y:-27.00, Z:-7.54 [[ 9.77440682e-01 2.09012006e-01 3.03923475e-02 1.73709965e+02] [-2.08920481e-01 9.77913029e-01 -6.19190451e-03 -2.70033419e+01] [-3.10152550e-02 -2.97364505e-04 9.99518867e-01 -7.53941494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21264000000002 meters 0.015903046534703105 Centerline is valid? [True, True] Translation: X:173.74, Y:-27.01, Z:-7.54 [[ 9.77660552e-01 2.07891677e-01 3.09983143e-02 1.73738053e+02] [-2.07795971e-01 9.78151818e-01 -6.31317630e-03 -2.70113929e+01] [-3.16335142e-02 -2.69181394e-04 9.99499499e-01 -7.53987701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24264000000002 meters 0.028362279000018347 Centerline is valid? [True, True] Translation: X:173.77, Y:-27.02, Z:-7.54 [[ 9.78021375e-01 2.06029139e-01 3.20341078e-02 1.73766967e+02] [-2.05925993e-01 9.78545833e-01 -6.52219054e-03 -2.70179344e+01] [-3.26906040e-02 -2.17813695e-04 9.99465496e-01 -7.53522726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27264000000002 meters 0.021263036417552044 Centerline is valid? [True, True] Translation: X:173.80, Y:-27.02, Z:-7.54 [[ 9.78154967e-01 2.05374763e-01 3.21569248e-02 1.73795642e+02] [-2.05270494e-01 9.78683385e-01 -6.54650395e-03 -2.70211588e+01] [-3.28159347e-02 -1.97372477e-04 9.99461393e-01 -7.53781821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30264000000003 meters 0.027317747662367678 Centerline is valid? [True, True] Translation: X:173.82, Y:-27.03, Z:-7.54 [[ 9.78222853e-01 2.05146105e-01 3.15456043e-02 1.73823698e+02] [-2.05045686e-01 9.78731342e-01 -6.42073532e-03 -2.70271267e+01] [-3.21918605e-02 -1.87380060e-04 9.99481690e-01 -7.54100118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.33264000000003 meters 0.01385045658264574 Centerline is valid? [True, True] Translation: X:173.85, Y:-27.03, Z:-7.54 [[ 9.78235932e-01 2.05091097e-01 3.14976785e-02 1.73852076e+02] [-2.04990981e-01 9.78742871e-01 -6.41015616e-03 -2.70344982e+01] [-3.21427943e-02 -1.86094946e-04 9.99483270e-01 -7.54248867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36264000000003 meters 0.014410316990506131 Centerline is valid? [True, True] Translation: X:173.88, Y:-27.04, Z:-7.55 [[ 9.78310523e-01 2.04847188e-01 3.07595398e-02 1.73880003e+02] [-2.04751614e-01 9.78793951e-01 -6.25919777e-03 -2.70383714e+01] [-3.13894306e-02 -1.74626386e-04 9.99507215e-01 -7.54623547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.39264000000003 meters 0.021139908387734777 Centerline is valid? [True, True] Translation: X:173.91, Y:-27.04, Z:-7.54 [[ 9.78313719e-01 2.04815515e-01 3.08686375e-02 1.73909039e+02] [-2.04719272e-01 9.78800579e-01 -6.28055227e-03 -2.70438718e+01] [-3.15005948e-02 -1.75054560e-04 9.99503718e-01 -7.54391885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42264000000003 meters 0.01387413166149397 Centerline is valid? [True, True] Translation: X:173.94, Y:-27.05, Z:-7.55 [[ 9.78335244e-01 2.04700213e-01 3.09511514e-02 1.73936800e+02] [-2.04603418e-01 9.78824700e-01 -6.29669742e-03 -2.70495869e+01] [-3.15846867e-02 -1.72430350e-04 9.99501064e-01 -7.54737790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.45264000000003 meters 0.014149209542887417 Centerline is valid? [True, True] Translation: X:173.96, Y:-27.06, Z:-7.55 [[ 9.78305942e-01 2.04920046e-01 3.04180651e-02 1.73964638e+02] [-2.04826693e-01 9.78778700e-01 -6.18726649e-03 -2.70554608e+01] [-3.10404492e-02 -1.77392126e-04 9.99518113e-01 -7.54960729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48264000000003 meters 0.014287371285902467 Centerline is valid? [True, True] Translation: X:173.99, Y:-27.06, Z:-7.55 [[ 9.78253804e-01 2.05225452e-01 3.00334754e-02 1.73992558e+02] [-2.05134635e-01 9.78714708e-01 -6.10755874e-03 -2.70613049e+01] [-3.06476306e-02 -1.86163454e-04 9.99530234e-01 -7.55089109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.51264000000003 meters 0.01475820933575787 Centerline is valid? [True, True] Translation: X:174.02, Y:-27.07, Z:-7.55 [[ 9.78003614e-01 2.06336260e-01 3.05659804e-02 1.74020745e+02] [-2.06242785e-01 9.78481117e-01 -6.21425096e-03 -2.70664173e+01] [-3.11904600e-02 -2.26453049e-04 9.99513434e-01 -7.55087958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54264000000003 meters 0.026333277030349444 Centerline is valid? [True, True] Translation: X:174.05, Y:-27.07, Z:-7.55 [[ 9.77839241e-01 2.07071830e-01 3.08492571e-02 1.74049513e+02] [-2.06977030e-01 9.78325709e-01 -6.27025931e-03 -2.70707569e+01] [-3.14790154e-02 -2.53782008e-04 9.99504381e-01 -7.54965622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.57264000000004 meters 0.017417106682772764 Centerline is valid? [True, True] Translation: X:174.08, Y:-27.07, Z:-7.55 [[ 9.77399912e-01 2.09068699e-01 3.13000102e-02 1.74077549e+02] [-2.08972178e-01 9.77900902e-01 -6.36040832e-03 -2.70710911e+01] [-3.19380705e-02 -3.24168771e-04 9.99489797e-01 -7.55317218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60264000000004 meters 0.018405921666605967 Centerline is valid? [True, True] Translation: X:174.11, Y:-27.07, Z:-7.55 [[ 9.77190818e-01 2.10016279e-01 3.14844201e-02 1.74105565e+02] [-2.09919174e-01 9.77697823e-01 -6.39584628e-03 -2.70743651e+01] [-3.21254808e-02 -3.59221197e-04 9.99483779e-01 -7.55390709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.63264000000004 meters 0.01906989382071958 Centerline is valid? [True, True] Translation: X:174.13, Y:-27.08, Z:-7.56 [[ 9.77013595e-01 2.10861180e-01 3.13368559e-02 1.74134262e+02] [-2.10765482e-01 9.77515940e-01 -6.36384848e-03 -2.70795958e+01] [-3.19741647e-02 -3.87161060e-04 9.99488621e-01 -7.55536670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66264000000004 meters 0.024096911284763357 Centerline is valid? [True, True] Translation: X:174.16, Y:-27.09, Z:-7.56 [[ 9.76785726e-01 2.12027051e-01 3.05642841e-02 1.74162024e+02] [-2.11936630e-01 9.77263709e-01 -6.20553142e-03 -2.70858471e+01] [-3.11851062e-02 -4.16216851e-04 9.99513540e-01 -7.55567291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.69264000000004 meters 0.02054915906609794 Centerline is valid? [True, True] Translation: X:174.19, Y:-27.09, Z:-7.56 [[ 9.76646210e-01 2.12652118e-01 3.06798993e-02 1.74189166e+02] [-2.12561363e-01 9.77127875e-01 -6.22762407e-03 -2.70899824e+01] [-3.13025022e-02 -4.39175755e-04 9.99509860e-01 -7.55832341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72264000000004 meters 0.037394116181692943 Centerline is valid? [True, True] Translation: X:174.22, Y:-27.09, Z:-7.56 [[ 9.76436775e-01 2.13622348e-01 3.06058457e-02 1.74216856e+02] [-2.13532565e-01 9.76916205e-01 -6.21070938e-03 -2.70933192e+01] [-3.12260930e-02 -4.70979710e-04 9.99512236e-01 -7.55814779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.75264000000004 meters 0.0220451682359028 Centerline is valid? [True, True] Translation: X:174.24, Y:-27.10, Z:-7.56 [[ 9.76336572e-01 2.14133744e-01 3.02264495e-02 1.74244669e+02] [-2.14046479e-01 9.76804231e-01 -6.13176362e-03 -2.70990213e+01] [-3.08383413e-02 -4.83200026e-04 9.99524268e-01 -7.56050088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.78264000000001 meters 0.03433041202466613 Centerline is valid? [True, True] Translation: X:174.27, Y:-27.10, Z:-7.56 [[ 9.76154819e-01 2.14883795e-01 3.07688650e-02 1.74273193e+02] [-2.14793790e-01 9.76639487e-01 -6.24025232e-03 -2.71035872e+01] [-3.13910176e-02 -5.17508767e-04 9.99507047e-01 -7.56019449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.81264000000002 meters 0.025191090054084174 Centerline is valid? [True, True] Translation: X:174.30, Y:-27.11, Z:-7.56 [[ 9.75804874e-01 2.16526058e-01 3.03531561e-02 1.74301269e+02] [-2.16439299e-01 9.76276676e-01 -6.15480727e-03 -2.71065353e+01] [-3.09657545e-02 -5.63724880e-04 9.99520287e-01 -7.56375614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.84264000000002 meters 0.02225667494043474 Centerline is valid? [True, True] Translation: X:174.33, Y:-27.12, Z:-7.56 [[ 9.75672733e-01 2.17224267e-01 2.96029901e-02 1.74328532e+02] [-2.17142137e-01 9.76121554e-01 -6.00027732e-03 -2.71161580e+01] [-3.01995225e-02 -5.73749573e-04 9.99543726e-01 -7.56249038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.87264000000002 meters 0.03304739368914086 Centerline is valid? [True, True] Translation: X:174.36, Y:-27.11, Z:-7.57 [[ 9.75414590e-01 2.18312729e-01 3.00986834e-02 1.74357327e+02] [-2.18228385e-01 9.75878665e-01 -6.09939640e-03 -2.71145054e+01] [-3.07042388e-02 -6.18946834e-04 9.99528322e-01 -7.56672531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.90264000000002 meters 0.025558907422462973 Centerline is valid? [True, True] Translation: X:174.38, Y:-27.12, Z:-7.57 [[ 9.75385698e-01 2.18503421e-01 2.96478447e-02 1.74384761e+02] [-2.18421749e-01 9.75835987e-01 -6.00555897e-03 -2.71235399e+01] [-3.02436690e-02 -6.17997759e-04 9.99542365e-01 -7.56733112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.93264000000002 meters 0.02527480155811693 Centerline is valid? [True, True] Translation: X:174.41, Y:-27.13, Z:-7.57 [[ 9.75392921e-01 2.18447240e-01 2.98237147e-02 1.74413100e+02] [-2.18364615e-01 9.75848563e-01 -6.03966514e-03 -2.71302709e+01] [-3.04227773e-02 -6.21397347e-04 9.99536927e-01 -7.56804564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96264000000002 meters 0.028375740050386133 Centerline is valid? [True, True] Translation: X:174.44, Y:-27.13, Z:-7.57 [[ 9.75436981e-01 2.18106234e-01 3.08604380e-02 1.74441236e+02] [-2.18017641e-01 9.75924828e-01 -6.24812783e-03 -2.71314051e+01] [-3.14802233e-02 -6.33464930e-04 9.99504174e-01 -7.56995086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99264000000002 meters 0.024611532124992758 Centerline is valid? [True, True] Translation: X:174.47, Y:-27.14, Z:-7.57 [[ 9.75513013e-01 2.17792670e-01 3.06710802e-02 1.74468413e+02] [-2.17705070e-01 9.75994860e-01 -6.20772983e-03 -2.71414372e+01] [-3.12868146e-02 -6.21528434e-04 9.99510255e-01 -7.56906750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02264000000002 meters 0.025742213110428385 Centerline is valid? [True, True] Translation: X:174.50, Y:-27.15, Z:-7.57 [[ 9.75586048e-01 2.17586249e-01 2.98008051e-02 1.74495882e+02] [-2.17503490e-01 9.76040914e-01 -6.03039749e-03 -2.71452797e+01] [-3.03989366e-02 -5.98607465e-04 9.99537666e-01 -7.57264542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.05264000000003 meters 0.024088671191819372 Centerline is valid? [True, True] Translation: X:174.52, Y:-27.15, Z:-7.57 [[ 9.75585518e-01 2.17585782e-01 2.98215528e-02 1.74523571e+02] [-2.17502979e-01 9.76041016e-01 -6.03227416e-03 -2.71522010e+01] [-3.04195958e-02 -6.01277260e-04 9.99537036e-01 -7.57272000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08264000000003 meters 0.024871595891114696 Centerline is valid? [True, True] Translation: X:174.55, Y:-27.16, Z:-7.57 [[ 9.75556032e-01 2.17748871e-01 2.95948946e-02 1.74551612e+02] [-2.17667437e-01 9.76004644e-01 -5.98509752e-03 -2.71556651e+01] [-3.01880028e-02 -6.03046875e-04 9.99544056e-01 -7.57494978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.11264000000003 meters 0.03637872608045064 Centerline is valid? [True, True] Translation: X:174.58, Y:-27.16, Z:-7.58 [[ 9.75468299e-01 2.18181571e-01 2.92984698e-02 1.74579844e+02] [-2.18102011e-01 9.75908002e-01 -5.92330916e-03 -2.71561408e+01] [-2.98849680e-02 -6.12054868e-04 9.99553157e-01 -7.57730779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14264000000003 meters 0.030838026331484913 Centerline is valid? [True, True] Translation: X:174.61, Y:-27.16, Z:-7.58 [[ 9.75492429e-01 2.18082178e-01 2.92349745e-02 1.74607708e+02] [-2.18002967e-01 9.75930219e-01 -5.90882950e-03 -2.71621079e+01] [-2.98199055e-02 -6.09292732e-04 9.99555102e-01 -7.57721121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.17264000000003 meters 0.03454581390857793 Centerline is valid? [True, True] Translation: X:174.64, Y:-27.16, Z:-7.58 [[ 9.75504049e-01 2.17980941e-01 2.96000049e-02 1.74636127e+02] [-2.17899766e-01 9.75952832e-01 -5.98013050e-03 -2.71629234e+01] [-3.01917630e-02 -6.16192631e-04 9.99543935e-01 -7.57932755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20264000000003 meters 0.02607744626306282 Centerline is valid? [True, True] Translation: X:174.66, Y:-27.17, Z:-7.58 [[ 9.75593144e-01 2.17534825e-01 2.99435859e-02 1.74664729e+02] [-2.17451610e-01 9.76052369e-01 -6.04742148e-03 -2.71652291e+01] [-3.05420327e-02 -6.11458015e-04 9.99533296e-01 -7.58030615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.23264000000003 meters 0.02449547311353102 Centerline is valid? [True, True] Translation: X:174.69, Y:-27.17, Z:-7.58 [[ 9.75823785e-01 2.16444026e-01 3.03302383e-02 1.74693101e+02] [-2.16358155e-01 9.76294853e-01 -6.12442267e-03 -2.71732759e+01] [-3.09368503e-02 -5.85837085e-04 9.99521169e-01 -7.57919679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26264000000003 meters 0.029992889476760244 Centerline is valid? [True, True] Translation: X:174.72, Y:-27.18, Z:-7.58 [[ 9.76608320e-01 2.12810377e-01 3.07885305e-02 1.74719999e+02] [-2.12720174e-01 9.77093400e-01 -6.21411093e-03 -2.71812514e+01] [-3.14056972e-02 -4.80589117e-04 9.99506604e-01 -7.58038967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.29264000000003 meters 0.018215571741575298 Centerline is valid? [True, True] Translation: X:174.75, Y:-27.19, Z:-7.58 [[ 9.77188735e-01 2.10194213e-01 3.03408868e-02 1.74747652e+02] [-2.10105417e-01 9.77659572e-01 -6.12168797e-03 -2.71905190e+01] [-3.09498018e-02 -3.92740172e-04 9.99520863e-01 -7.58278850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32264000000004 meters 0.01702195407817768 Centerline is valid? [True, True] Translation: X:174.77, Y:-27.20, Z:-7.59 [[ 9.77825298e-01 2.07202871e-01 3.04081621e-02 1.74774828e+02] [-2.07112278e-01 9.78297951e-01 -6.13386193e-03 -2.71973927e+01] [-3.10191965e-02 -3.00058342e-04 9.99518744e-01 -7.58574820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.35264000000004 meters 0.01250779042380638 Centerline is valid? [True, True] Translation: X:174.80, Y:-27.21, Z:-7.59 [[ 9.79103403e-01 2.01085968e-01 3.03473330e-02 1.74802205e+02] [-2.00992865e-01 9.79573592e-01 -6.11936294e-03 -2.72102945e+01] [-3.09579640e-02 -1.08108313e-04 9.99520682e-01 -7.58529633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38264000000004 meters 0.012391921694675241 Centerline is valid? [True, True] Translation: X:174.83, Y:-27.22, Z:-7.59 [[ 9.79704911e-01 1.98088615e-01 3.06461737e-02 1.74829364e+02] [-1.97992240e-01 9.80184116e-01 -6.17840988e-03 -2.72192577e+01] [-3.12627653e-02 -1.46860537e-05 9.99511200e-01 -7.58834678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.41264000000004 meters 0.012890698034300117 Centerline is valid? [True, True] Translation: X:174.86, Y:-27.23, Z:-7.59 [[ 9.80627319e-01 1.93480171e-01 3.05857054e-02 1.74857017e+02] [-1.93381975e-01 9.81104177e-01 -6.16487466e-03 -2.72310360e+01] [-3.12005443e-02 1.30720394e-04 9.99513136e-01 -7.58866332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44264000000004 meters 0.023930763498117312 Centerline is valid? [True, True] Translation: X:174.89, Y:-27.24, Z:-7.59 [[ 9.80904159e-01 1.92056177e-01 3.06831422e-02 1.74886764e+02] [-1.91956691e-01 9.81383918e-01 -6.18341653e-03 -2.72389178e+01] [-3.12995057e-02 1.75504556e-04 9.99510035e-01 -7.58894389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.47264000000004 meters 0.014214737501919686 Centerline is valid? [True, True] Translation: X:174.92, Y:-27.25, Z:-7.59 [[ 9.81158662e-01 1.90877525e-01 2.98906552e-02 1.74915999e+02] [-1.90782566e-01 9.81613838e-01 -6.02371068e-03 -2.72473080e+01] [-3.04908717e-02 2.07600014e-04 9.99535024e-01 -7.59214838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.50264000000004 meters 0.014334438328413624 Centerline is valid? [True, True] Translation: X:174.94, Y:-27.25, Z:-7.59 [[ 9.81131096e-01 1.91082581e-01 2.94825226e-02 1.74944562e+02] [-1.90990296e-01 9.81573944e-01 -5.94130281e-03 -2.72527305e+01] [-3.00745554e-02 1.98321241e-04 9.99547639e-01 -7.59458717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.53264000000001 meters 0.02431361572484458 Centerline is valid? [True, True] Translation: X:174.97, Y:-27.26, Z:-7.59 [[ 9.80982269e-01 1.91811528e-01 2.97006106e-02 1.74974832e+02] [-1.91718191e-01 9.81431763e-01 -5.98575574e-03 -2.72566893e+01] [-3.02972596e-02 1.77772915e-04 9.99540917e-01 -7.59430136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.56264000000002 meters 0.013505699852461625 Centerline is valid? [True, True] Translation: X:175.00, Y:-27.26, Z:-7.60 [[ 9.80657570e-01 1.93490908e-01 2.95296364e-02 1.75004262e+02] [-1.93399398e-01 9.81102060e-01 -5.95147316e-03 -2.72597870e+01] [-3.01231430e-02 1.25343307e-04 9.99546187e-01 -7.59813907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.59264000000002 meters 0.03316128160994399 Centerline is valid? [True, True] Translation: X:175.03, Y:-27.26, Z:-7.60 [[ 9.80415355e-01 1.94683220e-01 2.97350880e-02 1.75033393e+02] [-1.94590987e-01 9.80866166e-01 -5.99266867e-03 -2.72640693e+01] [-3.03328138e-02 8.91242636e-05 9.99539850e-01 -7.59691759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.62264000000002 meters 0.012720794627592331 Centerline is valid? [True, True] Translation: X:175.06, Y:-27.27, Z:-7.60 [[ 9.80093407e-01 1.96431031e-01 2.88403191e-02 1.75061427e+02] [-1.96345038e-01 9.80517643e-01 -5.81181863e-03 -2.72677900e+01] [-2.94200632e-02 3.34715707e-05 9.99567136e-01 -7.60075825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.65264000000002 meters 0.012474027168432267 Centerline is valid? [True, True] Translation: X:175.09, Y:-27.27, Z:-7.60 [[ 9.79932681e-01 1.97203861e-01 2.90272081e-02 1.75090745e+02] [-1.97117127e-01 9.80362503e-01 -5.84818473e-03 -2.72730448e+01] [-2.96104710e-02 9.06748371e-06 9.99561514e-01 -7.60154865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.68264000000002 meters 0.012557448632577514 Centerline is valid? [True, True] Translation: X:175.12, Y:-27.28, Z:-7.60 [[ 9.79790490e-01 1.97868711e-01 2.93013523e-02 1.75118650e+02] [-1.97780645e-01 9.80228531e-01 -5.90283067e-03 -2.72789420e+01] [-2.98900070e-02 -1.17030048e-05 9.99553194e-01 -7.60281198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71264000000002 meters 0.014563094979360074 Centerline is valid? [True, True] Translation: X:175.15, Y:-27.28, Z:-7.60 [[ 9.79491227e-01 1.99212154e-01 3.01902972e-02 1.75147947e+02] [-1.99119319e-01 9.79956384e-01 -6.08129666e-03 -2.72824157e+01] [-3.07966427e-02 -5.48946905e-05 9.99525669e-01 -7.60115796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74264000000002 meters 0.012335115351725316 Centerline is valid? [True, True] Translation: X:175.18, Y:-27.29, Z:-7.60 [[ 9.79393680e-01 1.99693976e-01 3.01717759e-02 1.75176019e+02] [-1.99601574e-01 9.79858312e-01 -6.07461574e-03 -2.72868112e+01] [-3.07771296e-02 -7.28937011e-05 9.99526269e-01 -7.60241292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77264000000002 meters 0.012812588726775653 Centerline is valid? [True, True] Translation: X:175.20, Y:-27.29, Z:-7.60 [[ 9.79236697e-01 2.00386263e-01 3.06730720e-02 1.75203866e+02] [-2.00291154e-01 9.79716967e-01 -6.17393457e-03 -2.72916702e+01] [-3.12881007e-02 -9.78016881e-05 9.99510403e-01 -7.60439407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80264000000003 meters 0.012580714172109077 Centerline is valid? [True, True] Translation: X:175.23, Y:-27.30, Z:-7.60 [[ 9.79183764e-01 2.00612873e-01 3.08809429e-02 1.75232423e+02] [-2.00516633e-01 9.79670589e-01 -6.21417247e-03 -2.72972689e+01] [-3.14997945e-02 -1.07325912e-04 9.99503753e-01 -7.60408443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.83264000000003 meters 0.012917376085032775 Centerline is valid? [True, True] Translation: X:175.26, Y:-27.30, Z:-7.61 [[ 9.79197970e-01 2.00532964e-01 3.09494098e-02 1.75259647e+02] [-2.00436302e-01 9.79686950e-01 -6.22653279e-03 -2.73019306e+01] [-3.15693579e-02 -1.06376977e-04 9.99501558e-01 -7.60673950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86264000000003 meters 0.012764264462374645 Centerline is valid? [True, True] Translation: X:175.29, Y:-27.31, Z:-7.61 [[ 9.79252250e-01 2.00319568e-01 3.06120991e-02 1.75287427e+02] [-2.00224963e-01 9.79730606e-01 -6.15661449e-03 -2.73082291e+01] [-3.12249008e-02 -1.00427811e-04 9.99512379e-01 -7.60846220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.89264000000003 meters 0.01887330445318882 Centerline is valid? [True, True] Translation: X:175.32, Y:-27.31, Z:-7.61 [[ 9.79238284e-01 2.00338589e-01 3.09327242e-02 1.75315301e+02] [-2.00242048e-01 9.79726717e-01 -6.21956766e-03 -2.73147677e+01] [-3.15516357e-02 -1.03593283e-04 9.99502118e-01 -7.60753347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92264000000003 meters 0.01887330445318882 Centerline is valid? [True, True] Translation: X:175.34, Y:-27.32, Z:-7.61 [[ 9.79248069e-01 2.00290709e-01 3.09330281e-02 1.75343068e+02] [-2.00194192e-01 9.79736506e-01 -6.21805548e-03 -2.73202591e+01] [-3.15516356e-02 -1.03593754e-04 9.99502118e-01 -7.60878266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.95264000000003 meters 0.01309625111898138 Centerline is valid? [True, True] Translation: X:175.37, Y:-27.33, Z:-7.61 [[ 9.79219975e-01 2.00598051e-01 2.98104372e-02 1.75370233e+02] [-2.00508595e-01 9.79673624e-01 -5.99112600e-03 -2.73250250e+01] [-3.04063072e-02 -1.10618624e-04 9.99537615e-01 -7.61301459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98264000000003 meters 0.012840353626836507 Centerline is valid? [True, True] Translation: X:175.40, Y:-27.33, Z:-7.61 [[ 9.79100669e-01 2.01116644e-01 3.02320226e-02 1.75398393e+02] [-2.01024951e-01 9.79567291e-01 -6.07375212e-03 -2.73308068e+01] [-3.08358331e-02 -1.30576100e-04 9.99524454e-01 -7.61268659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.01264000000003 meters 0.013639894026268909 Centerline is valid? [True, True] Translation: X:175.43, Y:-27.33, Z:-7.61 [[ 9.78815603e-01 2.02372525e-01 3.10705037e-02 1.75426008e+02] [-2.02276354e-01 9.79308598e-01 -6.24069601e-03 -2.73340758e+01] [-3.16905568e-02 -1.76337584e-04 9.99497713e-01 -7.61297923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04264000000003 meters 0.014263395040396554 Centerline is valid? [True, True] Translation: X:175.45, Y:-27.34, Z:-7.61 [[ 9.78663190e-01 2.03050599e-01 3.14454243e-02 1.75454025e+02] [-2.02952510e-01 9.79168225e-01 -6.31391957e-03 -2.73365857e+01] [-3.20724055e-02 -2.02727133e-04 9.99485528e-01 -7.61429572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.07264000000004 meters 0.014746529242961643 Centerline is valid? [True, True] Translation: X:175.48, Y:-27.34, Z:-7.62 [[ 9.78480146e-01 2.03867660e-01 3.18524861e-02 1.75483298e+02] [-2.03767516e-01 9.78998428e-01 -6.39352306e-03 -2.73395884e+01] [-3.24869664e-02 -2.34566590e-04 9.99472132e-01 -7.61518553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10264000000004 meters 0.02924554980701901 Centerline is valid? [True, True] Translation: X:175.51, Y:-27.34, Z:-7.62 [[ 9.78096000e-01 2.05617556e-01 3.23980719e-02 1.75512242e+02] [-2.05514964e-01 9.78632378e-01 -6.50141934e-03 -2.73408937e+01] [-3.30426081e-02 -2.99276318e-04 9.99453899e-01 -7.61596292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.13264000000004 meters 0.016221105202451187 Centerline is valid? [True, True] Translation: X:175.54, Y:-27.35, Z:-7.62 [[ 9.78000984e-01 2.06277896e-01 3.10403860e-02 1.75540362e+02] [-2.06184101e-01 9.78493400e-01 -6.22757072e-03 -2.73452480e+01] [-3.16574230e-02 -3.09463788e-04 9.99498730e-01 -7.61881397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16264000000004 meters 0.028240271919951775 Centerline is valid? [True, True] Translation: X:175.57, Y:-27.35, Z:-7.62 [[ 9.77763693e-01 2.07403292e-01 3.10166883e-02 1.75569560e+02] [-2.07310255e-01 9.78255464e-01 -6.22126985e-03 -2.73481069e+01] [-3.16325566e-02 -3.47145788e-04 9.99499505e-01 -7.61958524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.19264000000004 meters 0.017529631419421213 Centerline is valid? [True, True] Translation: X:175.60, Y:-27.35, Z:-7.62 [[ 9.77797642e-01 2.07268088e-01 3.08498045e-02 1.75597245e+02] [-2.07176027e-01 9.78284122e-01 -6.18638942e-03 -2.73521250e+01] [-3.14621150e-02 -3.42302934e-04 9.99504887e-01 -7.62277770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22264000000004 meters 0.02666792987025399 Centerline is valid? [True, True] Translation: X:175.63, Y:-27.36, Z:-7.62 [[ 9.77814158e-01 2.07087446e-01 3.15319348e-02 1.75625328e+02] [-2.06991243e-01 9.78322375e-01 -6.32101499e-03 -2.73592697e+01] [-3.21574002e-02 -3.46056449e-04 9.99482757e-01 -7.61971618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.25264000000004 meters 0.01518826638203421 Centerline is valid? [True, True] Translation: X:175.65, Y:-27.36, Z:-7.62 [[ 9.78196130e-01 2.05283990e-01 3.14772001e-02 1.75652158e+02] [-2.05187236e-01 9.78702407e-01 -6.30853029e-03 -2.73640686e+01] [-3.21018518e-02 -2.87739779e-04 9.99484561e-01 -7.62307521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.28264000000001 meters 0.014744189962548395 Centerline is valid? [True, True] Translation: X:175.68, Y:-27.37, Z:-7.63 [[ 9.78480294e-01 2.03918147e-01 3.15230752e-02 1.75679212e+02] [-2.03820470e-01 9.78987911e-01 -6.31562065e-03 -2.73696023e+01] [-3.21485792e-02 -2.45337658e-04 9.99483071e-01 -7.62565648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.31264000000002 meters 0.013570663045545352 Centerline is valid? [True, True] Translation: X:175.71, Y:-27.38, Z:-7.63 [[ 9.78770852e-01 2.02488836e-01 3.17157691e-02 1.75706974e+02] [-2.02389281e-01 9.79284550e-01 -6.35203697e-03 -2.73772218e+01] [-3.23449792e-02 -2.01743074e-04 9.99476744e-01 -7.62664262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.34264000000002 meters 0.012073958777818668 Centerline is valid? [True, True] Translation: X:175.73, Y:-27.39, Z:-7.63 [[ 9.79324514e-01 1.99755428e-01 3.19572526e-02 1.75734257e+02] [-1.99652948e-01 9.79845782e-01 -6.39877931e-03 -2.73873838e+01] [-3.25913700e-02 -1.13878258e-04 9.99468754e-01 -7.62773995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.37264000000002 meters 0.011833376280953201 Centerline is valid? [True, True] Translation: X:175.76, Y:-27.39, Z:-7.63 [[ 9.79572277e-01 1.98542103e-01 3.19247130e-02 1.75761756e+02] [-1.98439236e-01 9.80092357e-01 -6.39076133e-03 -2.73938378e+01] [-3.25580024e-02 -7.49030403e-05 9.99469845e-01 -7.62901866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.40264000000002 meters 0.03283882266263884 Centerline is valid? [True, True] Translation: X:175.79, Y:-27.40, Z:-7.63 [[ 9.79809588e-01 1.97359779e-01 3.19732541e-02 1.75788499e+02] [-1.97256038e-01 9.80331126e-01 -6.39840863e-03 -2.73994124e+01] [-3.26071647e-02 -3.76952802e-05 9.99468244e-01 -7.63061995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.43264000000002 meters 0.012360164308360401 Centerline is valid? [True, True] Translation: X:175.82, Y:-27.41, Z:-7.63 [[ 9.79950283e-01 1.96808768e-01 3.10443473e-02 1.75816433e+02] [-1.96710757e-01 9.80441894e-01 -6.21046561e-03 -2.74055008e+01] [-3.16594528e-02 -2.08095291e-05 9.99498714e-01 -7.63395252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46264000000002 meters 0.01190391096853679 Centerline is valid? [True, True] Translation: X:175.84, Y:-27.41, Z:-7.63 [[ 9.80023834e-01 1.96414823e-01 3.12170312e-02 1.75844763e+02] [-1.96315566e-01 9.80520891e-01 -6.24350663e-03 -2.74118159e+01] [-3.18352685e-02 -9.60383236e-06 9.99493129e-01 -7.63361511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49264000000002 meters 0.012177566640884657 Centerline is valid? [True, True] Translation: X:175.87, Y:-27.42, Z:-7.64 [[ 9.80032060e-01 1.96328376e-01 3.15012677e-02 1.75872454e+02] [-1.96227310e-01 9.80538204e-01 -6.29873057e-03 -2.74174834e+01] [-3.21248159e-02 -8.45113496e-06 9.99483865e-01 -7.63582705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52264000000002 meters 0.01156584956324207 Centerline is valid? [True, True] Translation: X:175.90, Y:-27.42, Z:-7.64 [[ 9.80074042e-01 1.96025380e-01 3.20768337e-02 1.75900462e+02] [-1.95920478e-01 9.80598822e-01 -6.41215824e-03 -2.74232669e+01] [-3.27114511e-02 -1.18755347e-07 9.99464837e-01 -7.63501356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.55264000000003 meters 0.011745252538801558 Centerline is valid? [True, True] Translation: X:175.93, Y:-27.43, Z:-7.64 [[ 9.80101880e-01 1.95848651e-01 3.23049601e-02 1.75928000e+02] [-1.95742216e-01 9.80634134e-01 -6.45595509e-03 -2.74292042e+01] [-3.29437367e-02 4.04924544e-06 9.99457208e-01 -7.63691447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58264000000003 meters 0.011591463139929271 Centerline is valid? [True, True] Translation: X:175.96, Y:-27.44, Z:-7.64 [[ 9.80278556e-01 1.94904248e-01 3.26540484e-02 1.75956783e+02] [-1.94795022e-01 9.80822274e-01 -6.52431934e-03 -2.74367516e+01] [-3.32994356e-02 3.48042721e-05 9.99445419e-01 -7.63726329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.61264000000003 meters 0.028287794263546495 Centerline is valid? [True, True] Translation: X:175.99, Y:-27.44, Z:-7.64 [[ 9.80474962e-01 1.93908525e-01 3.26853511e-02 1.75985248e+02] [-1.93798562e-01 9.81019612e-01 -6.52975558e-03 -2.74439795e+01] [-3.33311457e-02 6.78878022e-05 9.99444361e-01 -7.63826403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64264000000003 meters 0.012092386125065278 Centerline is valid? [True, True] Translation: X:176.01, Y:-27.45, Z:-7.64 [[ 9.80723165e-01 1.92805086e-01 3.17532955e-02 1.76013658e+02] [-1.92700754e-01 9.81237070e-01 -6.34278576e-03 -2.74506617e+01] [-3.23804320e-02 1.01632933e-04 9.99475611e-01 -7.64178782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.67264000000003 meters 0.013142251352756752 Centerline is valid? [True, True] Translation: X:176.04, Y:-27.46, Z:-7.65 [[ 9.80912256e-01 1.91955500e-01 3.10520923e-02 1.76042495e+02] [-1.91855338e-01 9.81403623e-01 -6.20151548e-03 -2.74584053e+01] [-3.16650509e-02 1.25632859e-04 9.99498529e-01 -7.64572893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70264000000003 meters 0.013667131744210213 Centerline is valid? [True, True] Translation: X:176.07, Y:-27.47, Z:-7.65 [[ 9.81114973e-01 1.90902396e-01 3.11397514e-02 1.76071393e+02] [-1.90801115e-01 9.81609010e-01 -6.21975087e-03 -2.74663493e+01] [-3.17544259e-02 1.60791418e-04 9.99495688e-01 -7.64767681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.73264000000003 meters 0.02837445049198642 Centerline is valid? [True, True] Translation: X:176.10, Y:-27.48, Z:-7.65 [[ 9.81382374e-01 1.89360579e-01 3.21124198e-02 1.76100031e+02] [-1.89252070e-01 9.81907595e-01 -6.41322874e-03 -2.74752636e+01] [-3.27458416e-02 2.16487720e-04 9.99463688e-01 -7.64527629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76264000000003 meters 0.025798301319088512 Centerline is valid? [True, True] Translation: X:176.13, Y:-27.48, Z:-7.64 [[ 9.81527078e-01 1.88467934e-01 3.29307352e-02 1.76129593e+02] [-1.88353357e-01 9.82079312e-01 -6.57558130e-03 -2.74821567e+01] [-3.35798800e-02 2.51496562e-04 9.99436005e-01 -7.64363781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.79264000000003 meters 0.024789078074113485 Centerline is valid? [True, True] Translation: X:176.16, Y:-27.49, Z:-7.64 [[ 9.81793991e-01 1.86805912e-01 3.44108952e-02 1.76160785e+02] [-1.86679835e-01 9.82396788e-01 -6.86954597e-03 -2.74927970e+01] [-3.50884247e-02 3.20658704e-04 9.99384160e-01 -7.64205231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82264000000004 meters 0.016126488988400724 Centerline is valid? [True, True] Translation: X:176.19, Y:-27.50, Z:-7.64 [[ 9.81962549e-01 1.85872631e-01 3.46542588e-02 1.76190134e+02] [-1.85743956e-01 9.82573780e-01 -6.92455857e-03 -2.75029086e+01] [-3.53374520e-02 3.62838068e-04 9.99375371e-01 -7.64467735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.85264000000004 meters 0.0299552895547558 Centerline is valid? [True, True] Translation: X:176.22, Y:-27.51, Z:-7.64 [[ 9.82013656e-01 1.85496746e-01 3.52155807e-02 1.76220718e+02] [-1.85363391e-01 9.82644801e-01 -7.04326294e-03 -2.75111723e+01] [-3.59109097e-02 3.88900936e-04 9.99354920e-01 -7.64487783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88264000000004 meters 0.017760366054559572 Centerline is valid? [True, True] Translation: X:176.25, Y:-27.52, Z:-7.65 [[ 9.82247311e-01 1.84534280e-01 3.37241815e-02 1.76251421e+02] [-1.84411336e-01 9.82825993e-01 -6.74731402e-03 -2.75204873e+01] [-3.43901129e-02 4.08409665e-04 9.99408402e-01 -7.64921940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.91264000000004 meters 0.01787070210988249 Centerline is valid? [True, True] Translation: X:176.28, Y:-27.53, Z:-7.65 [[ 9.82265015e-01 1.84521403e-01 3.32760054e-02 1.76282558e+02] [-1.84401509e-01 9.82828411e-01 -6.66322379e-03 -2.75286640e+01] [-3.39341109e-02 4.08906008e-04 9.99423989e-01 -7.65160188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.94264000000004 meters 0.01899436315254305 Centerline is valid? [True, True] Translation: X:176.31, Y:-27.54, Z:-7.65 [[ 9.82238671e-01 1.84845094e-01 3.22410295e-02 1.76313470e+02] [-1.84732546e-01 9.82767591e-01 -6.46124362e-03 -2.75366802e+01] [-3.28797681e-02 3.90515887e-04 9.99459238e-01 -7.65304310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.97264000000004 meters 0.026671190615361565 Centerline is valid? [True, True] Translation: X:176.34, Y:-27.54, Z:-7.65 [[ 9.82159459e-01 1.85343453e-01 3.17899469e-02 1.76344765e+02] [-1.85234095e-01 9.82673732e-01 -6.37698029e-03 -2.75438838e+01] [-3.24210773e-02 3.74629480e-04 9.99474228e-01 -7.65494050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.00264000000004 meters 0.016947500165705787 Centerline is valid? [True, True] Translation: X:176.38, Y:-27.55, Z:-7.66 [[ 9.82074460e-01 1.85902498e-01 3.11450773e-02 1.76376180e+02] [-1.85797711e-01 9.82568134e-01 -6.25085340e-03 -2.75502639e+01] [-3.17642097e-02 3.52119407e-04 9.99495328e-01 -7.65780035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.03264000000001 meters 0.016081486384963643 Centerline is valid? [True, True] Translation: X:176.41, Y:-27.56, Z:-7.66 [[ 9.81832234e-01 1.87232599e-01 3.08126305e-02 1.76407503e+02] [-1.87130524e-01 9.82315559e-01 -6.18947557e-03 -2.75562570e+01] [-3.14265980e-02 3.11042924e-04 9.99506014e-01 -7.65982011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.06264000000002 meters 0.01613360730556435 Centerline is valid? [True, True] Translation: X:176.44, Y:-27.56, Z:-7.66 [[ 9.81654066e-01 1.88144784e-01 3.09327367e-02 1.76437892e+02] [-1.88042186e-01 9.82141261e-01 -6.21925649e-03 -2.75631842e+01] [-3.15504378e-02 2.88498966e-04 9.99502119e-01 -7.66253960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.09264000000002 meters 0.014310478434641335 Centerline is valid? [True, True] Translation: X:176.47, Y:-27.57, Z:-7.66 [[ 9.81216263e-01 1.90425517e-01 3.08669484e-02 1.76468426e+02] [-1.90324271e-01 9.81701621e-01 -6.21275813e-03 -2.75682203e+01] [-3.14852009e-02 2.21329856e-04 9.99504194e-01 -7.66398821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.12264000000002 meters 0.013441146376326138 Centerline is valid? [True, True] Translation: X:176.50, Y:-27.57, Z:-7.67 [[ 9.80919780e-01 1.91939902e-01 3.09104860e-02 1.76498933e+02] [-1.91839088e-01 9.81406666e-01 -6.22259954e-03 -2.75729399e+01] [-3.15301222e-02 1.74031533e-04 9.99502787e-01 -7.66541674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.15264000000002 meters 0.0121023189600595 Centerline is valid? [True, True] Translation: X:176.53, Y:-27.57, Z:-7.67 [[ 9.80195420e-01 1.95542416e-01 3.13065702e-02 1.76528372e+02] [-1.95440832e-01 9.80695243e-01 -6.30248316e-03 -2.75740858e+01] [-3.19346073e-02 5.90829969e-05 9.99489959e-01 -7.66676282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.18264000000002 meters 0.011964668697320362 Centerline is valid? [True, True] Translation: X:176.56, Y:-27.58, Z:-7.67 [[ 9.79743925e-01 1.97800742e-01 3.12523226e-02 1.76558065e+02] [-1.97700665e-01 9.80242249e-01 -6.29132188e-03 -2.75763471e+01] [-3.18792751e-02 -1.47205594e-05 9.99491727e-01 -7.66775749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21264000000002 meters 0.012591515624443219 Centerline is valid? [True, True] Translation: X:176.59, Y:-27.58, Z:-7.67 [[ 9.79205961e-01 2.00470336e-01 3.11019442e-02 1.76586393e+02] [-2.00372576e-01 9.79699767e-01 -6.26073183e-03 -2.75769739e+01] [-3.17256585e-02 -1.01430740e-04 9.99496609e-01 -7.66900457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24264000000002 meters 0.02678901563214839 Centerline is valid? [True, True] Translation: X:176.62, Y:-27.57, Z:-7.67 [[ 9.78025605e-01 2.06129725e-01 3.12482506e-02 1.76616754e+02] [-2.06033993e-01 9.78524631e-01 -6.28810842e-03 -2.75707326e+01] [-3.18733489e-02 -2.88270807e-04 9.99491874e-01 -7.66883656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27264000000002 meters 0.018168856630217972 Centerline is valid? [True, True] Translation: X:176.65, Y:-27.57, Z:-7.67 [[ 9.77534422e-01 2.08404718e-01 3.15266210e-02 1.76645860e+02] [-2.08308505e-01 9.78042606e-01 -6.34257288e-03 -2.75719322e+01] [-3.21562006e-02 -3.67179965e-04 9.99482788e-01 -7.67177359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30264000000003 meters 0.021602018000692568 Centerline is valid? [True, True] Translation: X:176.68, Y:-27.57, Z:-7.67 [[ 9.76754620e-01 2.11977661e-01 3.18729298e-02 1.76675784e+02] [-2.11881273e-01 9.77274388e-01 -6.41066937e-03 -2.75709254e+01] [-3.25075167e-02 -4.91626025e-04 9.99471370e-01 -7.67260205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.33264000000003 meters 0.022736352654118146 Centerline is valid? [True, True] Translation: X:176.70, Y:-27.57, Z:-7.67 [[ 9.76573645e-01 2.12789864e-01 3.20061001e-02 1.76703217e+02] [-2.12693147e-01 9.77097846e-01 -6.43615954e-03 -2.75729894e+01] [-3.26426410e-02 -5.22094364e-04 9.99466951e-01 -7.67403957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36264000000003 meters 0.023018688611416538 Centerline is valid? [True, True] Translation: X:176.73, Y:-27.58, Z:-7.68 [[ 9.76496351e-01 2.13129860e-01 3.21020302e-02 1.76731694e+02] [-2.13032830e-01 9.77023733e-01 -6.45285726e-03 -2.75764675e+01] [-3.27397420e-02 -5.37594787e-04 9.99463766e-01 -7.67527570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.39264000000003 meters 0.021225824031051034 Centerline is valid? [True, True] Translation: X:176.76, Y:-27.58, Z:-7.68 [[ 9.76673038e-01 2.12321461e-01 3.20838623e-02 1.76760248e+02] [-2.12224156e-01 9.77199742e-01 -6.44767957e-03 -2.75829870e+01] [-3.27213227e-02 -5.11695790e-04 9.99464383e-01 -7.67588370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42264000000003 meters 0.02634217523087265 Centerline is valid? [True, True] Translation: X:176.79, Y:-27.59, Z:-7.68 [[ 9.76819954e-01 2.11641805e-01 3.21017825e-02 1.76788354e+02] [-2.11544072e-01 9.77347178e-01 -6.44981742e-03 -2.75863396e+01] [-3.27396376e-02 -4.90631439e-04 9.99463794e-01 -7.67725626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.45264000000003 meters 0.018626242827485075 Centerline is valid? [True, True] Translation: X:176.82, Y:-27.59, Z:-7.68 [[ 9.77272849e-01 2.09464474e-01 3.25946744e-02 1.76816527e+02] [-2.09362577e-01 9.77816165e-01 -6.54665813e-03 -2.75939857e+01] [-3.32428918e-02 -4.26233789e-04 9.99447211e-01 -7.67736597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48264000000003 meters 0.018129487701171076 Centerline is valid? [True, True] Translation: X:176.84, Y:-27.60, Z:-7.68 [[ 9.77480010e-01 2.08441317e-01 3.29400615e-02 1.76844238e+02] [-2.08336719e-01 9.78034795e-01 -6.61449943e-03 -2.75992780e+01] [-3.35952613e-02 -3.97083385e-04 9.99435441e-01 -7.67858472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.51264000000003 meters 0.017081066154043496 Centerline is valid? [True, True] Translation: X:176.87, Y:-27.61, Z:-7.68 [[ 9.77698822e-01 2.07355962e-01 3.32944195e-02 1.76872578e+02] [-2.07248547e-01 9.78265491e-01 -6.68344539e-03 -2.76059902e+01] [-3.39566339e-02 -3.65823372e-04 9.99423240e-01 -7.67936418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54264000000003 meters 0.015579226382746251 Centerline is valid? [True, True] Translation: X:176.90, Y:-27.61, Z:-7.68 [[ 9.78081322e-01 2.05490536e-01 3.36239103e-02 1.76900127e+02] [-2.05379939e-01 9.78659055e-01 -6.74792534e-03 -2.76130639e+01] [-3.42929791e-02 -3.05656925e-04 9.99411776e-01 -7.67995274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.57264000000004 meters 0.01534587041979813 Centerline is valid? [True, True] Translation: X:176.93, Y:-27.62, Z:-7.68 [[ 9.78230467e-01 2.04830525e-01 3.33108031e-02 1.76927507e+02] [-2.04721646e-01 9.78797414e-01 -6.68360988e-03 -2.76179571e+01] [-3.39735352e-02 -2.81331641e-04 9.99422693e-01 -7.68171691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60264000000004 meters 0.01390495299338116 Centerline is valid? [True, True] Translation: X:176.96, Y:-27.62, Z:-7.68 [[ 9.78466465e-01 2.03747297e-01 3.30214568e-02 1.76955829e+02] [-2.03639755e-01 9.79023483e-01 -6.62347686e-03 -2.76223323e+01] [-3.36782971e-02 -2.43631374e-04 9.99432696e-01 -7.68160292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.63264000000004 meters 0.013247979300915546 Centerline is valid? [True, True] Translation: X:176.98, Y:-27.63, Z:-7.68 [[ 9.78669368e-01 2.02738675e-01 3.32159131e-02 1.76984501e+02] [-2.02629328e-01 9.79232855e-01 -6.66111454e-03 -2.76282697e+01] [-3.38765790e-02 -2.11489400e-04 9.99426002e-01 -7.68304884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66264000000004 meters 0.012665346305807625 Centerline is valid? [True, True] Translation: X:177.01, Y:-27.63, Z:-7.68 [[ 9.78864700e-01 2.01806618e-01 3.31359163e-02 1.77012679e+02] [-2.01697366e-01 9.79425370e-01 -6.64203340e-03 -2.76349906e+01] [-3.37945633e-02 -1.81775006e-04 9.99428784e-01 -7.68430454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.69264000000004 meters 0.012378048990918161 Centerline is valid? [True, True] Translation: X:177.04, Y:-27.64, Z:-7.69 [[ 9.79026749e-01 2.01064505e-01 3.28586256e-02 1.77041425e+02] [-2.00956712e-01 9.79577991e-01 -6.58479749e-03 -2.76401600e+01] [-3.35115555e-02 -1.56468459e-04 9.99438318e-01 -7.68620170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.72264000000004 meters 0.012526182944242062 Centerline is valid? [True, True] Translation: X:177.07, Y:-27.64, Z:-7.69 [[ 9.79214365e-01 2.00315492e-01 3.18265803e-02 1.77069183e+02] [-2.00214016e-01 9.79731436e-01 -6.37656738e-03 -2.76426923e+01] [-3.24588264e-02 -1.28101063e-04 9.99473065e-01 -7.68964675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.75264000000004 meters 0.012360916781101199 Centerline is valid? [True, True] Translation: X:177.10, Y:-27.65, Z:-7.69 [[ 9.79242899e-01 2.00223536e-01 3.15258579e-02 1.77097507e+02] [-2.00123989e-01 9.79750233e-01 -6.31421135e-03 -2.76475558e+01] [-3.21517203e-02 -1.25933799e-04 9.99482992e-01 -7.69045618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.78264000000001 meters 0.012895078795268303 Centerline is valid? [True, True] Translation: X:177.13, Y:-27.65, Z:-7.69 [[ 9.79224475e-01 2.00295472e-01 3.16409715e-02 1.77125888e+02] [-2.00195282e-01 9.79735529e-01 -6.33578635e-03 -2.76485855e+01] [-3.22688133e-02 -1.30216155e-04 9.99479218e-01 -7.69284568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.81264000000002 meters 0.012895078795268303 Centerline is valid? [True, True] Translation: X:177.15, Y:-27.65, Z:-7.69 [[ 9.79238611e-01 2.00226293e-01 3.16413358e-02 1.77152848e+02] [-2.00126126e-01 9.79749669e-01 -6.33396650e-03 -2.76538435e+01] [-3.22688149e-02 -1.29793397e-04 9.99479218e-01 -7.69405802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.84264000000002 meters 0.012814555619180976 Centerline is valid? [True, True] Translation: X:177.18, Y:-27.66, Z:-7.69 [[ 9.79230373e-01 2.00252298e-01 3.17315738e-02 1.77180781e+02] [-2.00151647e-01 9.79744354e-01 -6.34970089e-03 -2.76568343e+01] [-3.23603725e-02 -1.33306792e-04 9.99476257e-01 -7.69475732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.87264000000002 meters 0.012542876676077211 Centerline is valid? [True, True] Translation: X:177.21, Y:-27.66, Z:-7.70 [[ 9.79242665e-01 2.00112638e-01 3.22294235e-02 1.77209405e+02] [-2.00008817e-01 9.79772889e-01 -6.44660675e-03 -2.76604963e+01] [-3.28675629e-02 -1.33376492e-04 9.99459707e-01 -7.69549658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.90264000000002 meters 0.023224005403333577 Centerline is valid? [True, True] Translation: X:177.24, Y:-27.66, Z:-7.70 [[ 9.79407420e-01 1.99311578e-01 3.21869709e-02 1.77237226e+02] [-1.99207643e-01 9.79936163e-01 -6.43676337e-03 -2.76627131e+01] [-3.28240982e-02 -1.07676789e-04 9.99461138e-01 -7.69595324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.93264000000002 meters 0.021881971347660147 Centerline is valid? [True, True] Translation: X:177.27, Y:-27.67, Z:-7.70 [[ 9.79529103e-01 1.98783096e-01 3.17492832e-02 1.77265374e+02] [-1.98681773e-01 9.80043505e-01 -6.34671481e-03 -2.76665668e+01] [-3.23772984e-02 -9.12120061e-05 9.99475714e-01 -7.69796566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96264000000002 meters 0.011573456068691658 Centerline is valid? [True, True] Translation: X:177.29, Y:-27.67, Z:-7.70 [[ 9.79896669e-01 1.96964113e-01 3.17435911e-02 1.77293980e+02] [-1.96861922e-01 9.80410698e-01 -6.34404067e-03 -2.76703168e+01] [-3.23713047e-02 -3.26000211e-05 9.99475911e-01 -7.69995744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99264000000002 meters 0.011769269783737558 Centerline is valid? [True, True] Translation: X:177.32, Y:-27.68, Z:-7.70 [[ 9.80169459e-01 1.95596771e-01 3.17763271e-02 1.77320647e+02] [-1.95493698e-01 9.80684405e-01 -6.34909440e-03 -2.76759382e+01] [-3.24044108e-02 1.11167250e-05 9.99474839e-01 -7.70241393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02264000000002 meters 0.012383330761586939 Centerline is valid? [True, True] Translation: X:177.35, Y:-27.68, Z:-7.70 [[ 9.80564274e-01 1.93688920e-01 3.12778872e-02 1.77347817e+02] [-1.93588146e-01 9.81062994e-01 -6.24760721e-03 -2.76829426e+01] [-3.18956699e-02 7.11522526e-05 9.99491201e-01 -7.70486637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.05264000000003 meters 0.0145637475939625 Centerline is valid? [True, True] Translation: X:177.37, Y:-27.69, Z:-7.71 [[ 9.81435832e-01 1.89351054e-01 3.04940206e-02 1.77374534e+02] [-1.89253238e-01 9.81909434e-01 -6.08895676e-03 -2.76916490e+01] [-3.10953169e-02 2.04828215e-04 9.99516403e-01 -7.70794666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08264000000003 meters 0.014780494236040042 Centerline is valid? [True, True] Translation: X:177.40, Y:-27.70, Z:-7.71 [[ 9.81890962e-01 1.87047300e-01 3.00573948e-02 1.77402377e+02] [-1.86951240e-01 9.82350871e-01 -6.00005331e-03 -2.76972697e+01] [-3.06492018e-02 2.72130884e-04 9.99530166e-01 -7.70669278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.11264000000003 meters 0.0170603034886833 Centerline is valid? [True, True] Translation: X:177.43, Y:-27.71, Z:-7.71 [[ 9.82214713e-01 1.85322340e-01 3.01643461e-02 1.77429896e+02] [-1.85224852e-01 9.82677732e-01 -6.01909489e-03 -2.77058833e+01] [-3.07573040e-02 3.24857024e-04 9.99526829e-01 -7.71000662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14264000000003 meters 0.019263295517072395 Centerline is valid? [True, True] Translation: X:177.46, Y:-27.72, Z:-7.71 [[ 9.82811687e-01 1.82087241e-01 3.04207943e-02 1.77458635e+02] [-1.81986580e-01 9.83282286e-01 -6.06890282e-03 -2.77150579e+01] [-3.10172979e-02 4.28412306e-04 9.99518756e-01 -7.70949510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.17264000000003 meters 0.020950892591858786 Centerline is valid? [True, True] Translation: X:177.49, Y:-27.72, Z:-7.71 [[ 9.82974364e-01 1.81067521e-01 3.12402530e-02 1.77486818e+02] [-1.80960868e-01 9.83470554e-01 -6.23172690e-03 -2.77218331e+01] [-3.18522322e-02 4.72364493e-04 9.99492477e-01 -7.71039776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20264000000003 meters 0.022036841451307822 Centerline is valid? [True, True] Translation: X:177.52, Y:-27.73, Z:-7.71 [[ 9.83231260e-01 1.79464064e-01 3.23873423e-02 1.77515476e+02] [-1.79348601e-01 9.83764380e-01 -6.45941885e-03 -2.77277080e+01] [-3.30207473e-02 5.42478009e-04 9.99454519e-01 -7.70912745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.23264000000003 meters 0.026926800204546283 Centerline is valid? [True, True] Translation: X:177.54, Y:-27.74, Z:-7.71 [[ 9.83356381e-01 1.78753637e-01 3.25171648e-02 1.77544002e+02] [-1.78636918e-01 9.83893702e-01 -6.48347211e-03 -2.77351307e+01] [-3.31523779e-02 5.66797568e-04 9.99450148e-01 -7.70935731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26264000000003 meters 0.023654161172374042 Centerline is valid? [True, True] Translation: X:177.57, Y:-27.74, Z:-7.71 [[ 9.83506287e-01 1.77877606e-01 3.27862868e-02 1.77573016e+02] [-1.77758487e-01 9.84052436e-01 -6.53633927e-03 -2.77425493e+01] [-3.34260938e-02 6.00490041e-04 9.99441012e-01 -7.71147580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.29264000000003 meters 0.03304318156883546 Centerline is valid? [True, True] Translation: X:177.60, Y:-27.75, Z:-7.71 [[ 9.83733293e-01 1.76734027e-01 3.21541849e-02 1.77602715e+02] [-1.76618872e-01 9.84258448e-01 -6.40957194e-03 -2.77474238e+01] [-3.27808175e-02 6.26273459e-04 9.99462368e-01 -7.71062355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32264000000004 meters 0.023932818567374056 Centerline is valid? [True, True] Translation: X:177.63, Y:-27.75, Z:-7.71 [[ 9.83811074e-01 1.76298162e-01 3.21672149e-02 1.77632265e+02] [-1.76182715e-01 9.84336603e-01 -6.41110424e-03 -2.77532140e+01] [-3.27936329e-02 6.40008085e-04 9.99461939e-01 -7.71367773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.35264000000004 meters 0.026375514107265224 Centerline is valid? [True, True] Translation: X:177.66, Y:-27.76, Z:-7.72 [[ 9.83909617e-01 1.75738930e-01 3.22132662e-02 1.77660034e+02] [-1.75622857e-01 9.84436587e-01 -6.42017293e-03 -2.77634631e+01] [-3.28401922e-02 6.59484037e-04 9.99460398e-01 -7.71607258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38264000000004 meters 0.025464989678126798 Centerline is valid? [True, True] Translation: X:177.69, Y:-27.77, Z:-7.72 [[ 9.83947655e-01 1.75531882e-01 3.21802689e-02 1.77689853e+02] [-1.75415922e-01 9.84473521e-01 -6.41402587e-03 -2.77700890e+01] [-3.28064887e-02 6.66134177e-04 9.99461500e-01 -7.71675781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.41264000000004 meters 0.026597113753309722 Centerline is valid? [True, True] Translation: X:177.72, Y:-27.78, Z:-7.72 [[ 9.84036193e-01 1.75086198e-01 3.18997466e-02 1.77718500e+02] [-1.74972012e-01 9.84552877e-01 -6.35825093e-03 -2.77789021e+01] [-3.25202293e-02 6.75186178e-04 9.99470849e-01 -7.71889570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.44264000000004 meters 0.032703982843039894 Centerline is valid? [True, True] Translation: X:177.75, Y:-27.79, Z:-7.72 [[ 9.84031277e-01 1.75217587e-01 3.13248080e-02 1.77748209e+02] [-1.75107565e-01 9.84529514e-01 -6.24313943e-03 -2.77861304e+01] [-3.19341058e-02 6.58233619e-04 9.99489760e-01 -7.71906092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.47264000000004 meters 0.02969751822974907 Centerline is valid? [True, True] Translation: X:177.78, Y:-27.79, Z:-7.72 [[ 9.83926244e-01 1.75771030e-01 3.15228835e-02 1.77777349e+02] [-1.75659891e-01 9.84430866e-01 -6.28275773e-03 -2.77929517e+01] [-3.21364263e-02 6.44463932e-04 9.99483284e-01 -7.72059755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.50264000000004 meters 0.023614570402102963 Centerline is valid? [True, True] Translation: X:177.81, Y:-27.80, Z:-7.72 [[ 9.83639151e-01 1.77260117e-01 3.21383266e-02 1.77806610e+02] [-1.77145397e-01 9.84163849e-01 -6.40516114e-03 -2.77983902e+01] [-3.27647589e-02 6.07210654e-04 9.99462907e-01 -7.72194978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.53264000000001 meters 0.03017260148607725 Centerline is valid? [True, True] Translation: X:177.84, Y:-27.80, Z:-7.72 [[ 9.83470836e-01 1.78304249e-01 3.15072937e-02 1.77835298e+02] [-1.78194555e-01 9.83975244e-01 -6.27850094e-03 -2.78049611e+01] [-3.21218804e-02 5.60294387e-04 9.99483802e-01 -7.72211268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.56264000000002 meters 0.022000365344906413 Centerline is valid? [True, True] Translation: X:177.86, Y:-27.81, Z:-7.73 [[ 9.83241034e-01 1.79604263e-01 3.12950055e-02 1.77864244e+02] [-1.79496708e-01 9.83738809e-01 -6.23596208e-03 -2.78099393e+01] [-3.19061168e-02 5.14103331e-04 9.99490738e-01 -7.72571504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.59264000000002 meters 0.019017918782043786 Centerline is valid? [True, True] Translation: X:177.89, Y:-27.81, Z:-7.73 [[ 9.82653821e-01 1.82999318e-01 3.00452459e-02 1.77893560e+02] [-1.82901791e-01 9.83112964e-01 -5.98624709e-03 -2.78127682e+01] [-3.06333499e-02 3.87079278e-04 9.99530614e-01 -7.72895880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.62264000000002 meters 0.01924820019430728 Centerline is valid? [True, True] Translation: X:177.92, Y:-27.82, Z:-7.73 [[ 9.82311902e-01 1.84858382e-01 2.98447043e-02 1.77922290e+02] [-1.84763027e-01 9.82765116e-01 -5.94573526e-03 -2.78176173e+01] [-3.04294533e-02 3.26368617e-04 9.99536864e-01 -7.72995299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.65264000000002 meters 0.013820917624680074 Centerline is valid? [True, True] Translation: X:177.95, Y:-27.82, Z:-7.73 [[ 9.81589094e-01 1.88633572e-01 3.00037597e-02 1.77951730e+02] [-1.88538987e-01 9.82047520e-01 -5.97652402e-03 -2.78188112e+01] [-3.05924908e-02 2.09612357e-04 9.99531918e-01 -7.72937938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.68264000000002 meters 0.01323981878053838 Centerline is valid? [True, True] Translation: X:177.98, Y:-27.82, Z:-7.73 [[ 9.81268210e-01 1.90256427e-01 3.02521273e-02 1.77979011e+02] [-1.90161082e-01 9.81734418e-01 -6.02462671e-03 -2.78227681e+01] [-3.08457786e-02 1.58997408e-04 9.99524143e-01 -7.73110345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71264000000002 meters 0.012648992912603295 Centerline is valid? [True, True] Translation: X:178.01, Y:-27.83, Z:-7.73 [[ 9.81018220e-01 1.91557585e-01 3.01486969e-02 1.78007975e+02] [-1.91463579e-01 9.81481369e-01 -6.00165515e-03 -2.78273592e+01] [-3.07400469e-02 1.15355644e-04 9.99527406e-01 -7.73227933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74264000000002 meters 0.027525213593557956 Centerline is valid? [True, True] Translation: X:178.04, Y:-27.83, Z:-7.73 [[ 9.80623882e-01 1.93675676e-01 2.94369622e-02 1.78035262e+02] [-1.93587032e-01 9.81065610e-01 -5.85924257e-03 -2.78332212e+01] [-3.00143840e-02 4.70990643e-05 9.99549466e-01 -7.73332392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77264000000002 meters 0.012155506118946963 Centerline is valid? [True, True] Translation: X:178.06, Y:-27.84, Z:-7.73 [[ 9.80373241e-01 1.94905641e-01 2.96664825e-02 1.78063677e+02] [-1.94816233e-01 9.80821998e-01 -5.90289442e-03 -2.78385232e+01] [-3.02480461e-02 7.52735524e-06 9.99542423e-01 -7.73474692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80264000000003 meters 0.02242339890421675 Centerline is valid? [True, True] Translation: X:178.09, Y:-27.84, Z:-7.74 [[ 9.79743331e-01 1.98043270e-01 2.96962608e-02 1.78091820e+02] [-1.97955163e-01 9.80193274e-01 -5.90747665e-03 -2.78393936e+01] [-3.02780111e-02 -9.07173060e-05 9.99541512e-01 -7.73573859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.83264000000003 meters 0.013011116544003587 Centerline is valid? [True, True] Translation: X:178.12, Y:-27.84, Z:-7.74 [[ 9.79402844e-01 1.99654726e-01 3.01340142e-02 1.78120541e+02] [-1.99564829e-01 9.79866302e-01 -5.99245722e-03 -2.78429515e+01] [-3.07237275e-02 -1.44659755e-04 9.99527904e-01 -7.73634700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86264000000003 meters 0.014502990130692292 Centerline is valid? [True, True] Translation: X:178.15, Y:-27.84, Z:-7.74 [[ 9.78732052e-01 2.02823129e-01 3.07627694e-02 1.78149982e+02] [-2.02731054e-01 9.79215357e-01 -6.11589066e-03 -2.78444564e+01] [-3.13638203e-02 -2.50750474e-04 9.99508003e-01 -7.73684712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.89264000000003 meters 0.015716383368158022 Centerline is valid? [True, True] Translation: X:178.18, Y:-27.85, Z:-7.74 [[ 9.78492878e-01 2.03969889e-01 3.07891605e-02 1.78177647e+02] [-2.03878263e-01 9.78977120e-01 -6.11988046e-03 -2.78475004e+01] [-3.13901550e-02 -2.88981129e-04 9.99507166e-01 -7.73852566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92264000000003 meters 0.01675408146767255 Centerline is valid? [True, True] Translation: X:178.21, Y:-27.85, Z:-7.74 [[ 9.78368965e-01 2.04547675e-01 3.08936300e-02 1.78205137e+02] [-2.04455791e-01 9.78856553e-01 -6.13822823e-03 -2.78504278e+01] [-3.14959925e-02 -3.10929548e-04 9.99503830e-01 -7.74052666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.95264000000003 meters 0.015648449483871063 Centerline is valid? [True, True] Translation: X:178.23, Y:-27.86, Z:-7.74 [[ 9.78441391e-01 2.04141524e-01 3.12838988e-02 1.78233351e+02] [-2.04047180e-01 9.78941339e-01 -6.21311271e-03 -2.78583663e+01] [-3.18934561e-02 -3.04224676e-04 9.99491228e-01 -7.74033119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98264000000003 meters 0.015375054931007857 Centerline is valid? [True, True] Translation: X:178.26, Y:-27.87, Z:-7.74 [[ 9.78597543e-01 2.03420839e-01 3.10935975e-02 1.78260288e+02] [-2.03327321e-01 9.79091356e-01 -6.17389897e-03 -2.78652617e+01] [-3.16993723e-02 -2.80415532e-04 9.99497409e-01 -7.74202738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.01264000000003 meters 0.015285728926518317 Centerline is valid? [True, True] Translation: X:178.29, Y:-27.87, Z:-7.74 [[ 9.78815126e-01 2.02375903e-01 3.10635455e-02 1.78287698e+02] [-2.02282102e-01 9.79307884e-01 -6.16596373e-03 -2.78711653e+01] [-3.16686175e-02 -2.48260697e-04 9.99498393e-01 -7.74425405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04264000000003 meters 0.014402686993063908 Centerline is valid? [True, True] Translation: X:178.32, Y:-27.88, Z:-7.74 [[ 9.78904965e-01 2.01958865e-01 3.09465076e-02 1.78315286e+02] [-2.01865616e-01 9.79393977e-01 -6.14097015e-03 -2.78769307e+01] [-3.15490465e-02 -2.35609660e-04 9.99502177e-01 -7.74448914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.07264000000004 meters 0.015215332646090627 Centerline is valid? [True, True] Translation: X:178.34, Y:-27.88, Z:-7.75 [[ 9.78908873e-01 2.02010275e-01 3.04838854e-02 1.78342745e+02] [-2.01919895e-01 9.79383374e-01 -6.04672830e-03 -2.78803383e+01] [-3.10769117e-02 -2.36106951e-04 9.99516968e-01 -7.74743034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10264000000004 meters 0.016018382336278038 Centerline is valid? [True, True] Translation: X:178.37, Y:-27.88, Z:-7.75 [[ 9.78705058e-01 2.03007652e-01 3.04023639e-02 1.78371176e+02] [-2.02918300e-01 9.79177114e-01 -6.02846948e-03 -2.78830075e+01] [-3.09931244e-02 -2.69102450e-04 9.99519562e-01 -7.74890988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.13264000000004 meters 0.015492943811639421 Centerline is valid? [True, True] Translation: X:178.40, Y:-27.89, Z:-7.75 [[ 9.78634586e-01 2.03427863e-01 2.98571793e-02 1.78398890e+02] [-2.03341926e-01 9.79089897e-01 -5.91898308e-03 -2.78900246e+01] [-3.04369486e-02 -2.78694775e-04 9.99536650e-01 -7.74914540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16264000000004 meters 0.01623263236277125 Centerline is valid? [True, True] Translation: X:178.43, Y:-27.90, Z:-7.75 [[ 9.78637632e-01 2.03292021e-01 3.06714639e-02 1.78426161e+02] [-2.03201307e-01 9.79118110e-01 -6.07904951e-03 -2.78957801e+01] [-3.12668081e-02 -2.83294942e-04 9.99511034e-01 -7.75098298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.19264000000004 meters 0.015917763201129646 Centerline is valid? [True, True] Translation: X:178.45, Y:-27.90, Z:-7.75 [[ 9.78700178e-01 2.02881374e-01 3.13864689e-02 1.78453263e+02] [-2.02786249e-01 9.79203284e-01 -6.21826979e-03 -2.79006643e+01] [-3.19953045e-02 -2.78922533e-04 9.99487980e-01 -7.75071811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22264000000004 meters 0.014707784249389788 Centerline is valid? [True, True] Translation: X:178.48, Y:-27.91, Z:-7.75 [[ 9.78867512e-01 2.02084469e-01 3.13091109e-02 1.78481463e+02] [-2.01989482e-01 9.79368063e-01 -6.20053447e-03 -2.79069212e+01] [-3.19161750e-02 -2.54609325e-04 9.99490517e-01 -7.75063958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.25264000000004 meters 0.013652832040707025 Centerline is valid? [True, True] Translation: X:178.51, Y:-27.91, Z:-7.75 [[ 9.79208706e-01 2.00468528e-01 3.10270680e-02 1.78509808e+02] [-2.00374483e-01 9.79700122e-01 -6.14313568e-03 -2.79143320e+01] [-3.16287277e-02 -2.01620759e-04 9.99499666e-01 -7.75250118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.28264000000001 meters 0.013361663903057269 Centerline is valid? [True, True] Translation: X:178.54, Y:-27.92, Z:-7.75 [[ 9.79338820e-01 1.99808310e-01 3.11787424e-02 1.78538271e+02] [-1.99713059e-01 9.79834989e-01 -6.17156828e-03 -2.79212037e+01] [-3.17831533e-02 -1.82745623e-04 9.99494771e-01 -7.75431851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.31264000000002 meters 0.013112386900709061 Centerline is valid? [True, True] Translation: X:178.57, Y:-27.93, Z:-7.76 [[ 9.79451849e-01 1.99263894e-01 3.11123125e-02 1.78566338e+02] [-1.99168828e-01 9.79945852e-01 -6.15671060e-03 -2.79285680e+01] [-3.17151917e-02 -1.66401246e-04 9.99496933e-01 -7.75585645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.34264000000002 meters 0.023688130492912535 Centerline is valid? [True, True] Translation: X:178.59, Y:-27.94, Z:-7.76 [[ 9.79591201e-01 1.98694252e-01 3.03590616e-02 1.78594489e+02] [-1.98603491e-01 9.80061515e-01 -6.00670417e-03 -2.79362597e+01] [-3.09472455e-02 -1.45301057e-04 9.99521009e-01 -7.75664139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.37264000000002 meters 0.013253944470932344 Centerline is valid? [True, True] Translation: X:178.62, Y:-27.94, Z:-7.76 [[ 9.79622426e-01 1.98576348e-01 3.01220289e-02 1.78621373e+02] [-1.98486985e-01 9.80085412e-01 -5.95844645e-03 -2.79420919e+01] [-3.07053677e-02 -1.41802926e-04 9.99528469e-01 -7.75953431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.40264000000002 meters 0.01323586185605994 Centerline is valid? [True, True] Translation: X:178.65, Y:-27.95, Z:-7.76 [[ 9.79647296e-01 1.98479973e-01 2.99478987e-02 1.78649889e+02] [-1.98391658e-01 9.80104934e-01 -5.92194175e-03 -2.79485925e+01] [-3.05274701e-02 -1.39999052e-04 9.99533918e-01 -7.76085824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.43264000000002 meters 0.02088494008838982 Centerline is valid? [True, True] Translation: X:178.68, Y:-27.95, Z:-7.76 [[ 9.79659163e-01 1.98355789e-01 3.03793631e-02 1.78677171e+02] [-1.98264892e-01 9.80130074e-01 -6.00589861e-03 -2.79535564e+01] [-3.09670322e-02 -1.39427558e-04 9.99520397e-01 -7.76259900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46264000000002 meters 0.027692856958750855 Centerline is valid? [True, True] Translation: X:178.70, Y:-27.96, Z:-7.76 [[ 9.79660476e-01 1.98324022e-01 3.05439653e-02 1.78704544e+02] [-1.98232184e-01 9.80136502e-01 -6.03646185e-03 -2.79591840e+01] [-3.11344307e-02 -1.41113863e-04 9.99515196e-01 -7.76314277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49264000000002 meters 0.013192164091688555 Centerline is valid? [True, True] Translation: X:178.73, Y:-27.97, Z:-7.77 [[ 9.79746641e-01 1.97837128e-01 3.09352478e-02 1.78732464e+02] [-1.97742761e-01 9.80234897e-01 -6.11118416e-03 -2.79664403e+01] [-3.15328286e-02 -1.29809172e-04 9.99502708e-01 -7.76504392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52264000000002 meters 0.012973970938334254 Centerline is valid? [True, True] Translation: X:178.76, Y:-27.98, Z:-7.77 [[ 9.79835101e-01 1.97427934e-01 3.07471215e-02 1.78760314e+02] [-1.97334556e-01 9.80317396e-01 -6.07254099e-03 -2.79759600e+01] [-3.13408273e-02 -1.17380749e-04 9.99508749e-01 -7.76638550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.55264000000003 meters 0.01300156726024328 Centerline is valid? [True, True] Translation: X:178.79, Y:-27.98, Z:-7.77 [[ 9.79902499e-01 1.97232426e-01 2.98406206e-02 1.78787937e+02] [-1.97144426e-01 9.80356750e-01 -5.89212973e-03 -2.79831113e+01] [-3.04165729e-02 -1.09199381e-04 9.99537303e-01 -7.76786430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58264000000003 meters 0.012945931253802643 Centerline is valid? [True, True] Translation: X:178.82, Y:-27.99, Z:-7.77 [[ 9.79923619e-01 1.97123938e-01 2.98639226e-02 1.78815987e+02] [-1.97035795e-01 9.80378570e-01 -5.89524264e-03 -2.79895883e+01] [-3.04400432e-02 -1.07374236e-04 9.99536589e-01 -7.76928565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.61264000000003 meters 0.023692703740859612 Centerline is valid? [True, True] Translation: X:178.84, Y:-28.00, Z:-7.77 [[ 9.79885783e-01 1.97323525e-01 2.97872193e-02 1.78843774e+02] [-1.97235971e-01 9.80338418e-01 -5.87864283e-03 -2.79958687e+01] [-3.03615500e-02 -1.14712584e-04 9.99538975e-01 -7.76790965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64264000000003 meters 0.013600592020850016 Centerline is valid? [True, True] Translation: X:178.87, Y:-28.00, Z:-7.77 [[ 9.79805760e-01 1.97711215e-01 2.98487376e-02 1.78870821e+02] [-1.97623520e-01 9.80260302e-01 -5.88941677e-03 -2.80004467e+01] [-3.04239363e-02 -1.28328127e-04 9.99537077e-01 -7.77203670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.67264000000003 meters 0.023939422072630237 Centerline is valid? [True, True] Translation: X:178.90, Y:-28.01, Z:-7.77 [[ 9.79455562e-01 1.99261163e-01 3.10127473e-02 1.78899597e+02] [-1.99167341e-01 9.79946404e-01 -6.11685440e-03 -2.80056995e+01] [-3.16096817e-02 -1.85539336e-04 9.99500272e-01 -7.76756751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70264000000003 meters 0.015352180296727993 Centerline is valid? [True, True] Translation: X:178.93, Y:-28.01, Z:-7.77 [[ 9.79044391e-01 2.01234556e-01 3.12527305e-02 1.78926795e+02] [-2.01140327e-01 9.79543052e-01 -6.16270761e-03 -2.80089737e+01] [-3.18535447e-02 -2.52620121e-04 9.99492515e-01 -7.77136705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.73264000000003 meters 0.015352180296727993 Centerline is valid? [True, True] Translation: X:178.95, Y:-28.01, Z:-7.77 [[ 9.79058472e-01 2.01165985e-01 3.12530918e-02 1.78953772e+02] [-2.01071780e-01 9.79557136e-01 -6.16087495e-03 -2.80141516e+01] [-3.18535475e-02 -2.52257976e-04 9.99492515e-01 -7.77257943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76264000000003 meters 0.016216832501681294 Centerline is valid? [True, True] Translation: X:178.98, Y:-28.02, Z:-7.77 [[ 9.78783256e-01 2.02479038e-01 3.13939162e-02 1.78982050e+02] [-2.02384740e-01 9.79286552e-01 -6.18605499e-03 -2.80176133e+01] [-3.19961864e-02 -2.98842520e-04 9.99487946e-01 -7.77328200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.79264000000003 meters 0.01639229036223259 Centerline is valid? [True, True] Translation: X:179.01, Y:-28.02, Z:-7.77 [[ 9.78532465e-01 2.03731614e-01 3.11069723e-02 1.79010810e+02] [-2.03639711e-01 9.79026718e-01 -6.12803834e-03 -2.80217532e+01] [-3.17030321e-02 -3.38130376e-04 9.99497275e-01 -7.77374320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82264000000004 meters 0.021581592919758287 Centerline is valid? [True, True] Translation: X:179.04, Y:-28.02, Z:-7.78 [[ 9.78134916e-01 2.05671035e-01 3.08465733e-02 1.79038850e+02] [-2.05581673e-01 9.78621105e-01 -6.07533723e-03 -2.80232454e+01] [-3.14366285e-02 -3.98990652e-04 9.99505667e-01 -7.77523203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.85264000000004 meters 0.03212038768433457 Centerline is valid? [True, True] Translation: X:179.07, Y:-28.03, Z:-7.78 [[ 9.77979132e-01 2.06450706e-01 3.05765162e-02 1.79066426e+02] [-2.06363342e-01 9.78456912e-01 -6.02022407e-03 -2.80264956e+01] [-3.11606832e-02 -4.22218575e-04 9.99514299e-01 -7.77671310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88264000000004 meters 0.01997506909567704 Centerline is valid? [True, True] Translation: X:179.10, Y:-28.03, Z:-7.78 [[ 9.77840735e-01 2.07129392e-01 3.04123597e-02 1.79095590e+02] [-2.07043356e-01 9.78313456e-01 -5.98585477e-03 -2.80283398e+01] [-3.09926672e-02 -4.43464379e-04 9.99519514e-01 -7.77945411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.91264000000004 meters 0.020079362708538752 Centerline is valid? [True, True] Translation: X:179.12, Y:-28.03, Z:-7.78 [[ 9.77833884e-01 2.07146545e-01 3.05156368e-02 1.79122920e+02] [-2.07059970e-01 9.78309823e-01 -6.00495488e-03 -2.80318744e+01] [-3.10976529e-02 -4.46718482e-04 9.99516251e-01 -7.78028744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94264000000004 meters 0.019315290876458925 Centerline is valid? [True, True] Translation: X:179.15, Y:-28.04, Z:-7.78 [[ 9.77821259e-01 2.07139803e-01 3.09626928e-02 1.79151673e+02] [-2.07050754e-01 9.78311246e-01 -6.09024709e-03 -2.80372476e+01] [-3.15526832e-02 -4.55675806e-04 9.99501986e-01 -7.77948074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.97264000000004 meters 0.020086741921411588 Centerline is valid? [True, True] Translation: X:179.18, Y:-28.04, Z:-7.78 [[ 9.77810928e-01 2.07009928e-01 3.21353265e-02 1.79180258e+02] [-2.06913987e-01 9.78338729e-01 -6.31929269e-03 -2.80369951e+01] [-3.27473908e-02 -4.70175072e-04 9.99463550e-01 -7.77895986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.00264000000004 meters 0.021878408826427092 Centerline is valid? [True, True] Translation: X:179.21, Y:-28.04, Z:-7.78 [[ 9.77817153e-01 2.06889136e-01 3.27185181e-02 1.79208372e+02] [-2.06789676e-01 9.78364277e-01 -6.43206247e-03 -2.80371805e+01] [-3.33413531e-02 -4.76470747e-04 9.99443909e-01 -7.78155712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.03264000000001 meters 0.02096043447881496 Centerline is valid? [True, True] Translation: X:179.24, Y:-28.04, Z:-7.78 [[ 9.77748037e-01 2.07279452e-01 3.23110584e-02 1.79237821e+02] [-2.07182774e-01 9.78281653e-01 -6.34873798e-03 -2.80388592e+01] [-3.29252785e-02 -4.86828613e-04 9.99457697e-01 -7.78208825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.06264000000002 meters 0.02125014947127907 Centerline is valid? [True, True] Translation: X:179.27, Y:-28.04, Z:-7.78 [[ 9.77703611e-01 2.07545847e-01 3.19432316e-02 1.79267086e+02] [-2.07451550e-01 9.78225168e-01 -6.27492466e-03 -2.80409770e+01] [-3.25500077e-02 -4.91656407e-04 9.99469987e-01 -7.78396046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.09264000000002 meters 0.01979660420578719 Centerline is valid? [True, True] Translation: X:179.30, Y:-28.04, Z:-7.78 [[ 9.77716918e-01 2.07449490e-01 3.21611221e-02 1.79295474e+02] [-2.07353901e-01 9.78245606e-01 -6.31615367e-03 -2.80447521e+01] [-3.27717593e-02 -4.93323849e-04 9.99462740e-01 -7.78371232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.12264000000002 meters 0.01961776559607796 Centerline is valid? [True, True] Translation: X:179.32, Y:-28.04, Z:-7.79 [[ 9.78062181e-01 2.05889239e-01 3.16858313e-02 1.79323973e+02] [-2.05795673e-01 9.78575205e-01 -6.22167304e-03 -2.80442411e+01] [-3.22879444e-02 -4.35623879e-04 9.99478513e-01 -7.78758027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.15264000000002 meters 0.016038860285417577 Centerline is valid? [True, True] Translation: X:179.35, Y:-28.05, Z:-7.79 [[ 9.79058149e-01 2.01224155e-01 3.08865737e-02 1.79350931e+02] [-2.01133024e-01 9.79545181e-01 -6.06168759e-03 -2.80511695e+01] [-3.14745524e-02 -2.77565351e-04 9.99504515e-01 -7.79081091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.18264000000002 meters 0.013214349422893007 Centerline is valid? [True, True] Translation: X:179.38, Y:-28.06, Z:-7.79 [[ 9.79774015e-01 1.97741560e-01 3.06782613e-02 1.79378224e+02] [-1.97650010e-01 9.80254175e-01 -6.01880233e-03 -2.80598782e+01] [-3.12626611e-02 -1.66492531e-04 9.99511190e-01 -7.79059821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21264000000002 meters 0.012264159905092189 Centerline is valid? [True, True] Translation: X:179.41, Y:-28.07, Z:-7.79 [[ 9.80541467e-01 1.93908530e-01 3.06253688e-02 1.79405331e+02] [-1.93815474e-01 9.81019612e-01 -6.00685927e-03 -2.80685614e+01] [-3.12088687e-02 -4.56957569e-05 9.99512884e-01 -7.79287134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24264000000002 meters 0.017824808061237516 Centerline is valid? [True, True] Translation: X:179.43, Y:-28.08, Z:-7.79 [[ 9.82109613e-01 1.85923999e-01 2.98826730e-02 1.79432081e+02] [-1.85831745e-01 9.82564108e-01 -5.85971876e-03 -2.80830888e+01] [-3.04511042e-02 2.01736853e-04 9.99536237e-01 -7.79367842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27264000000002 meters 0.016412283448308262 Centerline is valid? [True, True] Translation: X:179.46, Y:-28.09, Z:-7.80 [[ 9.82803287e-01 1.82236313e-01 2.97930281e-02 1.79458449e+02] [-1.82142958e-01 9.83254712e-01 -5.84079682e-03 -2.80932453e+01] [-3.03585405e-02 3.13764057e-04 9.99539024e-01 -7.79562598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30264000000003 meters 0.02084413555995457 Centerline is valid? [True, True] Translation: X:179.49, Y:-28.11, Z:-7.80 [[ 9.83817096e-01 1.76712361e-01 2.96085065e-02 1.79486466e+02] [-1.76617728e-01 9.84262420e-01 -5.80226226e-03 -2.81057196e+01] [-3.01678718e-02 4.78977647e-04 9.99544731e-01 -7.79609022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.33264000000003 meters 0.02202306641325231 Centerline is valid? [True, True] Translation: X:179.51, Y:-28.11, Z:-7.80 [[ 9.84107786e-01 1.75105463e-01 2.94947788e-02 1.79514784e+02] [-1.75010851e-01 9.84549542e-01 -5.77941374e-03 -2.81126542e+01] [-3.00510779e-02 5.25659733e-04 9.99548226e-01 -7.79707047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36264000000003 meters 0.022732232008667464 Centerline is valid? [True, True] Translation: X:179.54, Y:-28.12, Z:-7.80 [[ 9.84244348e-01 1.74396403e-01 2.91368900e-02 1.79543394e+02] [-1.74303800e-01 9.84675380e-01 -5.70802269e-03 -2.81192796e+01] [-2.96858369e-02 5.39418401e-04 9.99559133e-01 -7.79857529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.39264000000003 meters 0.023700636874618052 Centerline is valid? [True, True] Translation: X:179.57, Y:-28.13, Z:-7.80 [[ 9.84282528e-01 1.74371824e-01 2.79709240e-02 1.79570606e+02] [-1.74286495e-01 9.84679744e-01 -5.47894702e-03 -2.81266093e+01] [-2.84977762e-02 5.17877523e-04 9.99593722e-01 -7.80282832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42264000000003 meters 0.023822434500514907 Centerline is valid? [True, True] Translation: X:179.60, Y:-28.13, Z:-7.81 [[ 9.84173489e-01 1.75091368e-01 2.73048745e-02 1.79599067e+02] [-1.75010345e-01 9.84552070e-01 -5.34802142e-03 -2.81316174e+01] [-2.78194630e-02 4.84745397e-04 9.99612846e-01 -7.80535363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.45264000000003 meters 0.021703078887933953 Centerline is valid? [True, True] Translation: X:179.63, Y:-28.13, Z:-7.80 [[ 9.83797283e-01 1.77155562e-01 2.75465605e-02 1.79628613e+02] [-1.77073930e-01 9.84182769e-01 -5.39454436e-03 -2.81319195e+01] [-2.80665237e-02 4.29360371e-04 9.99605965e-01 -7.80400771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48264000000003 meters 0.025977335111341596 Centerline is valid? [True, True] Translation: X:179.66, Y:-28.14, Z:-7.81 [[ 9.83586051e-01 1.78350507e-01 2.73783857e-02 1.79656045e+02] [-1.78270364e-01 9.83966942e-01 -5.36042915e-03 -2.81370314e+01] [-2.78954617e-02 3.91688556e-04 9.99610769e-01 -7.80593596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.51264000000003 meters 0.019953234146160386 Centerline is valid? [True, True] Translation: X:179.68, Y:-28.14, Z:-7.81 [[ 9.83316682e-01 1.79822065e-01 2.74286075e-02 1.79683723e+02] [-1.79742254e-01 9.83699092e-01 -5.36831083e-03 -2.81421406e+01] [-2.79468371e-02 3.48669854e-04 9.99609350e-01 -7.80949838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54264000000003 meters 0.01544812699600582 Centerline is valid? [True, True] Translation: X:179.71, Y:-28.14, Z:-7.81 [[ 9.82522910e-01 1.83938848e-01 2.85522675e-02 1.79713952e+02] [-1.83854135e-01 9.82937660e-01 -5.58695933e-03 -2.81415253e+01] [-2.90927578e-02 2.39863098e-04 9.99576687e-01 -7.80654985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.57264000000004 meters 0.014340495262321258 Centerline is valid? [True, True] Translation: X:179.74, Y:-28.14, Z:-7.81 [[ 9.82052189e-01 1.86430222e-01 2.85879440e-02 1.79742207e+02] [-1.86346406e-01 9.82468190e-01 -5.59210639e-03 -2.81436638e+01] [-2.91292832e-02 1.64479704e-04 9.99575639e-01 -7.80791398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60264000000004 meters 0.012689469992477638 Centerline is valid? [True, True] Translation: X:179.77, Y:-28.14, Z:-7.81 [[ 9.80832197e-01 1.92702460e-01 2.88784305e-02 1.79772847e+02] [-1.92619705e-01 9.81257235e-01 -5.64693704e-03 -2.81388633e+01] [-2.94253475e-02 -2.38570999e-05 9.99566980e-01 -7.80705766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.63264000000004 meters 0.014022232252873655 Centerline is valid? [True, True] Translation: X:179.80, Y:-28.14, Z:-7.81 [[ 9.80144990e-01 1.96156167e-01 2.89578448e-02 1.79801055e+02] [-1.96074488e-01 9.80572660e-01 -5.66158847e-03 -2.81382377e+01] [-2.95058264e-02 -1.28717012e-04 9.99564600e-01 -7.80976251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66264000000004 meters 0.018131355746567292 Centerline is valid? [True, True] Translation: X:179.83, Y:-28.13, Z:-7.81 [[ 9.78760751e-01 2.03071472e-01 2.80957342e-02 1.79832049e+02] [-2.02997528e-01 9.79163862e-01 -5.48958617e-03 -2.81340811e+01] [-2.86251059e-02 -3.30373111e-04 9.99590163e-01 -7.81129812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.69264000000004 meters 0.02240740638554666 Centerline is valid? [True, True] Translation: X:179.86, Y:-28.13, Z:-7.82 [[ 9.78143401e-01 2.06032063e-01 2.80406324e-02 1.79860451e+02] [-2.05959628e-01 9.78545153e-01 -5.47868469e-03 -2.81315888e+01] [-2.85678096e-02 -4.16298932e-04 9.99591770e-01 -7.81527007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72264000000004 meters 0.024814111779985132 Centerline is valid? [True, True] Translation: X:179.89, Y:-28.13, Z:-7.82 [[ 9.77518199e-01 2.08963984e-01 2.81464913e-02 1.79889277e+02] [-2.08892267e-01 9.77923206e-01 -5.49754799e-03 -2.81313333e+01] [-2.86738965e-02 -5.05631165e-04 9.99588691e-01 -7.81573178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.75264000000004 meters 0.02700015940591804 Centerline is valid? [True, True] Translation: X:179.92, Y:-28.13, Z:-7.81 [[ 9.76479359e-01 2.13778446e-01 2.80506279e-02 1.79920045e+02] [-2.13709265e-01 9.76881957e-01 -5.47656908e-03 -2.81299077e+01] [-2.85729247e-02 -6.46922404e-04 9.99591501e-01 -7.81496462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.78264000000001 meters 0.030053383845056864 Centerline is valid? [True, True] Translation: X:179.95, Y:-28.13, Z:-7.82 [[ 9.76157816e-01 2.15248514e-01 2.79999359e-02 1.79948651e+02] [-2.15180190e-01 9.76559063e-01 -5.46653363e-03 -2.81296641e+01] [-2.85202544e-02 -6.88832007e-04 9.99592977e-01 -7.81755801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.81264000000002 meters 0.03746415329529516 Centerline is valid? [True, True] Translation: X:179.98, Y:-28.13, Z:-7.82 [[ 9.75942733e-01 2.16204080e-01 2.81350020e-02 1.79977315e+02] [-2.16135546e-01 9.76347927e-01 -5.49102925e-03 -2.81289951e+01] [-2.86567338e-02 -7.22043932e-04 9.99589051e-01 -7.81992347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.84264000000002 meters 0.031142760416925347 Centerline is valid? [True, True] Translation: X:180.01, Y:-28.13, Z:-7.82 [[ 9.75855465e-01 2.16707654e-01 2.72746124e-02 1.80006011e+02] [-2.16643436e-01 9.76236284e-01 -5.32342421e-03 -2.81343119e+01] [-2.77800931e-02 -7.13973144e-04 9.99613804e-01 -7.81959401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.87264000000002 meters 0.030447661229192322 Centerline is valid? [True, True] Translation: X:180.03, Y:-28.14, Z:-7.82 [[ 9.76066728e-01 2.15804989e-01 2.68691019e-02 1.80033176e+02] [-2.15742495e-01 9.76436244e-01 -5.23802889e-03 -2.81375728e+01] [-2.73663577e-02 -6.84141369e-04 9.99625237e-01 -7.82375079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.90264000000002 meters 0.03166341203514576 Centerline is valid? [True, True] Translation: X:180.06, Y:-28.14, Z:-7.83 [[ 9.76719176e-01 2.12814773e-01 2.70096823e-02 1.80060029e+02] [-2.12750569e-01 9.77092372e-01 -5.26223603e-03 -2.81436376e+01] [-2.75108361e-02 -6.06598429e-04 9.99621321e-01 -7.82557812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.93264000000002 meters 0.028131189850069457 Centerline is valid? [True, True] Translation: X:180.09, Y:-28.15, Z:-7.83 [[ 9.77204082e-01 2.10566411e-01 2.70918731e-02 1.80087075e+02] [-2.10500999e-01 9.77579402e-01 -5.27650948e-03 -2.81486513e+01] [-2.75955128e-02 -5.46639760e-04 9.99619022e-01 -7.82892768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96264000000002 meters 0.02324102559997153 Centerline is valid? [True, True] Translation: X:180.11, Y:-28.16, Z:-7.83 [[ 9.77749188e-01 2.07990732e-01 2.73199586e-02 1.80114677e+02] [-2.07923204e-01 9.78130680e-01 -5.32108050e-03 -2.81591655e+01] [-2.78292251e-02 -4.77771195e-04 9.99612578e-01 -7.82717846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99264000000002 meters 0.0192196564546063 Centerline is valid? [True, True] Translation: X:180.14, Y:-28.17, Z:-7.83 [[ 9.78760733e-01 2.03117667e-01 2.77604226e-02 1.80141812e+02] [-2.03046185e-01 9.79154273e-01 -5.39975049e-03 -2.81678418e+01] [-2.82785211e-02 -3.51584142e-04 9.99600021e-01 -7.82792878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02264000000002 meters 0.016876575274696437 Centerline is valid? [True, True] Translation: X:180.17, Y:-28.18, Z:-7.83 [[ 9.79223434e-01 2.00855506e-01 2.79021742e-02 1.80169785e+02] [-2.00782413e-01 9.79620836e-01 -5.42592264e-03 -2.81756353e+01] [-2.84233776e-02 -2.89075264e-04 9.99595932e-01 -7.82782723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.05264000000003 meters 0.015600015110648893 Centerline is valid? [True, True] Translation: X:180.20, Y:-28.18, Z:-7.83 [[ 9.79840549e-01 1.97762530e-01 2.83280900e-02 1.80197160e+02] [-1.97685932e-01 9.80249938e-01 -5.50743535e-03 -2.81810946e+01] [-2.88577728e-02 -2.03656414e-04 9.99583507e-01 -7.83024742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08264000000003 meters 0.023292411523115876 Centerline is valid? [True, True] Translation: X:180.23, Y:-28.19, Z:-7.83 [[ 9.79946697e-01 1.97282240e-01 2.80033644e-02 1.80225916e+02] [-1.97207249e-01 9.80346715e-01 -5.44233643e-03 -2.81862978e+01] [-2.85266826e-02 -1.89266850e-04 9.99593013e-01 -7.83041912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.11264000000003 meters 0.027422272285207806 Centerline is valid? [True, True] Translation: X:180.25, Y:-28.19, Z:-7.83 [[ 9.79991758e-01 1.97137526e-01 2.74399403e-02 1.80253473e+02] [-1.97065499e-01 9.80375827e-01 -5.33168290e-03 -2.81901550e+01] [-2.79525290e-02 -1.82460221e-04 9.99609235e-01 -7.83301971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14264000000003 meters 0.0160838822445171 Centerline is valid? [True, True] Translation: X:180.28, Y:-28.19, Z:-7.84 [[ 9.79943224e-01 1.97429032e-01 2.70749938e-02 1.80281717e+02] [-1.97359066e-01 9.80317164e-01 -5.25908909e-03 -2.81908777e+01] [-2.75803780e-02 -1.89886767e-04 9.99619571e-01 -7.83578365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.17264000000003 meters 0.024944980685783612 Centerline is valid? [True, True] Translation: X:180.31, Y:-28.19, Z:-7.83 [[ 9.79811898e-01 1.98088055e-01 2.70141906e-02 1.80311312e+02] [-1.98018704e-01 9.80184206e-01 -5.24539683e-03 -2.81915758e+01] [-2.75179334e-02 -2.09812785e-04 9.99621288e-01 -7.83493472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20264000000003 meters 0.015822138369424466 Centerline is valid? [True, True] Translation: X:180.34, Y:-28.19, Z:-7.84 [[ 9.79903077e-01 1.97632962e-01 2.70401841e-02 1.80338901e+02] [-1.97563338e-01 9.80276070e-01 -5.24926843e-03 -2.81944746e+01] [-2.75442738e-02 -1.98374719e-04 9.99620565e-01 -7.83637158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.23264000000003 meters 0.015332641591948585 Centerline is valid? [True, True] Translation: X:180.37, Y:-28.20, Z:-7.84 [[ 9.80073514e-01 1.96681391e-01 2.77909738e-02 1.80366454e+02] [-1.96607503e-01 9.80467439e-01 -5.39362720e-03 -2.81980498e+01] [-2.83089710e-02 -1.77762788e-04 9.99599205e-01 -7.83646928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26264000000003 meters 0.013009549239114385 Centerline is valid? [True, True] Translation: X:180.39, Y:-28.20, Z:-7.83 [[ 9.80695165e-01 1.93270431e-01 2.97242860e-02 1.80394774e+02] [-1.93184444e-01 9.81145521e-01 -5.76524167e-03 -2.82041031e+01] [-3.02781008e-02 -8.83250143e-05 9.99541509e-01 -7.83316194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.29264000000003 meters 0.016827814364819504 Centerline is valid? [True, True] Translation: X:180.42, Y:-28.21, Z:-7.83 [[ 9.81107881e-01 1.91015350e-01 3.06669568e-02 1.80422097e+02] [-1.90922753e-01 9.81587050e-01 -5.94699093e-03 -2.82113406e+01] [-3.12382542e-02 -2.03801297e-05 9.99511966e-01 -7.83413255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32264000000004 meters 0.013554830664160689 Centerline is valid? [True, True] Translation: X:180.45, Y:-28.22, Z:-7.84 [[ 9.82177257e-01 1.85392413e-01 3.09433230e-02 1.80447452e+02] [-1.85295446e-01 9.82664556e-01 -5.99742766e-03 -2.82238317e+01] [-3.15187843e-02 1.56880217e-04 9.99503147e-01 -7.83573535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.35264000000004 meters 0.014427440562433643 Centerline is valid? [True, True] Translation: X:180.48, Y:-28.23, Z:-7.84 [[ 9.82644211e-01 1.82953610e-01 3.06321875e-02 1.80475283e+02] [-1.82857479e-01 9.83121520e-01 -5.93455520e-03 -2.82314560e+01] [-3.12009111e-02 2.30231726e-04 9.99513107e-01 -7.83647287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38264000000004 meters 0.01569409579288646 Centerline is valid? [True, True] Translation: X:180.50, Y:-28.24, Z:-7.84 [[ 9.83045507e-01 1.80918756e-01 2.98317601e-02 1.80502810e+02] [-1.80826691e-01 9.83498003e-01 -5.77804312e-03 -2.82387271e+01] [-3.03848329e-02 2.85700865e-04 9.99538234e-01 -7.83872024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.41264000000004 meters 0.01791246461251388 Centerline is valid? [True, True] Translation: X:180.53, Y:-28.25, Z:-7.84 [[ 9.83637049e-01 1.77852509e-01 2.87513666e-02 1.80530656e+02] [-1.77765723e-01 9.84057088e-01 -5.56740743e-03 -2.82475133e+01] [-2.92831635e-02 3.65300737e-04 9.99571089e-01 -7.84240731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44264000000004 meters 0.02009724544417335 Centerline is valid? [True, True] Translation: X:180.56, Y:-28.25, Z:-7.85 [[ 9.84010803e-01 1.76005825e-01 2.72889866e-02 1.80556894e+02] [-1.75926959e-01 9.84389045e-01 -5.28335394e-03 -2.82549608e+01] [-2.77928805e-02 3.98008938e-04 9.99613624e-01 -7.84614049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.47264000000004 meters 0.02099567111635512 Centerline is valid? [True, True] Translation: X:180.58, Y:-28.26, Z:-7.85 [[ 9.84137041e-01 1.75362417e-01 2.68757842e-02 1.80583802e+02] [-1.75285742e-01 9.84503863e-01 -5.20116661e-03 -2.82620292e+01] [-2.73714026e-02 4.07718947e-04 9.99625250e-01 -7.84891871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.50264000000004 meters 0.030224064697695927 Centerline is valid? [True, True] Translation: X:180.61, Y:-28.27, Z:-7.85 [[ 9.84207837e-01 1.74948892e-01 2.69781271e-02 1.80612067e+02] [-1.74871529e-01 9.84577427e-01 -5.21906767e-03 -2.82689484e+01] [-2.74751251e-02 4.18940967e-04 9.99622400e-01 -7.84971914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.53264000000001 meters 0.023060992495364186 Centerline is valid? [True, True] Translation: X:180.64, Y:-28.28, Z:-7.85 [[ 9.84387090e-01 1.73904197e-01 2.71916617e-02 1.80638428e+02] [-1.73825238e-01 9.84762473e-01 -5.25922101e-03 -2.82787201e+01] [-2.76919286e-02 4.50512205e-04 9.99616403e-01 -7.85131998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.56264000000002 meters 0.022861883531513524 Centerline is valid? [True, True] Translation: X:180.67, Y:-28.28, Z:-7.85 [[ 9.84432252e-01 1.73641910e-01 2.72328362e-02 1.80666392e+02] [-1.73562663e-01 9.84808752e-01 -5.26530696e-03 -2.82849854e+01] [-2.77334134e-02 4.56734404e-04 9.99615251e-01 -7.85181263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.59264000000002 meters 0.02009439192709265 Centerline is valid? [True, True] Translation: X:180.70, Y:-28.29, Z:-7.85 [[ 9.84332873e-01 1.74149491e-01 2.75817044e-02 1.80695330e+02] [-1.74068437e-01 9.84719125e-01 -5.33144666e-03 -2.82874577e+01] [-2.80887006e-02 4.46814038e-04 9.99605335e-01 -7.84829041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.62264000000002 meters 0.02009439192709265 Centerline is valid? [True, True] Translation: X:180.72, Y:-28.29, Z:-7.85 [[ 9.84345845e-01 1.74076123e-01 2.75818952e-02 1.80722323e+02] [-1.73995067e-01 9.84732097e-01 -5.33045930e-03 -2.82925464e+01] [-2.80886832e-02 4.47901745e-04 9.99605335e-01 -7.84950290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.65264000000002 meters 0.022946701208334433 Centerline is valid? [True, True] Translation: X:180.75, Y:-28.30, Z:-7.85 [[ 9.84209790e-01 1.74748087e-01 2.81814833e-02 1.80749058e+02] [-1.74663814e-01 9.84613079e-01 -5.44388323e-03 -2.83009341e+01] [-2.86991652e-02 4.35637802e-04 9.99587999e-01 -7.85438152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.68264000000002 meters 0.019273022055282814 Centerline is valid? [True, True] Translation: X:180.78, Y:-28.30, Z:-7.85 [[ 9.83940557e-01 1.76245655e-01 2.82568515e-02 1.80778083e+02] [-1.76161606e-01 9.84346136e-01 -5.45640513e-03 -2.83039133e+01] [-2.87761903e-02 3.91005963e-04 9.99585803e-01 -7.85222744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71264000000002 meters 0.01973744809018216 Centerline is valid? [True, True] Translation: X:180.81, Y:-28.31, Z:-7.85 [[ 9.83815370e-01 1.76834971e-01 2.89259486e-02 1.80805261e+02] [-1.76747192e-01 9.84240442e-01 -5.58412127e-03 -2.83119711e+01] [-2.94575564e-02 3.81164133e-04 9.99565959e-01 -7.85424405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74264000000002 meters 0.018372782817406483 Centerline is valid? [True, True] Translation: X:180.83, Y:-28.32, Z:-7.85 [[ 9.83701264e-01 1.77355806e-01 2.96098241e-02 1.80833561e+02] [-1.77264108e-01 9.84146726e-01 -5.71462602e-03 -2.83173674e+01] [-3.01539335e-02 3.72725780e-04 9.99545197e-01 -7.85325097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77264000000002 meters 0.019155410790599372 Centerline is valid? [True, True] Translation: X:180.86, Y:-28.33, Z:-7.86 [[ 9.83651240e-01 1.77659009e-01 2.94536038e-02 1.80860107e+02] [-1.77568444e-01 9.84092042e-01 -5.68341276e-03 -2.83256321e+01] [-2.99947665e-02 3.60465418e-04 9.99549991e-01 -7.85570510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80264000000003 meters 0.01817967764230051 Centerline is valid? [True, True] Translation: X:180.89, Y:-28.33, Z:-7.86 [[ 9.83698377e-01 1.77433790e-01 2.92361643e-02 1.80888308e+02] [-1.77344534e-01 9.84132674e-01 -5.63887610e-03 -2.83315450e+01] [-2.97727917e-02 3.62079321e-04 9.99556627e-01 -7.85592895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.83264000000003 meters 0.019359472869313023 Centerline is valid? [True, True] Translation: X:180.91, Y:-28.34, Z:-7.86 [[ 9.83944014e-01 1.76074207e-01 2.91899290e-02 1.80914383e+02] [-1.75984673e-01 9.84376814e-01 -5.62868738e-03 -2.83435518e+01] [-2.97249560e-02 4.01333146e-04 9.99558035e-01 -7.85751890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86264000000003 meters 0.019969908416193602 Centerline is valid? [True, True] Translation: X:180.94, Y:-28.35, Z:-7.86 [[ 9.84116517e-01 1.75203508e-01 2.86078832e-02 1.80941731e+02] [-1.75117199e-01 9.84532151e-01 -5.51454650e-03 -2.83522400e+01] [-2.91315487e-02 4.17223934e-04 9.99575499e-01 -7.85963255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.89264000000003 meters 0.024165217316128643 Centerline is valid? [True, True] Translation: X:180.97, Y:-28.36, Z:-7.86 [[ 9.84256222e-01 1.74513284e-01 2.80143565e-02 1.80968262e+02] [-1.74430278e-01 9.84654727e-01 -5.39879219e-03 -2.83620267e+01] [-2.85266295e-02 4.27242822e-04 9.99592942e-01 -7.86311330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92264000000003 meters 0.02407268566052848 Centerline is valid? [True, True] Translation: X:180.99, Y:-28.38, Z:-7.87 [[ 9.84532280e-01 1.73045838e-01 2.74103589e-02 1.80993422e+02] [-1.72965832e-01 9.84913665e-01 -5.28142492e-03 -2.83779164e+01] [-2.79107657e-02 4.58677774e-04 9.99610313e-01 -7.86708842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.95264000000003 meters 0.02236688585569824 Centerline is valid? [True, True] Translation: X:181.02, Y:-28.39, Z:-7.87 [[ 9.84617448e-01 1.72572701e-01 2.73339177e-02 1.81021077e+02] [-1.72493020e-01 9.84996672e-01 -5.26447469e-03 -2.83853993e+01] [-2.78323226e-02 4.68583618e-04 9.99612496e-01 -7.86562932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98264000000003 meters 0.02322577907425744 Centerline is valid? [True, True] Translation: X:181.05, Y:-28.40, Z:-7.87 [[ 9.84639620e-01 1.72382241e-01 2.77341177e-02 1.81046550e+02] [-1.72300169e-01 9.85030016e-01 -5.34032959e-03 -2.83987188e+01] [-2.82395164e-02 4.79706938e-04 9.99601070e-01 -7.86663175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.01264000000003 meters 0.023153679228307206 Centerline is valid? [True, True] Translation: X:181.07, Y:-28.41, Z:-7.87 [[ 9.84532070e-01 1.72866227e-01 2.85284053e-02 1.81072912e+02] [-1.72779642e-01 9.84945196e-01 -5.49141202e-03 -2.84071478e+01] [-2.90481954e-02 4.77343601e-04 9.99577898e-01 -7.86697111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04264000000003 meters 0.021967064515037785 Centerline is valid? [True, True] Translation: X:181.10, Y:-28.41, Z:-7.87 [[ 9.84365296e-01 1.73737323e-01 2.89880566e-02 1.81100955e+02] [-1.73648361e-01 9.84791924e-01 -5.57791779e-03 -2.84141692e+01] [-2.95162966e-02 4.56980188e-04 9.99564195e-01 -7.86740135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.07264000000004 meters 0.020178398128247368 Centerline is valid? [True, True] Translation: X:181.13, Y:-28.42, Z:-7.87 [[ 9.83964242e-01 1.76078418e-01 2.84738774e-02 1.81127849e+02] [-1.75993597e-01 9.84376070e-01 -5.47781982e-03 -2.84222308e+01] [-2.89935294e-02 3.78758728e-04 9.99579527e-01 -7.86939843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10264000000004 meters 0.018490893549288526 Centerline is valid? [True, True] Translation: X:181.16, Y:-28.43, Z:-7.87 [[ 9.83722017e-01 1.77408341e-01 2.85879985e-02 1.81156366e+02] [-1.77323455e-01 9.84137270e-01 -5.49788609e-03 -2.84275503e+01] [-2.91098856e-02 3.39068933e-04 9.99576160e-01 -7.86965357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.13264000000004 meters 0.016572683677350684 Centerline is valid? [True, True] Translation: X:181.19, Y:-28.43, Z:-7.87 [[ 9.83464787e-01 1.78828916e-01 2.85872638e-02 1.81185235e+02] [-1.78744664e-01 9.83880141e-01 -5.49673133e-03 -2.84328357e+01] [-2.91094156e-02 2.96020851e-04 9.99576187e-01 -7.86970473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16264000000004 meters 0.02455767446427842 Centerline is valid? [True, True] Translation: X:181.21, Y:-28.44, Z:-7.87 [[ 9.82852871e-01 1.82107348e-01 2.89334996e-02 1.81213541e+02] [-1.82022537e-01 9.83278635e-01 -5.56075505e-03 -2.84396465e+01] [-2.94623463e-02 1.98855090e-04 9.99565871e-01 -7.87059308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.19264000000004 meters 0.013908776121768437 Centerline is valid? [True, True] Translation: X:181.24, Y:-28.44, Z:-7.87 [[ 9.82555389e-01 1.83704793e-01 2.89388306e-02 1.81240387e+02] [-1.83620680e-01 9.82981448e-01 -5.56049720e-03 -2.84447265e+01] [-2.94678236e-02 1.49728733e-04 9.99565718e-01 -7.87182959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22264000000004 meters 0.03218902749405552 Centerline is valid? [True, True] Translation: X:181.27, Y:-28.45, Z:-7.87 [[ 9.81907572e-01 1.87255281e-01 2.81599055e-02 1.81268752e+02] [-1.87177149e-01 9.82311284e-01 -5.40893622e-03 -2.84489066e+01] [-2.86746447e-02 4.01846019e-05 9.99588797e-01 -7.87436193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.25264000000004 meters 0.01417265244447641 Centerline is valid? [True, True] Translation: X:181.30, Y:-28.45, Z:-7.88 [[ 9.81564583e-01 1.89118594e-01 2.76609372e-02 1.81296312e+02] [-1.89043979e-01 9.81954254e-01 -5.31192326e-03 -2.84532213e+01] [-2.81663584e-02 -1.51378993e-05 9.99603249e-01 -7.87992550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.28264000000001 meters 0.013850297086866104 Centerline is valid? [True, True] Translation: X:181.33, Y:-28.46, Z:-7.88 [[ 9.81197170e-01 1.90969024e-01 2.79811709e-02 1.81325039e+02] [-1.90893481e-01 9.81596061e-01 -5.37141357e-03 -2.84576608e+01] [-2.84919807e-02 -7.10073237e-05 9.99594019e-01 -7.87867516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.31264000000002 meters 0.01705997234706984 Centerline is valid? [True, True] Translation: X:181.35, Y:-28.46, Z:-7.88 [[ 9.80498595e-01 1.94369732e-01 2.90329705e-02 1.81353563e+02] [-1.94289925e-01 9.80928324e-01 -5.57218883e-03 -2.84603771e+01] [-2.95623280e-02 -1.77290341e-04 9.99562923e-01 -7.87790924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.34264000000002 meters 0.015729782099442483 Centerline is valid? [True, True] Translation: X:181.38, Y:-28.46, Z:-7.88 [[ 9.80264169e-01 1.95537435e-01 2.91078975e-02 1.81381223e+02] [-1.95457794e-01 9.80696214e-01 -5.58440042e-03 -2.84641554e+01] [-2.96379642e-02 -2.15177801e-04 9.99560676e-01 -7.87923073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.37264000000002 meters 0.015899447352789874 Centerline is valid? [True, True] Translation: X:181.41, Y:-28.47, Z:-7.88 [[ 9.79970272e-01 1.96970325e-01 2.93420645e-02 1.81410078e+02] [-1.96890112e-01 9.80409416e-01 -5.62687785e-03 -2.84678590e+01] [-2.98755643e-02 -2.62989349e-04 9.99553591e-01 -7.87802535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.40264000000002 meters 0.019063083650569797 Centerline is valid? [True, True] Translation: X:181.44, Y:-28.47, Z:-7.88 [[ 9.79880351e-01 1.97417295e-01 2.93412564e-02 1.81437378e+02] [-1.97337326e-01 9.80319506e-01 -5.62540027e-03 -2.84713068e+01] [-2.98743573e-02 -2.77905890e-04 9.99553623e-01 -7.88160534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.43264000000002 meters 0.016325086184378675 Centerline is valid? [True, True] Translation: X:181.46, Y:-28.48, Z:-7.88 [[ 9.80025312e-01 1.96858337e-01 2.82344339e-02 1.81464827e+02] [-1.96784111e-01 9.80431911e-01 -5.41132801e-03 -2.84786039e+01] [-2.87472050e-02 -2.52849535e-04 9.99586682e-01 -7.88380771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46264000000002 meters 0.016038698224921807 Centerline is valid? [True, True] Translation: X:181.49, Y:-28.48, Z:-7.89 [[ 9.80239741e-01 1.95821584e-01 2.79992531e-02 1.81491651e+02] [-1.95748201e-01 9.80639515e-01 -5.36503635e-03 -2.84847760e+01] [-2.85077639e-02 -2.21781601e-04 9.99593547e-01 -7.88569138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49264000000002 meters 0.01567547751957152 Centerline is valid? [True, True] Translation: X:181.52, Y:-28.49, Z:-7.89 [[ 9.80496385e-01 1.94478763e-01 2.83698905e-02 1.81518731e+02] [-1.94402915e-01 9.80906711e-01 -5.43422676e-03 -2.84913742e+01] [-2.88850577e-02 -1.86949714e-04 9.99582722e-01 -7.88798315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52264000000002 meters 0.013362189688593042 Centerline is valid? [True, True] Translation: X:181.55, Y:-28.50, Z:-7.89 [[ 9.81205497e-01 1.90755880e-01 2.91198743e-02 1.81546055e+02] [-1.90674389e-01 9.81637503e-01 -5.57582594e-03 -2.85019605e+01] [-2.96487823e-02 -8.13831865e-05 9.99560375e-01 -7.88668181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.55264000000003 meters 0.012978567888489606 Centerline is valid? [True, True] Translation: X:181.57, Y:-28.51, Z:-7.89 [[ 9.81516356e-01 1.89110665e-01 2.93734330e-02 1.81573832e+02] [-1.89027056e-01 9.81955781e-01 -5.62290215e-03 -2.85086937e+01] [-2.99067631e-02 -3.34031232e-05 9.99552692e-01 -7.88704339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58264000000003 meters 0.012845957539707503 Centerline is valid? [True, True] Translation: X:181.60, Y:-28.52, Z:-7.89 [[ 9.82101412e-01 1.86013131e-01 2.95961512e-02 1.81601549e+02] [-1.85926886e-01 9.82547257e-01 -5.66406970e-03 -2.85167259e+01] [-3.01332085e-02 5.99706206e-05 9.99545890e-01 -7.88752906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.61264000000003 meters 0.017309444118748452 Centerline is valid? [True, True] Translation: X:181.63, Y:-28.52, Z:-7.89 [[ 9.82373683e-01 1.84584382e-01 2.95051174e-02 1.81629837e+02] [-1.84498065e-01 9.82816664e-01 -5.64522301e-03 -2.85234808e+01] [-3.00401411e-02 1.02081451e-04 9.99548688e-01 -7.88761824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64264000000003 meters 0.014512068983335092 Centerline is valid? [True, True] Translation: X:181.66, Y:-28.53, Z:-7.89 [[ 9.83015981e-01 1.81197706e-01 2.91027929e-02 1.81657540e+02] [-1.81112291e-01 9.83446669e-01 -5.56660549e-03 -2.85323024e+01] [-2.96297009e-02 2.01188660e-04 9.99560924e-01 -7.89005804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.67264000000003 meters 0.01532758879386759 Centerline is valid? [True, True] Translation: X:181.69, Y:-28.54, Z:-7.89 [[ 9.83308373e-01 1.79542992e-01 2.94780936e-02 1.81685933e+02] [-1.79454650e-01 9.83750095e-01 -5.63724161e-03 -2.85391178e+01] [-3.00112046e-02 2.53165890e-04 9.99549530e-01 -7.89095454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70264000000003 meters 0.016002857322843272 Centerline is valid? [True, True] Translation: X:181.71, Y:-28.55, Z:-7.89 [[ 9.83575372e-01 1.78015053e-01 2.98350187e-02 1.81714987e+02] [-1.77923895e-01 9.84027718e-01 -5.70419464e-03 -2.85455733e+01] [-3.03739179e-02 3.02142626e-04 9.99538560e-01 -7.89095685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.73264000000003 meters 0.026756685496983467 Centerline is valid? [True, True] Translation: X:181.74, Y:-28.56, Z:-7.89 [[ 9.84027448e-01 1.75372159e-01 3.05710377e-02 1.81742426e+02] [-1.75275197e-01 9.84502134e-01 -5.84411170e-03 -2.85563457e+01] [-3.11221464e-02 3.92421672e-04 9.99515512e-01 -7.89338886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76264000000003 meters 0.01901489322123493 Centerline is valid? [True, True] Translation: X:181.77, Y:-28.56, Z:-7.89 [[ 9.84279852e-01 1.74007057e-01 3.02442997e-02 1.81772303e+02] [-1.73911546e-01 9.84744312e-01 -5.78057253e-03 -2.85622098e+01] [-3.07887625e-02 4.29868157e-04 9.99525821e-01 -7.89334950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.79264000000003 meters 0.021466792458049562 Centerline is valid? [True, True] Translation: X:181.80, Y:-28.57, Z:-7.90 [[ 9.84648824e-01 1.71996054e-01 2.97330026e-02 1.81801307e+02] [-1.71902834e-01 9.85097519e-01 -5.68267799e-03 -2.85715913e+01] [-3.02673053e-02 4.84254797e-04 9.99541723e-01 -7.89665126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82264000000004 meters 0.023028640286113105 Centerline is valid? [True, True] Translation: X:181.83, Y:-28.58, Z:-7.90 [[ 9.84788539e-01 1.71306564e-01 2.90791130e-02 1.81830196e+02] [-1.71217088e-01 9.85217649e-01 -5.55806196e-03 -2.85793077e+01] [-2.96013879e-02 4.94674654e-04 9.99561660e-01 -7.89976194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.85264000000004 meters 0.022491073753454095 Centerline is valid? [True, True] Translation: X:181.86, Y:-28.58, Z:-7.90 [[ 9.84885738e-01 1.70783737e-01 2.88617139e-02 1.81859871e+02] [-1.70695355e-01 9.85308408e-01 -5.51703777e-03 -2.85848900e+01] [-2.93799097e-02 5.07091314e-04 9.99568189e-01 -7.90044952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88264000000004 meters 0.024151390887695957 Centerline is valid? [True, True] Translation: X:181.89, Y:-28.59, Z:-7.90 [[ 9.85053962e-01 1.69793427e-01 2.89634975e-02 1.81889251e+02] [-1.69703998e-01 9.85479529e-01 -5.53631696e-03 -2.85935502e+01] [-2.94829641e-02 5.38349634e-04 9.99565138e-01 -7.90247472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.91264000000004 meters 0.024240049471142895 Centerline is valid? [True, True] Translation: X:181.92, Y:-28.60, Z:-7.90 [[ 9.85114974e-01 1.69494405e-01 2.86380078e-02 1.81919063e+02] [-1.69406833e-01 9.85531001e-01 -5.47462925e-03 -2.85991082e+01] [-2.91515635e-02 5.41665035e-04 9.99574856e-01 -7.90341960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94264000000004 meters 0.022965172386584545 Centerline is valid? [True, True] Translation: X:181.95, Y:-28.60, Z:-7.90 [[ 9.85066672e-01 1.69738485e-01 2.88530654e-02 1.81950071e+02] [-1.69649708e-01 9.85488994e-01 -5.51537702e-03 -2.86023519e+01] [-2.93705502e-02 5.38099963e-04 9.99568447e-01 -7.90320852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.97264000000004 meters 0.026644565942318232 Centerline is valid? [True, True] Translation: X:181.98, Y:-28.61, Z:-7.90 [[ 9.84982746e-01 1.70244217e-01 2.87384355e-02 1.81980075e+02] [-1.70156327e-01 9.85401763e-01 -5.49455173e-03 -2.86070731e+01] [-2.92543206e-02 5.22012011e-04 9.99571864e-01 -7.90410119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.00264000000004 meters 0.024018814156855257 Centerline is valid? [True, True] Translation: X:182.01, Y:-28.61, Z:-7.91 [[ 9.84676790e-01 1.71968322e-01 2.89571197e-02 1.82009389e+02] [-1.71879840e-01 9.85102366e-01 -5.53618414e-03 -2.86145553e+01] [-2.94777754e-02 4.74206925e-04 9.99565323e-01 -7.90901037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.03264000000001 meters 0.02142408959671216 Centerline is valid? [True, True] Translation: X:182.04, Y:-28.62, Z:-7.91 [[ 9.84425843e-01 1.73305498e-01 2.95121103e-02 1.82039734e+02] [-1.73214169e-01 9.84868016e-01 -5.64300379e-03 -2.86169018e+01] [-3.00434971e-02 4.43203095e-04 9.99548494e-01 -7.90816079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.06264000000002 meters 0.01883485799515713 Centerline is valid? [True, True] Translation: X:182.07, Y:-28.62, Z:-7.91 [[ 9.83992828e-01 1.75678478e-01 2.99196609e-02 1.82069935e+02] [-1.75585711e-01 9.84447526e-01 -5.72073016e-03 -2.86179046e+01] [-3.04593453e-02 3.75692522e-04 9.99535936e-01 -7.90841059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.09264000000002 meters 0.018202083751519604 Centerline is valid? [True, True] Translation: X:182.10, Y:-28.62, Z:-7.91 [[ 9.83877243e-01 1.76330293e-01 2.98864393e-02 1.82099014e+02] [-1.76238054e-01 9.84330992e-01 -5.71365569e-03 -2.86218302e+01] [-3.04256390e-02 3.54407889e-04 9.99536970e-01 -7.90988760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.12264000000002 meters 0.017164871815525874 Centerline is valid? [True, True] Translation: X:182.13, Y:-28.63, Z:-7.91 [[ 9.83842063e-01 1.76516465e-01 2.99455051e-02 1.82128421e+02] [-1.76423970e-01 9.84297626e-01 -5.72422912e-03 -2.86259189e+01] [-3.04857103e-02 3.48632496e-04 9.99535142e-01 -7.90979328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.15264000000002 meters 0.018610771474039303 Centerline is valid? [True, True] Translation: X:182.16, Y:-28.63, Z:-7.91 [[ 9.83944615e-01 1.76014641e-01 2.95269520e-02 1.82156751e+02] [-1.75924525e-01 9.84387484e-01 -5.64300485e-03 -2.86342431e+01] [-3.00592135e-02 3.57889221e-04 9.99548056e-01 -7.91311417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.18264000000002 meters 0.021575417265274885 Centerline is valid? [True, True] Translation: X:182.19, Y:-28.64, Z:-7.91 [[ 9.84097161e-01 1.75185977e-01 2.93709298e-02 1.82186576e+02] [-1.75096429e-01 9.84535285e-01 -5.61360944e-03 -2.86403573e+01] [-2.99001424e-02 3.81592180e-04 9.99552818e-01 -7.91398454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21264000000002 meters 0.021159006073666668 Centerline is valid? [True, True] Translation: X:182.21, Y:-28.65, Z:-7.92 [[ 9.84430539e-01 1.73321399e-01 2.92610188e-02 1.82214512e+02] [-1.73231696e-01 9.84865220e-01 -5.59260237e-03 -2.86527096e+01] [-2.97874774e-02 4.36592635e-04 9.99556159e-01 -7.91688165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24264000000002 meters 0.02429106140197359 Centerline is valid? [True, True] Translation: X:182.24, Y:-28.66, Z:-7.92 [[ 9.84646122e-01 1.72133226e-01 2.90201167e-02 1.82242011e+02] [-1.72044474e-01 9.85073567e-01 -5.54673163e-03 -2.86645086e+01] [-2.95417267e-02 4.68817076e-04 9.99563438e-01 -7.92102947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27264000000002 meters 0.02275088227752233 Centerline is valid? [True, True] Translation: X:182.27, Y:-28.67, Z:-7.92 [[ 9.84790489e-01 1.71303772e-01 2.90294900e-02 1.82271643e+02] [-1.71214618e-01 9.85218135e-01 -5.54800029e-03 -2.86703976e+01] [-2.95507734e-02 4.93344885e-04 9.99563159e-01 -7.91957304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30264000000003 meters 0.023317472418522386 Centerline is valid? [True, True] Translation: X:182.30, Y:-28.68, Z:-7.92 [[ 9.84858147e-01 1.70894283e-01 2.91474552e-02 1.82300987e+02] [-1.70804229e-01 9.85289240e-01 -5.57037253e-03 -2.86794724e+01] [-2.96706188e-02 5.07518171e-04 9.99559601e-01 -7.92086465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.33264000000003 meters 0.022496791481837378 Centerline is valid? [True, True] Translation: X:182.33, Y:-28.69, Z:-7.92 [[ 9.84741255e-01 1.71541195e-01 2.92964048e-02 1.82331348e+02] [-1.71450493e-01 9.85176825e-01 -5.59919973e-03 -2.86857474e+01] [-2.98226325e-02 4.90879917e-04 9.99555086e-01 -7.92182150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36264000000003 meters 0.019712003918885303 Centerline is valid? [True, True] Translation: X:182.36, Y:-28.69, Z:-7.92 [[ 9.84135957e-01 1.74964074e-01 2.93937323e-02 1.82359995e+02] [-1.74874277e-01 9.84574741e-01 -5.61832810e-03 -2.86909578e+01] [-2.99233319e-02 3.88991003e-04 9.99552121e-01 -7.92396274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.39264000000003 meters 0.01645859371565146 Centerline is valid? [True, True] Translation: X:182.39, Y:-28.69, Z:-7.92 [[ 9.83694580e-01 1.77414456e-01 2.94802360e-02 1.82391018e+02] [-1.77325234e-01 9.84136175e-01 -5.63468613e-03 -2.86935515e+01] [-3.00122414e-02 3.15220457e-04 9.99549482e-01 -7.92356046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42264000000003 meters 0.014590278726907002 Centerline is valid? [True, True] Translation: X:182.42, Y:-28.70, Z:-7.93 [[ 9.83157699e-01 1.80415265e-01 2.91765463e-02 1.82421475e+02] [-1.80329177e-01 9.83590506e-01 -5.57718725e-03 -2.86963238e+01] [-2.97039837e-02 2.21871990e-04 9.99558715e-01 -7.92535743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.45264000000003 meters 0.01885412692533248 Centerline is valid? [True, True] Translation: X:182.45, Y:-28.69, Z:-7.93 [[ 9.81925140e-01 1.87189621e-01 2.79832911e-02 1.82451822e+02] [-1.87113168e-01 9.82323799e-01 -5.34948163e-03 -2.86924630e+01] [-2.84900202e-02 1.67482512e-05 9.99594077e-01 -7.92833610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48264000000003 meters 0.013462340443614626 Centerline is valid? [True, True] Translation: X:182.48, Y:-28.69, Z:-7.93 [[ 9.81301429e-01 1.90444169e-01 2.79020248e-02 1.82479475e+02] [-1.90369478e-01 9.81698025e-01 -5.33382394e-03 -2.86931972e+01] [-2.84071583e-02 -7.76048295e-05 9.99596432e-01 -7.93170769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.51264000000003 meters 0.016060571409469336 Centerline is valid? [True, True] Translation: X:182.51, Y:-28.69, Z:-7.93 [[ 9.80372354e-01 1.95207569e-01 2.76414856e-02 1.82507920e+02] [-1.95136202e-01 9.80761928e-01 -5.28242468e-03 -2.86929537e+01] [-2.81408860e-02 -2.15111383e-04 9.99603944e-01 -7.93464765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54264000000003 meters 0.016060571409469336 Centerline is valid? [True, True] Translation: X:182.54, Y:-28.70, Z:-7.94 [[ 9.80381661e-01 1.95160765e-01 2.76419127e-02 1.82535740e+02] [-1.95089442e-01 9.80771242e-01 -5.28018838e-03 -2.86981756e+01] [-2.81408787e-02 -2.16045483e-04 9.99603944e-01 -7.93589695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.57264000000004 meters 0.01647881231007188 Centerline is valid? [True, True] Translation: X:182.56, Y:-28.70, Z:-7.94 [[ 9.80094946e-01 1.96587233e-01 2.77011992e-02 1.82564078e+02] [-1.96516212e-01 9.80486304e-01 -5.29016095e-03 -2.87025197e+01] [-2.82006245e-02 -2.58874708e-04 9.99602250e-01 -7.93579791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60264000000004 meters 0.018065378009560828 Centerline is valid? [True, True] Translation: X:182.59, Y:-28.71, Z:-7.94 [[ 9.79882329e-01 1.97604839e-01 2.79812267e-02 1.82592125e+02] [-1.97532825e-01 9.80281716e-01 -5.34238369e-03 -2.87051129e+01] [-2.84851657e-02 -2.92303369e-04 9.99594173e-01 -7.93810053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.63264000000004 meters 0.019458154783399986 Centerline is valid? [True, True] Translation: X:182.62, Y:-28.71, Z:-7.94 [[ 9.79483133e-01 1.99452839e-01 2.88332630e-02 1.82620836e+02] [-1.99377233e-01 9.79907361e-01 -5.50295459e-03 -2.87065939e+01] [-2.93515065e-02 -3.58644982e-04 9.99569087e-01 -7.93816715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66264000000004 meters 0.024618686869975683 Centerline is valid? [True, True] Translation: X:182.65, Y:-28.71, Z:-7.94 [[ 9.79327668e-01 2.00188026e-01 2.90184840e-02 1.82649638e+02] [-2.00111811e-01 9.79757422e-01 -5.53686950e-03 -2.87106497e+01] [-2.95394900e-02 -3.84531876e-04 9.99563540e-01 -7.93864363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.69264000000004 meters 0.021380156508670114 Centerline is valid? [True, True] Translation: X:182.68, Y:-28.71, Z:-7.94 [[ 9.78962417e-01 2.01839405e-01 2.98904874e-02 1.82678019e+02] [-2.01759354e-01 9.79418528e-01 -5.70173677e-03 -2.87147563e+01] [-3.04261323e-02 -4.48899426e-04 9.99536917e-01 -7.93857935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72264000000004 meters 0.021371663240833002 Centerline is valid? [True, True] Translation: X:182.71, Y:-28.72, Z:-7.94 [[ 9.78856444e-01 2.02290573e-01 3.03081986e-02 1.82706148e+02] [-2.02208531e-01 9.79325432e-01 -5.77990824e-03 -2.87193660e+01] [-3.08508106e-02 -4.70875894e-04 9.99523890e-01 -7.93829457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.75264000000004 meters 0.020879201754852583 Centerline is valid? [True, True] Translation: X:182.73, Y:-28.72, Z:-7.94 [[ 9.78807446e-01 2.02447062e-01 3.08410396e-02 1.82734568e+02] [-2.02362237e-01 9.79293087e-01 -5.87997133e-03 -2.87238059e+01] [-3.13927998e-02 -4.85702035e-04 9.99507007e-01 -7.93832053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.78264000000001 meters 0.028668016912433106 Centerline is valid? [True, True] Translation: X:182.76, Y:-28.73, Z:-7.94 [[ 9.78819952e-01 2.02410657e-01 3.06827048e-02 1.82763369e+02] [-2.02326730e-01 9.79300614e-01 -5.84826161e-03 -2.87275524e+01] [-3.12313422e-02 -4.83536200e-04 9.99512066e-01 -7.93930605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.81264000000002 meters 0.020534910270386248 Centerline is valid? [True, True] Translation: X:182.79, Y:-28.73, Z:-7.94 [[ 9.78910754e-01 2.02020166e-01 3.03576715e-02 1.82790444e+02] [-2.01937844e-01 9.79381251e-01 -5.78555826e-03 -2.87313105e+01] [-3.09005337e-02 -4.66817527e-04 9.99522355e-01 -7.94161434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.84264000000002 meters 0.03644556297520626 Centerline is valid? [True, True] Translation: X:182.82, Y:-28.73, Z:-7.94 [[ 9.79063526e-01 2.01290967e-01 3.02747329e-02 1.82818533e+02] [-2.01208869e-01 9.79531392e-01 -5.76575979e-03 -2.87335831e+01] [-3.08156466e-02 -4.46499641e-04 9.99524985e-01 -7.94448975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.87264000000002 meters 0.01808427644696066 Centerline is valid? [True, True] Translation: X:182.85, Y:-28.74, Z:-7.94 [[ 9.79464404e-01 1.99283016e-01 3.05902214e-02 1.82845910e+02] [-1.99198284e-01 9.79941900e-01 -5.82372453e-03 -2.87425080e+01] [-3.11372091e-02 -3.89388737e-04 9.99515044e-01 -7.94390738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.90264000000002 meters 0.017520758785155868 Centerline is valid? [True, True] Translation: X:182.87, Y:-28.75, Z:-7.95 [[ 9.79785219e-01 1.97682680e-01 3.06998703e-02 1.82872584e+02] [-1.97596597e-01 9.80266006e-01 -5.84320996e-03 -2.87490919e+01] [-3.12491406e-02 -3.41099151e-04 9.99511568e-01 -7.94590858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.93264000000002 meters 0.014388708484747614 Centerline is valid? [True, True] Translation: X:182.90, Y:-28.76, Z:-7.95 [[ 9.80524069e-01 1.93961709e-01 3.08448457e-02 1.82900464e+02] [-1.93873044e-01 9.81009075e-01 -5.86843394e-03 -2.87592176e+01] [-3.13973250e-02 -2.25843402e-04 9.99506957e-01 -7.94581536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96264000000002 meters 0.013195387434662784 Centerline is valid? [True, True] Translation: X:182.93, Y:-28.77, Z:-7.95 [[ 9.80910967e-01 1.92003222e-01 3.07967058e-02 1.82928559e+02] [-1.91913899e-01 9.81394282e-01 -5.85828177e-03 -2.87661740e+01] [-3.13485199e-02 -1.63863043e-04 9.99508501e-01 -7.94714117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.99264000000002 meters 0.024448581503241505 Centerline is valid? [True, True] Translation: X:182.96, Y:-28.78, Z:-7.95 [[ 9.81684230e-01 1.88053124e-01 3.05302156e-02 1.82955244e+02] [-1.87963472e-01 9.82158857e-01 -5.80621753e-03 -2.87766366e+01] [-3.10773990e-02 -3.86931367e-05 9.99516980e-01 -7.94920823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02264000000002 meters 0.012195549867117437 Centerline is valid? [True, True] Translation: X:182.98, Y:-28.79, Z:-7.95 [[ 9.82063121e-01 1.86079829e-01 3.04355781e-02 1.82982256e+02] [-1.85989844e-01 9.82534629e-01 -5.78629451e-03 -2.87851527e+01] [-3.09807221e-02 2.17980304e-05 9.99519982e-01 -7.95202820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.05264000000003 meters 0.01268177574382914 Centerline is valid? [True, True] Translation: X:183.01, Y:-28.80, Z:-7.95 [[ 9.82667095e-01 1.82905616e-01 3.01813718e-02 1.83010866e+02] [-1.82815702e-01 9.83130470e-01 -5.73564954e-03 -2.87960422e+01] [-3.07213088e-02 1.18605410e-04 9.99527982e-01 -7.95237036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08264000000003 meters 0.021057982667940008 Centerline is valid? [True, True] Translation: X:183.04, Y:-28.80, Z:-7.95 [[ 9.82884056e-01 1.81740968e-01 3.01521778e-02 1.83040612e+02] [-1.81650713e-01 9.83346428e-01 -5.72900950e-03 -2.88043971e+01] [-3.06912321e-02 1.53787497e-04 9.99528901e-01 -7.95250647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.11264000000003 meters 0.013959407860786815 Centerline is valid? [True, True] Translation: X:183.07, Y:-28.81, Z:-7.96 [[ 9.83004169e-01 1.81015525e-01 3.05971071e-02 1.83069135e+02] [-1.80922240e-01 9.83480222e-01 -5.81338129e-03 -2.88128220e+01] [-3.11439619e-02 1.78880899e-04 9.99514893e-01 -7.95536072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14264000000003 meters 0.013378549358949523 Centerline is valid? [True, True] Translation: X:183.10, Y:-28.82, Z:-7.95 [[ 9.82936137e-01 1.81333382e-01 3.08990979e-02 1.83098357e+02] [-1.81238376e-01 9.83421667e-01 -5.87163704e-03 -2.88175583e+01] [-3.14515662e-02 1.71341921e-04 9.99505262e-01 -7.95457280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.17264000000003 meters 0.012791447026382925 Centerline is valid? [True, True] Translation: X:183.13, Y:-28.82, Z:-7.96 [[ 9.82768975e-01 1.82144450e-01 3.14410757e-02 1.83127652e+02] [-1.82046521e-01 9.83271772e-01 -5.97383278e-03 -2.88225907e+01] [-3.20032227e-02 1.47159075e-04 9.99487755e-01 -7.95526979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20264000000003 meters 0.01826911747418823 Centerline is valid? [True, True] Translation: X:183.16, Y:-28.83, Z:-7.95 [[ 9.82412782e-01 1.83992856e-01 3.18080888e-02 1.83157356e+02] [-1.83893620e-01 9.82927577e-01 -6.04277553e-03 -2.88272037e+01] [-3.23768752e-02 8.71953327e-05 9.99475728e-01 -7.95384074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.23264000000003 meters 0.011551656797513564 Centerline is valid? [True, True] Translation: X:183.19, Y:-28.83, Z:-7.96 [[ 9.82177801e-01 1.85151100e-01 3.23393985e-02 1.83185501e+02] [-1.85049171e-01 9.82710063e-01 -6.14300221e-03 -2.88311484e+01] [-3.29176359e-02 4.91415383e-05 9.99458067e-01 -7.95604314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26264000000003 meters 0.01167075680120058 Centerline is valid? [True, True] Translation: X:183.21, Y:-28.83, Z:-7.96 [[ 9.81743767e-01 1.87426970e-01 3.24084381e-02 1.83214513e+02] [-1.87325886e-01 9.82278540e-01 -6.15485961e-03 -2.88339774e+01] [-3.29877000e-02 -2.84443403e-05 9.99455757e-01 -7.95803830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.29264000000003 meters 0.011810310445132007 Centerline is valid? [True, True] Translation: X:183.24, Y:-28.84, Z:-7.96 [[ 9.81574608e-01 1.88283742e-01 3.25656632e-02 1.83242325e+02] [-1.88182178e-01 9.82114672e-01 -6.18374359e-03 -2.88387464e+01] [-3.31475140e-02 -5.84717347e-05 9.99450468e-01 -7.95981472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32264000000004 meters 0.012043881623306494 Centerline is valid? [True, True] Translation: X:183.27, Y:-28.84, Z:-7.96 [[ 9.81363721e-01 1.89344061e-01 3.27730619e-02 1.83270490e+02] [-1.89241861e-01 9.81910799e-01 -6.22099987e-03 -2.88433580e+01] [-3.33581327e-02 -9.69716350e-05 9.99443458e-01 -7.96037481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.35264000000004 meters 0.012629413337196254 Centerline is valid? [True, True] Translation: X:183.30, Y:-28.85, Z:-7.96 [[ 9.80934852e-01 1.91574005e-01 3.26529797e-02 1.83300306e+02] [-1.91473848e-01 9.81478156e-01 -6.19637985e-03 -2.88469712e+01] [-3.32352516e-02 -1.73946706e-04 9.99447541e-01 -7.96064970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38264000000004 meters 0.013311430161029755 Centerline is valid? [True, True] Translation: X:183.33, Y:-28.85, Z:-7.96 [[ 9.80758656e-01 1.92510283e-01 3.24383929e-02 1.83328134e+02] [-1.92411973e-01 9.81294935e-01 -6.15497494e-03 -2.88512198e+01] [-3.30165266e-02 -2.04990232e-04 9.99454785e-01 -7.96271931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.41264000000004 meters 0.014628505305042097 Centerline is valid? [True, True] Translation: X:183.36, Y:-28.85, Z:-7.96 [[ 9.80460925e-01 1.94013034e-01 3.24856503e-02 1.83355987e+02] [-1.93915294e-01 9.80998918e-01 -6.16296645e-03 -2.88547034e+01] [-3.30640836e-02 -2.56916645e-04 9.99453201e-01 -7.96489906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.44264000000004 meters 0.015686625006476176 Centerline is valid? [True, True] Translation: X:183.38, Y:-28.86, Z:-7.97 [[ 9.80322424e-01 1.94708158e-01 3.25065978e-02 1.83383138e+02] [-1.94610742e-01 9.80861179e-01 -6.16489027e-03 -2.88581817e+01] [-3.30848143e-02 -2.82552930e-04 9.99452508e-01 -7.96701617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.47264000000004 meters 0.01625664770594512 Centerline is valid? [True, True] Translation: X:183.41, Y:-28.86, Z:-7.97 [[ 9.80163001e-01 1.95557518e-01 3.22141066e-02 1.83411300e+02] [-1.95462375e-01 9.80692185e-01 -6.10731147e-03 -2.88625725e+01] [-3.27864532e-02 -3.10485032e-04 9.99462331e-01 -7.96882241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.50264000000004 meters 0.0180565324921149 Centerline is valid? [True, True] Translation: X:183.44, Y:-28.87, Z:-7.97 [[ 9.79679123e-01 1.97987480e-01 3.20900787e-02 1.83439741e+02] [-1.97894422e-01 9.80204471e-01 -6.08224546e-03 -2.88652535e+01] [-3.26590471e-02 -3.91798665e-04 9.99466474e-01 -7.97024172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.53264000000001 meters 0.025184522521263148 Centerline is valid? [True, True] Translation: X:183.47, Y:-28.87, Z:-7.97 [[ 9.79400032e-01 1.99399907e-01 3.18630544e-02 1.83468339e+02] [-1.99308958e-01 9.79918102e-01 -6.03765248e-03 -2.88692738e+01] [-3.24270911e-02 -4.37315139e-04 9.99474008e-01 -7.97027383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.56264000000002 meters 0.0221267936510509 Centerline is valid? [True, True] Translation: X:183.50, Y:-28.87, Z:-7.97 [[ 9.78616413e-01 2.03145447e-01 3.22775919e-02 1.83497168e+02] [-2.03054200e-01 9.79148407e-01 -6.11470852e-03 -2.88693516e+01] [-3.28467279e-02 -5.70146486e-04 9.99460238e-01 -7.97191901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.59264000000002 meters 0.02586831722687709 Centerline is valid? [True, True] Translation: X:183.53, Y:-28.87, Z:-7.98 [[ 9.78216903e-01 2.05117961e-01 3.19110063e-02 1.83525460e+02] [-2.05029882e-01 9.78737056e-01 -6.04346001e-03 -2.88674057e+01] [-3.24721065e-02 -6.30895120e-04 9.99472443e-01 -7.97515855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.62264000000002 meters 0.030774746098940157 Centerline is valid? [True, True] Translation: X:183.56, Y:-28.87, Z:-7.97 [[ 9.77525603e-01 2.08443414e-01 3.15442231e-02 1.83555572e+02] [-2.08359173e-01 9.78034152e-01 -5.97102183e-03 -2.88655608e+01] [-3.20959477e-02 -7.35701532e-04 9.99484522e-01 -7.97467426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.65264000000002 meters 0.028723059152951893 Centerline is valid? [True, True] Translation: X:183.58, Y:-28.87, Z:-7.98 [[ 9.77181463e-01 2.09953196e-01 3.21876413e-02 1.83584629e+02] [-2.09866337e-01 9.77711108e-01 -6.09169906e-03 -2.88668570e+01] [-3.27491862e-02 -8.02407000e-04 9.99463279e-01 -7.97678196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.68264000000002 meters 0.0331654622022041 Centerline is valid? [True, True] Translation: X:183.61, Y:-28.86, Z:-7.98 [[ 9.76801266e-01 2.11750349e-01 3.19542833e-02 1.83614040e+02] [-2.11665754e-01 9.77323413e-01 -6.04606624e-03 -2.88617676e+01] [-3.25099258e-02 -8.57822294e-04 9.99471045e-01 -7.97989338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71264000000002 meters 0.03132660744561094 Centerline is valid? [True, True] Translation: X:183.64, Y:-28.87, Z:-7.98 [[ 9.76686699e-01 2.12276804e-01 3.19632849e-02 1.83641959e+02] [-2.12192512e-01 9.77209183e-01 -6.04561678e-03 -2.88674738e+01] [-3.25181597e-02 -8.77696225e-04 9.99470759e-01 -7.97995520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74264000000002 meters 0.031852560143905605 Centerline is valid? [True, True] Translation: X:183.67, Y:-28.87, Z:-7.98 [[ 9.76621309e-01 2.12591874e-01 3.18671377e-02 1.83670357e+02] [-2.12508308e-01 9.77140680e-01 -6.02583472e-03 -2.88702359e+01] [-3.24197200e-02 -8.87072913e-04 9.99473949e-01 -7.98128641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77264000000002 meters 0.03765217911509623 Centerline is valid? [True, True] Translation: X:183.70, Y:-28.87, Z:-7.98 [[ 9.76612147e-01 2.12771349e-01 3.09365000e-02 1.83699256e+02] [-2.12692726e-01 9.77101632e-01 -5.84851579e-03 -2.88666470e+01] [-3.14725013e-02 -8.68236952e-04 9.99504241e-01 -7.98409300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80264000000003 meters 0.03292319009572734 Centerline is valid? [True, True] Translation: X:183.73, Y:-28.87, Z:-7.99 [[ 9.76635086e-01 2.12602833e-01 3.13678810e-02 1.83728051e+02] [-2.12521984e-01 9.77138305e-01 -5.92791906e-03 -2.88713173e+01] [-3.19110504e-02 -8.76950551e-04 9.99490328e-01 -7.98591784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.83264000000003 meters 0.030634934615457087 Centerline is valid? [True, True] Translation: X:183.76, Y:-28.87, Z:-7.99 [[ 9.77035010e-01 2.10752159e-01 3.14024892e-02 1.83756632e+02] [-2.10670225e-01 9.77539184e-01 -5.93290559e-03 -2.88741463e+01] [-3.19475363e-02 -8.18912987e-04 9.99489212e-01 -7.98728788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86264000000003 meters 0.030235547371739325 Centerline is valid? [True, True] Translation: X:183.78, Y:-28.88, Z:-7.99 [[ 9.77383259e-01 2.08991411e-01 3.23195732e-02 1.83784704e+02] [-2.08903714e-01 9.77917161e-01 -6.10448780e-03 -2.88779786e+01] [-3.28816508e-02 -7.85254673e-04 9.99458944e-01 -7.98864369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.89264000000003 meters 0.027782988104129533 Centerline is valid? [True, True] Translation: X:183.81, Y:-28.88, Z:-7.99 [[ 9.77860663e-01 2.06657850e-01 3.28794126e-02 1.83812669e+02] [-2.06565826e-01 9.78413008e-01 -6.20853542e-03 -2.88848595e+01] [-3.34526876e-02 -7.20680466e-04 9.99440042e-01 -7.98871737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92264000000003 meters 0.025563818759936945 Centerline is valid? [True, True] Translation: X:183.84, Y:-28.90, Z:-7.99 [[ 9.79178078e-01 2.00530109e-01 3.15906110e-02 1.83840609e+02] [-2.00442010e-01 9.79687416e-01 -5.96388573e-03 -2.88984986e+01] [-3.21448627e-02 -4.92379377e-04 9.99483099e-01 -7.98856017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.95264000000003 meters 0.019285520518652604 Centerline is valid? [True, True] Translation: X:183.87, Y:-28.90, Z:-7.99 [[ 9.79844654e-01 1.97223574e-01 3.17382469e-02 1.83867705e+02] [-1.97132979e-01 9.80358461e-01 -5.98975654e-03 -2.89036952e+01] [-3.22961801e-02 -3.87624221e-04 9.99478267e-01 -7.99411454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98264000000003 meters 0.021384835728393285 Centerline is valid? [True, True] Translation: X:183.89, Y:-28.92, Z:-7.99 [[ 9.81083201e-01 1.91239364e-01 3.00542461e-02 1.83894293e+02] [-1.91155379e-01 9.81543414e-01 -5.66994985e-03 -2.89163454e+01] [-3.05838650e-02 -1.82338276e-04 9.99532188e-01 -7.99423834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.01264000000003 meters 0.01313589967780141 Centerline is valid? [True, True] Translation: X:183.92, Y:-28.92, Z:-8.00 [[ 9.81479270e-01 1.89166494e-01 3.02403834e-02 1.83922294e+02] [-1.89080530e-01 9.81945020e-01 -5.70350779e-03 -2.89238839e+01] [-3.07733065e-02 -1.19993055e-04 9.99526382e-01 -7.99707702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04264000000003 meters 0.013185765607956144 Centerline is valid? [True, True] Translation: X:183.95, Y:-28.93, Z:-8.00 [[ 9.81794506e-01 1.87544010e-01 3.01130016e-02 1.83948965e+02] [-1.87458052e-01 9.82256199e-01 -5.67794944e-03 -2.89303078e+01] [-3.06435479e-02 -7.03450726e-05 9.99530374e-01 -8.00021834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.07264000000004 meters 0.02203041110352655 Centerline is valid? [True, True] Translation: X:183.98, Y:-28.94, Z:-8.00 [[ 9.82054897e-01 1.86324440e-01 2.91784647e-02 1.83977449e+02] [-1.86243240e-01 9.82488271e-01 -5.50034076e-03 -2.89368378e+01] [-2.96923472e-02 -3.26552244e-05 9.99559085e-01 -7.99975767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10264000000004 meters 0.012621440757435043 Centerline is valid? [True, True] Translation: X:184.01, Y:-28.94, Z:-8.00 [[ 9.82253977e-01 1.85202449e-01 2.96171680e-02 1.84005138e+02] [-1.85118324e-01 9.82700388e-01 -5.58149937e-03 -2.89432894e+01] [-3.01385099e-02 -2.30561614e-07 9.99545732e-01 -8.00255205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.13264000000004 meters 0.012682236480809132 Centerline is valid? [True, True] Translation: X:184.03, Y:-28.95, Z:-8.00 [[ 9.82283519e-01 1.85005712e-01 2.98659572e-02 1.84032671e+02] [-1.84920118e-01 9.82737445e-01 -5.62701301e-03 -2.89480248e+01] [-3.03914241e-02 4.50578837e-06 9.99538074e-01 -8.00354368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16264000000004 meters 0.01266812421658329 Centerline is valid? [True, True] Translation: X:184.06, Y:-28.95, Z:-8.00 [[ 9.82136742e-01 1.85691670e-01 3.04306450e-02 1.84060557e+02] [-1.85603200e-01 9.82608062e-01 -5.73141290e-03 -2.89497120e+01] [-3.09656727e-02 -1.89938821e-05 9.99520448e-01 -8.00399619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.19264000000004 meters 0.012767962777060512 Centerline is valid? [True, True] Translation: X:184.09, Y:-28.95, Z:-8.01 [[ 9.82041052e-01 1.86207545e-01 3.03664535e-02 1.84088488e+02] [-1.86119747e-01 9.82510432e-01 -5.71758310e-03 -2.89530008e+01] [-3.09000145e-02 -3.68953360e-05 9.99522480e-01 -8.00543861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22264000000004 meters 0.02496400333847855 Centerline is valid? [True, True] Translation: X:184.12, Y:-28.96, Z:-8.01 [[ 9.81792592e-01 1.87681489e-01 2.93081143e-02 1.84117058e+02] [-1.87600433e-01 9.82229938e-01 -5.51593059e-03 -2.89561091e+01] [-2.98225453e-02 -8.27151494e-05 9.99555206e-01 -8.00574040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.25264000000004 meters 0.013543095428335351 Centerline is valid? [True, True] Translation: X:184.14, Y:-28.96, Z:-8.01 [[ 9.81585993e-01 1.88610429e-01 3.02497010e-02 1.84144429e+02] [-1.88524566e-01 9.82051981e-01 -5.69170573e-03 -2.89590304e+01] [-3.07802938e-02 -1.15913119e-04 9.99526168e-01 -8.00845747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.28264000000001 meters 0.014082643310976755 Centerline is valid? [True, True] Translation: X:184.17, Y:-28.96, Z:-8.01 [[ 9.81110707e-01 1.90920519e-01 3.11630656e-02 1.84173374e+02] [-1.90830615e-01 9.81605479e-01 -5.86168903e-03 -2.89586595e+01] [-3.17089527e-02 -1.95901117e-04 9.99497126e-01 -8.00629278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.31264000000002 meters 0.026097087295790973 Centerline is valid? [True, True] Translation: X:184.20, Y:-28.96, Z:-8.01 [[ 9.80935544e-01 1.91828749e-01 3.10996551e-02 1.84201296e+02] [-1.91739746e-01 9.81428387e-01 -5.84725968e-03 -2.89606089e+01] [-3.16437569e-02 -2.27255129e-04 9.99499185e-01 -8.00587477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.34264000000002 meters 0.029136901471526977 Centerline is valid? [True, True] Translation: X:184.23, Y:-28.96, Z:-8.01 [[ 9.80770567e-01 1.92614755e-01 3.14428314e-02 1.84229608e+02] [-1.92524244e-01 9.81274421e-01 -5.90977157e-03 -2.89626951e+01] [-3.19923554e-02 -2.57377333e-04 9.99488080e-01 -8.00757160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.37264000000002 meters 0.03001994019867047 Centerline is valid? [True, True] Translation: X:184.26, Y:-28.97, Z:-8.01 [[ 9.80652282e-01 1.93149173e-01 3.18511884e-02 1.84257202e+02] [-1.93056638e-01 9.81169363e-01 -5.98464047e-03 -2.89666718e+01] [-3.24073385e-02 -2.80232011e-04 9.99474705e-01 -8.00719840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.40264000000002 meters 0.015759431148978265 Centerline is valid? [True, True] Translation: X:184.28, Y:-28.97, Z:-8.01 [[ 9.80657643e-01 1.92943116e-01 3.29171786e-02 1.84284697e+02] [-1.92844255e-01 9.81209902e-01 -6.18227626e-03 -2.89717774e+01] [-3.34914893e-02 -2.85192338e-04 9.99438962e-01 -8.00938640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.43264000000002 meters 0.015759431148978265 Centerline is valid? [True, True] Translation: X:184.31, Y:-28.98, Z:-8.01 [[ 9.80671158e-01 1.92874355e-01 3.29175183e-02 1.84311715e+02] [-1.92775516e-01 9.81223421e-01 -6.18046729e-03 -2.89767129e+01] [-3.34914935e-02 -2.84685564e-04 9.99438962e-01 -8.01059874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46264000000002 meters 0.01386098100108819 Centerline is valid? [True, True] Translation: X:184.34, Y:-28.98, Z:-8.01 [[ 9.81070616e-01 1.90828188e-01 3.29400767e-02 1.84340253e+02] [-1.90728149e-01 9.81623428e-01 -6.18207820e-03 -2.89834834e+01] [-3.35144658e-02 -2.17544577e-04 9.99438209e-01 -8.00959632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49264000000002 meters 0.013068368603303631 Centerline is valid? [True, True] Translation: X:184.37, Y:-28.99, Z:-8.01 [[ 9.81353899e-01 1.89456713e-01 3.24141859e-02 1.84367288e+02] [-1.89359138e-01 9.81889060e-01 -6.08208212e-03 -2.89894067e+01] [-3.29794258e-02 -1.69247285e-04 9.99456016e-01 -8.01053987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52264000000002 meters 0.013377235214316947 Centerline is valid? [True, True] Translation: X:184.39, Y:-28.99, Z:-8.01 [[ 9.81618878e-01 1.88173080e-01 3.18633025e-02 1.84393428e+02] [-1.88078192e-01 9.82135874e-01 -5.97645280e-03 -2.89942784e+01] [-3.24187000e-02 -1.26193417e-04 9.99474368e-01 -8.01491978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.55264000000003 meters 0.028507511075463482 Centerline is valid? [True, True] Translation: X:184.42, Y:-29.00, Z:-8.02 [[ 9.82107486e-01 1.85777717e-01 3.08468040e-02 1.84420434e+02] [-1.85687700e-01 9.82591796e-01 -5.78278084e-03 -2.90023895e+01] [-3.13841284e-02 -4.85597253e-05 9.99507396e-01 -8.01688407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58264000000003 meters 0.01294709276079946 Centerline is valid? [True, True] Translation: X:184.45, Y:-29.01, Z:-8.02 [[ 9.82353506e-01 1.84494240e-01 3.07158719e-02 1.84447305e+02] [-1.84404411e-01 9.82833595e-01 -5.75654554e-03 -2.90091910e+01] [-3.12506403e-02 -9.17958625e-06 9.99511579e-01 -8.01931015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.61264000000003 meters 0.019206635291092948 Centerline is valid? [True, True] Translation: X:184.47, Y:-29.02, Z:-8.02 [[ 9.82794857e-01 1.82138525e-01 3.06565928e-02 1.84474884e+02] [-1.82047974e-01 9.83272879e-01 -5.74296120e-03 -2.90175808e+01] [-3.11898107e-02 6.31821276e-05 9.99513478e-01 -8.01817927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64264000000003 meters 0.012972031743708392 Centerline is valid? [True, True] Translation: X:184.50, Y:-29.02, Z:-8.02 [[ 9.82950297e-01 1.81186151e-01 3.13096306e-02 1.84503245e+02] [-1.81091265e-01 9.83448814e-01 -5.86377069e-03 -2.90243581e+01] [-3.18538532e-02 9.38945105e-05 9.99492533e-01 -8.01937777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.67264000000003 meters 0.013419286796969219 Centerline is valid? [True, True] Translation: X:184.53, Y:-29.03, Z:-8.02 [[ 9.83282287e-01 1.79396290e-01 3.11915988e-02 1.84530948e+02] [-1.79301265e-01 9.83776880e-01 -5.84018084e-03 -2.90305500e+01] [-3.17332806e-02 1.49853253e-04 9.99496361e-01 -8.01988140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70264000000003 meters 0.026378227400441434 Centerline is valid? [True, True] Translation: X:184.56, Y:-29.04, Z:-8.02 [[ 9.83389088e-01 1.78883423e-01 3.07672257e-02 1.84558081e+02] [-1.78790757e-01 9.83870263e-01 -5.75938171e-03 -2.90371453e+01] [-3.13012163e-02 1.62817553e-04 9.99509984e-01 -8.02073487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.73264000000003 meters 0.028012144198046797 Centerline is valid? [True, True] Translation: X:184.59, Y:-29.04, Z:-8.02 [[ 9.83478460e-01 1.78422331e-01 3.05874205e-02 1.84586271e+02] [-1.78330587e-01 9.83953983e-01 -5.72368302e-03 -2.90439590e+01] [-3.11178471e-02 1.74446321e-04 9.99515707e-01 -8.02209182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76264000000003 meters 0.01360007867326652 Centerline is valid? [True, True] Translation: X:184.61, Y:-29.05, Z:-8.02 [[ 9.83357536e-01 1.79177565e-01 3.00558952e-02 1.84614218e+02] [-1.79089378e-01 9.83816740e-01 -5.62282480e-03 -2.90498918e+01] [-3.05769769e-02 1.46555574e-04 9.99532404e-01 -8.02447769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.79264000000003 meters 0.013410036491632473 Centerline is valid? [True, True] Translation: X:184.64, Y:-29.05, Z:-8.03 [[ 9.83150047e-01 1.80369600e-01 2.97118371e-02 1.84641787e+02] [-1.80284004e-01 9.83598900e-01 -5.55716352e-03 -2.90528727e+01] [-3.02268737e-02 1.06956611e-04 9.99543058e-01 -8.02595788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82264000000004 meters 0.012708063176541594 Centerline is valid? [True, True] Translation: X:184.67, Y:-29.05, Z:-8.03 [[ 9.82565308e-01 1.83387129e-01 3.05708378e-02 1.84670192e+02] [-1.83298033e-01 9.83040773e-01 -5.71582551e-03 -2.90524915e+01] [-3.11005888e-02 1.25974393e-05 9.99516260e-01 -8.02590660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.85264000000004 meters 0.012449125505403412 Centerline is valid? [True, True] Translation: X:184.70, Y:-29.05, Z:-8.03 [[ 9.82249380e-01 1.84934319e-01 3.13919161e-02 1.84699552e+02] [-1.84841228e-01 9.82750882e-01 -5.86719984e-03 -2.90547874e+01] [-3.19354798e-02 -3.94669196e-05 9.99489932e-01 -8.02555641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88264000000004 meters 0.013024218582572994 Centerline is valid? [True, True] Translation: X:184.73, Y:-29.05, Z:-8.03 [[ 9.81621735e-01 1.88201358e-01 3.16072550e-02 1.84728653e+02] [-1.88108728e-01 9.82130453e-01 -5.90590400e-03 -2.90546094e+01] [-3.21539468e-02 -1.48236796e-04 9.99482917e-01 -8.02534741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.91264000000004 meters 0.014726139584228528 Centerline is valid? [True, True] Translation: X:184.76, Y:-29.06, Z:-8.03 [[ 9.81349137e-01 1.89624938e-01 3.15635105e-02 1.84756757e+02] [-1.89533347e-01 9.81856580e-01 -5.89626418e-03 -2.90570329e+01] [-3.21089192e-02 -1.96044018e-04 9.99484356e-01 -8.02925184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.94264000000004 meters 0.016394711125891186 Centerline is valid? [True, True] Translation: X:184.79, Y:-29.06, Z:-8.03 [[ 9.80916748e-01 1.91979602e-01 3.07598026e-02 1.84785934e+02] [-1.91893839e-01 9.81398879e-01 -5.74404572e-03 -2.90592000e+01] [-3.12903754e-02 -2.68185948e-04 9.99510300e-01 -8.03138202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.97264000000004 meters 0.01692776753248511 Centerline is valid? [True, True] Translation: X:184.81, Y:-29.06, Z:-8.03 [[ 9.80653759e-01 1.93401615e-01 3.02327836e-02 1.84814848e+02] [-1.93319484e-01 9.81119626e-01 -5.64423115e-03 -2.90622593e+01] [-3.07535808e-02 -3.09549652e-04 9.99526949e-01 -8.03190113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.00264000000004 meters 0.018179296727516635 Centerline is valid? [True, True] Translation: X:184.84, Y:-29.06, Z:-8.03 [[ 9.80344163e-01 1.95015524e-01 2.99043164e-02 1.84843869e+02] [-1.94935964e-01 9.80800090e-01 -5.58143648e-03 -2.90637465e+01] [-3.04186230e-02 -3.57698097e-04 9.99537183e-01 -8.03380072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.03264000000001 meters 0.021737510122012582 Centerline is valid? [True, True] Translation: X:184.87, Y:-29.06, Z:-8.04 [[ 9.79653559e-01 1.98447412e-01 2.99587918e-02 1.84872244e+02] [-1.98369186e-01 9.80111426e-01 -5.59089490e-03 -2.90601912e+01] [-3.04724528e-02 -4.65761067e-04 9.99535498e-01 -8.03538992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.06264000000002 meters 0.027862979539193644 Centerline is valid? [True, True] Translation: X:184.90, Y:-29.06, Z:-8.04 [[ 9.79311579e-01 2.00059481e-01 3.04144042e-02 1.84901365e+02] [-1.99979761e-01 9.79783612e-01 -5.67183113e-03 -2.90561680e+01] [-3.09342383e-02 -5.27775368e-04 9.99521283e-01 -8.04035339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.09264000000002 meters 0.024952282377234732 Centerline is valid? [True, True] Translation: X:184.93, Y:-29.06, Z:-8.04 [[ 9.78814842e-01 2.02536041e-01 3.00109479e-02 1.84929817e+02] [-2.02459645e-01 9.79274626e-01 -5.59463163e-03 -2.90621889e+01] [-3.05220743e-02 -5.99897377e-04 9.99533913e-01 -8.03710511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.12264000000002 meters 0.029585781613415345 Centerline is valid? [True, True] Translation: X:184.96, Y:-29.06, Z:-8.04 [[ 9.78750364e-01 2.02940757e-01 2.93730139e-02 1.84958252e+02] [-2.02867782e-01 9.79190834e-01 -5.47486855e-03 -2.90595887e+01] [-2.98728600e-02 -6.00308616e-04 9.99553526e-01 -8.04299975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.15264000000002 meters 0.028024551672241455 Centerline is valid? [True, True] Translation: X:184.99, Y:-29.07, Z:-8.04 [[ 9.78629049e-01 2.03600266e-01 2.88464397e-02 1.84986465e+02] [-2.03530216e-01 9.79053910e-01 -5.37518227e-03 -2.90654227e+01] [-2.93366082e-02 -6.10812591e-04 9.99569402e-01 -8.04258291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.18264000000002 meters 0.03078808814937408 Centerline is valid? [True, True] Translation: X:185.02, Y:-29.06, Z:-8.05 [[ 9.78607553e-01 2.03701740e-01 2.88592730e-02 1.85015082e+02] [-2.03631866e-01 9.79032796e-01 -5.37094869e-03 -2.90648041e+01] [-2.93482464e-02 -6.20616672e-04 9.99569055e-01 -8.04608327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21264000000002 meters 0.02720314257283504 Centerline is valid? [True, True] Translation: X:185.04, Y:-29.07, Z:-8.04 [[ 9.78665689e-01 2.03415938e-01 2.89037281e-02 1.85041857e+02] [-2.03345716e-01 9.79092223e-01 -5.37947937e-03 -2.90723797e+01] [-2.93936873e-02 -6.12737415e-04 9.99567724e-01 -8.04375718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24264000000002 meters 0.026358987752915803 Centerline is valid? [True, True] Translation: X:185.07, Y:-29.08, Z:-8.05 [[ 9.78861828e-01 2.02529576e-01 2.84831779e-02 1.85070564e+02] [-2.02461183e-01 9.79275972e-01 -5.29520314e-03 -2.90757427e+01] [-2.89653270e-02 -5.83465665e-04 9.99580247e-01 -8.04543993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27264000000002 meters 0.03689201492977211 Centerline is valid? [True, True] Translation: X:185.10, Y:-29.08, Z:-8.05 [[ 9.78899233e-01 2.02337654e-01 2.85616144e-02 1.85097746e+02] [-2.02268989e-01 9.79315644e-01 -5.30335250e-03 -2.90770756e+01] [-2.90439037e-02 -5.85681164e-04 9.99577965e-01 -8.04647695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30264000000003 meters 0.02749525585875626 Centerline is valid? [True, True] Translation: X:185.13, Y:-29.08, Z:-8.05 [[ 9.78868741e-01 2.02599997e-01 2.77349904e-02 1.85126798e+02] [-2.02535382e-01 9.79261409e-01 -5.14887443e-03 -2.90798625e+01] [-2.82029678e-02 -5.77244646e-04 9.99602051e-01 -8.04954338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.33264000000003 meters 0.02803700783156496 Centerline is valid? [True, True] Translation: X:185.15, Y:-29.08, Z:-8.05 [[ 9.78838161e-01 2.02772710e-01 2.75514439e-02 1.85154399e+02] [-2.02709200e-01 9.79225656e-01 -5.10824451e-03 -2.90819973e+01] [-2.80148934e-02 -5.84786494e-04 9.99607335e-01 -8.05147298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36264000000003 meters 0.02899735767255968 Centerline is valid? [True, True] Translation: X:185.18, Y:-29.08, Z:-8.05 [[ 9.78788571e-01 2.03020282e-01 2.74899680e-02 1.85181967e+02] [-2.02957201e-01 9.79174353e-01 -5.09513379e-03 -2.90840658e+01] [-2.79518871e-02 -5.92228224e-04 9.99609094e-01 -8.05344945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.39264000000003 meters 0.029623577741056457 Centerline is valid? [True, True] Translation: X:185.21, Y:-29.08, Z:-8.05 [[ 9.78707041e-01 2.03356846e-01 2.79020059e-02 1.85210921e+02] [-2.03291987e-01 9.79104499e-01 -5.17182643e-03 -2.90839547e+01] [-2.83707059e-02 -6.10551280e-04 9.99597284e-01 -8.05346915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42264000000003 meters 0.02988406479372826 Centerline is valid? [True, True] Translation: X:185.24, Y:-29.09, Z:-8.05 [[ 9.78816755e-01 2.02830514e-01 2.78844555e-02 1.85238638e+02] [-2.02765678e-01 9.79213675e-01 -5.16311717e-03 -2.90873917e+01] [-2.83520779e-02 -6.00264927e-04 9.99597819e-01 -8.05335961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.45264000000003 meters 0.02879634640921483 Centerline is valid? [True, True] Translation: X:185.27, Y:-29.09, Z:-8.05 [[ 9.79095129e-01 2.01454901e-01 2.80829536e-02 1.85266661e+02] [-2.01388781e-01 9.79497624e-01 -5.19257239e-03 -2.90892748e+01] [-2.85532555e-02 -5.71569442e-04 9.99592109e-01 -8.05351930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48264000000003 meters 0.026581052780643044 Centerline is valid? [True, True] Translation: X:185.30, Y:-29.09, Z:-8.05 [[ 9.79345335e-01 2.00211366e-01 2.82510905e-02 1.85295100e+02] [-2.00143974e-01 9.79752580e-01 -5.22229259e-03 -2.90937785e+01] [-2.87246411e-02 -5.39857631e-04 9.99587217e-01 -8.05488492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.51264000000003 meters 0.025424931220710625 Centerline is valid? [True, True] Translation: X:185.32, Y:-29.10, Z:-8.06 [[ 9.79654400e-01 1.98752088e-01 2.78363862e-02 1.85323820e+02] [-1.98686238e-01 9.80049673e-01 -5.13973616e-03 -2.90990878e+01] [-2.83025745e-02 -4.95541696e-04 9.99599279e-01 -8.05666737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54264000000003 meters 0.02112921384300433 Centerline is valid? [True, True] Translation: X:185.35, Y:-29.11, Z:-8.06 [[ 9.80369215e-01 1.95203547e-01 2.77808989e-02 1.85351132e+02] [-1.95136625e-01 9.80762672e-01 -5.12626772e-03 -2.91096254e+01] [-2.82471343e-02 -3.95435794e-04 9.99600892e-01 -8.05723457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.57264000000004 meters 0.019699345633249817 Centerline is valid? [True, True] Translation: X:185.38, Y:-29.12, Z:-8.06 [[ 9.80739392e-01 1.93273081e-01 2.82092521e-02 1.85379141e+02] [-1.93203268e-01 9.81144942e-01 -5.20574600e-03 -2.91166811e+01] [-2.86834956e-02 -3.44639536e-04 9.99588484e-01 -8.05768852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60264000000004 meters 0.017213731411277265 Centerline is valid? [True, True] Translation: X:185.41, Y:-29.12, Z:-8.06 [[ 9.81402288e-01 1.90047785e-01 2.70442092e-02 1.85406888e+02] [-1.89982572e-01 9.81774811e-01 -4.98434263e-03 -2.91244956e+01] [-2.74985867e-02 -2.46283167e-04 9.99621812e-01 -8.05955522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.63264000000004 meters 0.032609681705825705 Centerline is valid? [True, True] Translation: X:185.43, Y:-29.13, Z:-8.06 [[ 9.81668344e-01 1.88692833e-01 2.68752027e-02 1.85434307e+02] [-1.88627942e-01 9.82036136e-01 -4.95256452e-03 -2.91283229e+01] [-2.73269337e-02 -2.07638375e-04 9.99626528e-01 -8.06201181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66264000000004 meters 0.017037513423861887 Centerline is valid? [True, True] Translation: X:185.46, Y:-29.13, Z:-8.07 [[ 9.81871702e-01 1.87736219e-01 2.61356505e-02 1.85462178e+02] [-1.87674596e-01 9.82219466e-01 -4.81312015e-03 -2.91334737e+01] [-2.65745417e-02 -1.79131170e-04 9.99646818e-01 -8.06534008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.69264000000004 meters 0.01779833817202256 Centerline is valid? [True, True] Translation: X:185.49, Y:-29.14, Z:-8.07 [[ 9.81915375e-01 1.87561574e-01 2.57459304e-02 1.85489743e+02] [-1.87501741e-01 9.82252832e-01 -4.74034270e-03 -2.91380982e+01] [-2.61781191e-02 -1.72791391e-04 9.99657279e-01 -8.06949000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.72264000000004 meters 0.01700578126399585 Centerline is valid? [True, True] Translation: X:185.52, Y:-29.14, Z:-8.07 [[ 9.81886518e-01 1.87815996e-01 2.49803318e-02 1.85517704e+02] [-1.87759793e-01 9.82204215e-01 -4.59775829e-03 -2.91441654e+01] [-2.53993198e-02 -1.75825051e-04 9.99677370e-01 -8.06846085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.75264000000004 meters 0.02972561923589528 Centerline is valid? [True, True] Translation: X:185.55, Y:-29.15, Z:-8.07 [[ 9.81605266e-01 1.89242099e-01 2.52691493e-02 1.85546663e+02] [-1.89185036e-01 9.81930436e-01 -4.65190959e-03 -2.91456878e+01] [-2.56928839e-02 -2.14205957e-04 9.99669860e-01 -8.06795017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.78264000000001 meters 0.02318984975086661 Centerline is valid? [True, True] Translation: X:185.57, Y:-29.15, Z:-8.07 [[ 9.81354891e-01 1.90575954e-01 2.49676606e-02 1.85574466e+02] [-1.90520837e-01 9.81672421e-01 -4.59004624e-03 -2.91479679e+01] [-2.53848163e-02 -2.52395286e-04 9.99677722e-01 -8.06976487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.81264000000002 meters 0.020768716578244785 Centerline is valid? [True, True] Translation: X:185.60, Y:-29.15, Z:-8.07 [[ 9.80880142e-01 1.92906263e-01 2.57161537e-02 1.85602150e+02] [-1.92848631e-01 9.81217136e-01 -4.72617311e-03 -2.91482476e+01] [-2.61448391e-02 -3.23515689e-04 9.99658113e-01 -8.07094336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.84264000000002 meters 0.021045100366286176 Centerline is valid? [True, True] Translation: X:185.63, Y:-29.15, Z:-8.07 [[ 9.80773910e-01 1.93303195e-01 2.67658821e-02 1.85629991e+02] [-1.93240972e-01 9.81139008e-01 -4.91676748e-03 -2.91513449e+01] [-2.72114779e-02 -3.50027803e-04 9.99629638e-01 -8.07036258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.87264000000002 meters 0.02390316542740952 Centerline is valid? [True, True] Translation: X:185.66, Y:-29.16, Z:-8.07 [[ 9.80749604e-01 1.93295870e-01 2.76933476e-02 1.85657979e+02] [-1.93229308e-01 9.81140446e-01 -5.08531589e-03 -2.91554252e+01] [-2.81540340e-02 -3.63744838e-04 9.99603530e-01 -8.06942236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.90264000000002 meters 0.029423713960030375 Centerline is valid? [True, True] Translation: X:185.69, Y:-29.16, Z:-8.07 [[ 9.80843584e-01 1.92660055e-01 2.87744145e-02 1.85685109e+02] [-1.92587974e-01 9.81265496e-01 -5.28197109e-03 -2.91613366e+01] [-2.92529649e-02 -3.60818737e-04 9.99571975e-01 -8.06864861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.93264000000002 meters 0.021232385288697926 Centerline is valid? [True, True] Translation: X:185.71, Y:-29.17, Z:-8.07 [[ 9.80893683e-01 1.92360267e-01 2.90707834e-02 1.85712541e+02] [-1.92286615e-01 9.81324309e-01 -5.33457938e-03 -2.91651633e+01] [-2.95540276e-02 -3.57267324e-04 9.99563120e-01 -8.07188143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96264000000002 meters 0.020217015178282338 Centerline is valid? [True, True] Translation: X:185.74, Y:-29.17, Z:-8.07 [[ 9.80882303e-01 1.92542647e-01 2.82353739e-02 1.85740979e+02] [-1.92473241e-01 9.81288543e-01 -5.18137397e-03 -2.91712922e+01] [-2.87046844e-02 -3.52235884e-04 9.99587874e-01 -8.07151854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.99264000000002 meters 0.021441608755491913 Centerline is valid? [True, True] Translation: X:185.77, Y:-29.17, Z:-8.07 [[ 9.80617009e-01 1.93873357e-01 2.83443750e-02 1.85769788e+02] [-1.93804111e-01 9.81026485e-01 -5.19642838e-03 -2.91734167e+01] [-2.88140316e-02 -3.97550353e-04 9.99584711e-01 -8.07327712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02264000000002 meters 0.02901146806074408 Centerline is valid? [True, True] Translation: X:185.80, Y:-29.17, Z:-8.07 [[ 9.80536081e-01 1.94222537e-01 2.87506585e-02 1.85797131e+02] [-1.94151580e-01 9.80957405e-01 -5.26618096e-03 -2.91748630e+01] [-2.92259824e-02 -4.18305344e-04 9.99572742e-01 -8.07375535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.05264000000003 meters 0.022467749593383223 Centerline is valid? [True, True] Translation: X:185.83, Y:-29.18, Z:-8.07 [[ 9.80355225e-01 1.95077904e-01 2.91246371e-02 1.85825166e+02] [-1.95005648e-01 9.80787645e-01 -5.32856591e-03 -2.91799295e+01] [-2.96045697e-02 -4.55581289e-04 9.99561585e-01 -8.07457745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08264000000003 meters 0.02256529227979653 Centerline is valid? [True, True] Translation: X:185.85, Y:-29.18, Z:-8.08 [[ 9.80306476e-01 1.95420892e-01 2.84585410e-02 1.85853948e+02] [-1.95352185e-01 9.80719360e-01 -5.20193867e-03 -2.91832539e+01] [-2.89264096e-02 -4.59944009e-04 9.99581438e-01 -8.07650687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.11264000000003 meters 0.024060580880746918 Centerline is valid? [True, True] Translation: X:185.88, Y:-29.19, Z:-8.08 [[ 9.80286106e-01 1.95546286e-01 2.82984085e-02 1.85881866e+02] [-1.95478595e-01 9.80694362e-01 -5.16598029e-03 -2.91856958e+01] [-2.87622779e-02 -4.67594420e-04 9.99586171e-01 -8.07967029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14264000000003 meters 0.03538624049524396 Centerline is valid? [True, True] Translation: X:185.91, Y:-29.19, Z:-8.08 [[ 9.80472819e-01 1.94616543e-01 2.82391840e-02 1.85910940e+02] [-1.94548754e-01 9.80879303e-01 -5.15504187e-03 -2.91888485e+01] [-2.87024875e-02 -4.39519625e-04 9.99587902e-01 -8.07891655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.17264000000003 meters 0.03382271908187772 Centerline is valid? [True, True] Translation: X:185.94, Y:-29.19, Z:-8.08 [[ 9.80526701e-01 1.94398441e-01 2.78681597e-02 1.85938774e+02] [-1.94332453e-01 9.80922555e-01 -5.08308895e-03 -2.91938273e+01] [-2.83246510e-02 -4.31583403e-04 9.99598683e-01 -8.07960247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20264000000003 meters 0.025533948345712116 Centerline is valid? [True, True] Translation: X:185.97, Y:-29.19, Z:-8.09 [[ 9.80369172e-01 1.95161453e-01 2.80765821e-02 1.85966803e+02] [-1.95095010e-01 9.80771019e-01 -5.11330380e-03 -2.91935432e+01] [-2.85346178e-02 -4.64675660e-04 9.99592697e-01 -8.08539587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.23264000000003 meters 0.029808211635873702 Centerline is valid? [True, True] Translation: X:185.99, Y:-29.20, Z:-8.08 [[ 9.80431339e-01 1.94840828e-01 2.81325660e-02 1.85994132e+02] [-1.94773976e-01 9.80834769e-01 -5.12391551e-03 -2.92007533e+01] [-2.85917468e-02 -4.55844391e-04 9.99591068e-01 -8.08092505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26264000000003 meters 0.024289389282095702 Centerline is valid? [True, True] Translation: X:186.02, Y:-29.20, Z:-8.08 [[ 9.80247409e-01 1.95717155e-01 2.84572204e-02 1.86021776e+02] [-1.95649352e-01 9.80660263e-01 -5.17500652e-03 -2.92020679e+01] [-2.89197028e-02 -4.94849986e-04 9.99581615e-01 -8.08469049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.29264000000003 meters 0.024794397972946674 Centerline is valid? [True, True] Translation: X:186.05, Y:-29.20, Z:-8.09 [[ 9.80226030e-01 1.95769930e-01 2.88282001e-02 1.86049089e+02] [-1.95700415e-01 9.80649723e-01 -5.24092366e-03 -2.92046274e+01] [-2.92963817e-02 -5.04400950e-04 9.99570642e-01 -8.08588963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32264000000004 meters 0.023585099491332546 Centerline is valid? [True, True] Translation: X:186.08, Y:-29.21, Z:-8.09 [[ 9.80351238e-01 1.95179235e-01 2.85747373e-02 1.86077002e+02] [-1.95110708e-01 9.80767471e-01 -5.19410940e-03 -2.92093611e+01] [-2.90389551e-02 -4.83185631e-04 9.99578164e-01 -8.08680350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.35264000000004 meters 0.023585099491332546 Centerline is valid? [True, True] Translation: X:186.10, Y:-29.21, Z:-8.09 [[ 9.80389321e-01 1.94987710e-01 2.85757462e-02 1.86104028e+02] [-1.94919264e-01 9.80805567e-01 -5.18855131e-03 -2.92140746e+01] [-2.90389547e-02 -4.83163110e-04 9.99578164e-01 -8.08801558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38264000000004 meters 0.026309333802324412 Centerline is valid? [True, True] Translation: X:186.13, Y:-29.22, Z:-8.09 [[ 9.80510676e-01 1.94411659e-01 2.83358706e-02 1.86132035e+02] [-1.94344340e-01 9.80919918e-01 -5.13726230e-03 -2.92175311e+01] [-2.87939636e-02 -4.69775542e-04 9.99585257e-01 -8.08894093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.41264000000004 meters 0.026180069510061903 Centerline is valid? [True, True] Translation: X:186.16, Y:-29.22, Z:-8.09 [[ 9.80506656e-01 1.94430104e-01 2.83484181e-02 1.86159426e+02] [-1.94362774e-01 9.80916261e-01 -5.13811203e-03 -2.92189412e+01] [-2.88064279e-02 -4.71924121e-04 9.99584897e-01 -8.09435266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44264000000004 meters 0.02517986270491351 Centerline is valid? [True, True] Translation: X:186.19, Y:-29.22, Z:-8.09 [[ 9.80470638e-01 1.94618061e-01 2.83043955e-02 1.86188420e+02] [-1.94551052e-01 9.80878984e-01 -5.12894898e-03 -2.92231112e+01] [-2.87613728e-02 -4.77866036e-04 9.99586192e-01 -8.09384470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.47264000000004 meters 0.023708980744947775 Centerline is valid? [True, True] Translation: X:186.22, Y:-29.23, Z:-8.09 [[ 9.80437591e-01 1.94878255e-01 2.76513344e-02 1.86216308e+02] [-1.94814528e-01 9.80827323e-01 -5.00629448e-03 -2.92291733e+01] [-2.80968022e-02 -4.78522360e-04 9.99605092e-01 -8.09374994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.50264000000004 meters 0.025171773248606207 Centerline is valid? [True, True] Translation: X:186.24, Y:-29.23, Z:-8.10 [[ 9.80332134e-01 1.95555240e-01 2.65905213e-02 1.86244076e+02] [-1.95496731e-01 9.80692568e-01 -4.80783498e-03 -2.92300261e+01] [-2.70173239e-02 -4.85084868e-04 9.99634848e-01 -8.09709474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.53264000000001 meters 0.024653649094977526 Centerline is valid? [True, True] Translation: X:186.27, Y:-29.23, Z:-8.10 [[ 9.80322269e-01 1.95600942e-01 2.66180289e-02 1.86271339e+02] [-1.95542311e-01 9.80683453e-01 -4.81347252e-03 -2.92346567e+01] [-2.70453802e-02 -4.86196576e-04 9.99634089e-01 -8.09776966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.56264000000002 meters 0.026491330877888068 Centerline is valid? [True, True] Translation: X:186.30, Y:-29.24, Z:-8.10 [[ 9.80318711e-01 1.95561908e-01 2.70326740e-02 1.86298402e+02] [-1.95501606e-01 9.80691231e-01 -4.88173328e-03 -2.92354238e+01] [-2.74653874e-02 -4.99276709e-04 9.99622630e-01 -8.10048705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.59264000000002 meters 0.026024806774785497 Centerline is valid? [True, True] Translation: X:186.33, Y:-29.24, Z:-8.10 [[ 9.80384994e-01 1.95184400e-01 2.73553262e-02 1.86327297e+02] [-1.95122594e-01 9.80766436e-01 -4.93670167e-03 -2.92386929e+01] [-2.77927529e-02 -4.97773977e-04 9.99613583e-01 -8.09851465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.62264000000002 meters 0.025991440654776633 Centerline is valid? [True, True] Translation: X:186.36, Y:-29.24, Z:-8.10 [[ 9.80460439e-01 1.94733143e-01 2.78626982e-02 1.86355681e+02] [-1.94668984e-01 9.80856133e-01 -5.02319421e-03 -2.92392833e+01] [-2.83074808e-02 -4.98959948e-04 9.99599138e-01 -8.10155398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.65264000000002 meters 0.02596326675080357 Centerline is valid? [True, True] Translation: X:186.38, Y:-29.24, Z:-8.10 [[ 9.80516941e-01 1.94438601e-01 2.79313376e-02 1.86383406e+02] [-1.94374196e-01 9.80914564e-01 -5.02888098e-03 -2.92420090e+01] [-2.83760645e-02 -4.98228303e-04 9.99597194e-01 -8.10313778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.68264000000002 meters 0.024565094799443316 Centerline is valid? [True, True] Translation: X:186.41, Y:-29.25, Z:-8.10 [[ 9.80613806e-01 1.94005152e-01 2.75420372e-02 1.86411371e+02] [-1.93942344e-01 9.81000394e-01 -4.95933016e-03 -2.92470298e+01] [-2.79808849e-02 -4.78379614e-04 9.99608344e-01 -8.10333881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71264000000002 meters 0.023870733580055398 Centerline is valid? [True, True] Translation: X:186.44, Y:-29.25, Z:-8.10 [[ 9.80738192e-01 1.93406918e-01 2.73196462e-02 1.86438407e+02] [-1.93345037e-01 9.81118520e-01 -4.91394454e-03 -2.92516545e+01] [-2.77542017e-02 -4.62824931e-04 9.99614671e-01 -8.10469199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74264000000002 meters 0.02390146043367587 Centerline is valid? [True, True] Translation: X:186.47, Y:-29.25, Z:-8.11 [[ 9.81098582e-01 1.91504451e-01 2.77780137e-02 1.86465885e+02] [-1.91439935e-01 9.81491654e-01 -4.98852968e-03 -2.92537733e+01] [-2.82192142e-02 -4.23581734e-04 9.99601669e-01 -8.10807496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77264000000002 meters 0.020182099816212228 Centerline is valid? [True, True] Translation: X:186.49, Y:-29.26, Z:-8.11 [[ 9.81753753e-01 1.88107243e-01 2.78430066e-02 1.86493867e+02] [-1.88041059e-01 9.82148440e-01 -5.00015154e-03 -2.92610722e+01] [-2.82865302e-02 -3.26710914e-04 9.99599803e-01 -8.10767326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80264000000003 meters 0.0250606173585742 Centerline is valid? [True, True] Translation: X:186.52, Y:-29.27, Z:-8.11 [[ 9.82237122e-01 1.85531432e-01 2.80771238e-02 1.86521868e+02] [-1.85463214e-01 9.82638296e-01 -5.03742669e-03 -2.92686099e+01] [-2.85242580e-02 -2.59326114e-04 9.99593067e-01 -8.10527261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.83264000000003 meters 0.016439722994879627 Centerline is valid? [True, True] Translation: X:186.55, Y:-29.28, Z:-8.11 [[ 9.82586284e-01 1.83526027e-01 2.90240048e-02 1.86548980e+02] [-1.83452449e-01 9.83014828e-01 -5.20071668e-03 -2.92758035e+01] [-2.94854940e-02 -2.14371904e-04 9.99565185e-01 -8.10728770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86264000000003 meters 0.014304832244586303 Centerline is valid? [True, True] Translation: X:186.58, Y:-29.29, Z:-8.11 [[ 9.83524161e-01 1.78196908e-01 3.04316721e-02 1.86575644e+02] [-1.78113528e-01 9.83994847e-01 -5.45095418e-03 -2.92868219e+01] [-3.09159517e-02 -5.91473371e-05 9.99521986e-01 -8.10784965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.89264000000003 meters 0.01364931977431462 Centerline is valid? [True, True] Translation: X:186.60, Y:-29.30, Z:-8.11 [[ 9.84026587e-01 1.75378921e-01 3.05599268e-02 1.86602878e+02] [-1.75293688e-01 9.84501007e-01 -5.46713569e-03 -2.92963964e+01] [-3.10450991e-02 2.28446168e-05 9.99517984e-01 -8.10736801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92264000000003 meters 0.021510189676232864 Centerline is valid? [True, True] Translation: X:186.63, Y:-29.31, Z:-8.11 [[ 9.85068952e-01 1.69419208e-01 3.05988917e-02 1.86629893e+02] [-1.69330925e-01 9.85544057e-01 -5.47262241e-03 -2.93103962e+01] [-3.10837232e-02 2.09571778e-04 9.99516762e-01 -8.10688675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.95264000000003 meters 0.024601275779400793 Centerline is valid? [True, True] Translation: X:186.66, Y:-29.32, Z:-8.11 [[ 9.85536161e-01 1.66798520e-01 2.99454407e-02 1.86656100e+02] [-1.66712785e-01 9.85990960e-01 -5.35489262e-03 -2.93209767e+01] [-3.04191220e-02 2.85152504e-04 9.99537191e-01 -8.11015646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98264000000003 meters 0.02174018553546687 Centerline is valid? [True, True] Translation: X:186.68, Y:-29.34, Z:-8.12 [[ 9.86245118e-01 1.62785840e-01 2.86590017e-02 1.86681723e+02] [-1.62705715e-01 9.86661350e-01 -5.12156426e-03 -2.93384503e+01] [-2.91104475e-02 3.88134364e-04 9.99576126e-01 -8.11656633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.01264000000003 meters 0.02931510600285857 Centerline is valid? [True, True] Translation: X:186.71, Y:-29.35, Z:-8.11 [[ 9.86544615e-01 1.60983542e-01 2.85310563e-02 1.86709790e+02] [-1.60903401e-01 9.86956994e-01 -5.09789087e-03 -2.93453368e+01] [-2.89796020e-02 4.38552796e-04 9.99579907e-01 -8.11404198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04264000000003 meters 0.022581462193232257 Centerline is valid? [True, True] Translation: X:186.74, Y:-29.35, Z:-8.12 [[ 9.86632332e-01 1.60494931e-01 2.82492378e-02 1.86737691e+02] [-1.60416204e-01 9.87036563e-01 -5.04620624e-03 -2.93538396e+01] [-2.86929211e-02 4.47114728e-04 9.99588173e-01 -8.11742951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.07264000000004 meters 0.022097333916769216 Centerline is valid? [True, True] Translation: X:186.76, Y:-29.36, Z:-8.12 [[ 9.86581617e-01 1.60889221e-01 2.77735686e-02 1.86764915e+02] [-1.60813306e-01 9.86972379e-01 -4.96031710e-03 -2.93620334e+01] [-2.82098066e-02 4.27398296e-04 9.99601933e-01 -8.11881516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10264000000004 meters 0.019806343378378034 Centerline is valid? [True, True] Translation: X:186.79, Y:-29.37, Z:-8.12 [[ 9.86071685e-01 1.64005362e-01 2.76563301e-02 1.86792810e+02] [-1.63931377e-01 9.86459391e-01 -4.93702845e-03 -2.93674967e+01] [-2.80915457e-02 3.34523671e-04 9.99605299e-01 -8.12065701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.13264000000004 meters 0.01726423273736733 Centerline is valid? [True, True] Translation: X:186.82, Y:-29.37, Z:-8.12 [[ 9.85644462e-01 1.66625931e-01 2.72175118e-02 1.86821822e+02] [-1.66555308e-01 9.86020149e-01 -4.85747018e-03 -2.93695439e+01] [-2.76463955e-02 2.54517509e-04 9.99617733e-01 -8.12038657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16264000000004 meters 0.027848125853928405 Centerline is valid? [True, True] Translation: X:186.85, Y:-29.37, Z:-8.12 [[ 9.85269318e-01 1.68880383e-01 2.69032929e-02 1.86849299e+02] [-1.68812240e-01 9.85636536e-01 -4.80074161e-03 -2.93728302e+01] [-2.73276195e-02 1.88418274e-04 9.99626513e-01 -8.12278292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.19264000000004 meters 0.014844405256504701 Centerline is valid? [True, True] Translation: X:186.88, Y:-29.38, Z:-8.12 [[ 9.84295387e-01 1.74457647e-01 2.69651685e-02 1.86878234e+02] [-1.74391366e-01 9.84664678e-01 -4.80866645e-03 -2.93754324e+01] [-2.73905576e-02 3.06556472e-05 9.99624808e-01 -8.12492310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.22264000000004 meters 0.015130182669278056 Centerline is valid? [True, True] Translation: X:186.91, Y:-29.38, Z:-8.13 [[ 9.83641962e-01 1.78083431e-01 2.71068767e-02 1.86905538e+02] [-1.78017853e-01 9.84015389e-01 -4.83298530e-03 -2.93788829e+01] [-2.75342585e-02 -7.15808493e-05 9.99620858e-01 -8.12657871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.25264000000004 meters 0.015537665001806695 Centerline is valid? [True, True] Translation: X:186.93, Y:-29.38, Z:-8.13 [[ 9.83474444e-01 1.78996384e-01 2.71719185e-02 1.86931814e+02] [-1.78930889e-01 9.83849727e-01 -4.84275873e-03 -2.93831565e+01] [-2.75999208e-02 -9.91660689e-05 9.99619045e-01 -8.12822168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.28264000000001 meters 0.01607000549296296 Centerline is valid? [True, True] Translation: X:186.96, Y:-29.39, Z:-8.13 [[ 9.83295244e-01 1.79955355e-01 2.73227467e-02 1.86958664e+02] [-1.79889567e-01 9.83674770e-01 -4.86724530e-03 -2.93876653e+01] [-2.77525834e-02 -1.29137907e-04 9.99614815e-01 -8.12975009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.31264000000002 meters 0.0168367024889199 Centerline is valid? [True, True] Translation: X:186.99, Y:-29.40, Z:-8.13 [[ 9.83077636e-01 1.81237285e-01 2.66722210e-02 1.86986780e+02] [-1.81175140e-01 9.83439383e-01 -4.74859231e-03 -2.93956034e+01] [-2.70911345e-02 -1.64108460e-04 9.99632954e-01 -8.13215673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.34264000000002 meters 0.017033168961038896 Centerline is valid? [True, True] Translation: X:187.01, Y:-29.40, Z:-8.13 [[ 9.83022021e-01 1.81561642e-01 2.65155768e-02 1.87014693e+02] [-1.81500377e-01 9.83379550e-01 -4.71943130e-03 -2.94026409e+01] [-2.69317436e-02 -1.73282286e-04 9.99637260e-01 -8.13340934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.37264000000002 meters 0.0172126934177053 Centerline is valid? [True, True] Translation: X:187.04, Y:-29.41, Z:-8.13 [[ 9.82914996e-01 1.82019481e-01 2.73316413e-02 1.87041471e+02] [-1.81954597e-01 9.83294906e-01 -4.86347186e-03 -2.94101711e+01] [-2.77603103e-02 -1.92738360e-04 9.99614590e-01 -8.13385431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.40264000000002 meters 0.017549067470715683 Centerline is valid? [True, True] Translation: X:187.07, Y:-29.42, Z:-8.14 [[ 9.82891297e-01 1.82101343e-01 2.76369207e-02 1.87068535e+02] [-1.82035081e-01 9.83279747e-01 -4.91608971e-03 -2.94164989e+01] [-2.80700509e-02 -1.98907292e-04 9.99605939e-01 -8.13512320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.43264000000002 meters 0.016542263619243228 Centerline is valid? [True, True] Translation: X:187.10, Y:-29.43, Z:-8.13 [[ 9.82898636e-01 1.82009535e-01 2.79785873e-02 1.87095908e+02] [-1.81941640e-01 9.83296745e-01 -4.97500140e-03 -2.94270799e+01] [-2.84167515e-02 -2.00547970e-04 9.99596142e-01 -8.13360425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46264000000002 meters 0.028028987914844157 Centerline is valid? [True, True] Translation: X:187.12, Y:-29.43, Z:-8.13 [[ 9.82938750e-01 1.81757581e-01 2.82062951e-02 1.87123645e+02] [-1.81688514e-01 9.83343350e-01 -5.01407145e-03 -2.94334900e+01] [-2.86478182e-02 -1.96234703e-04 9.99589548e-01 -8.13279510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49264000000002 meters 0.016920907373134914 Centerline is valid? [True, True] Translation: X:187.15, Y:-29.44, Z:-8.14 [[ 9.82875287e-01 1.82087815e-01 2.82877520e-02 1.87149163e+02] [-1.82018510e-01 9.83282251e-01 -5.02767547e-03 -2.94415409e+01] [-2.87303229e-02 -2.07316501e-04 9.99587178e-01 -8.13677343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52264000000002 meters 0.016797107955294148 Centerline is valid? [True, True] Translation: X:187.18, Y:-29.45, Z:-8.14 [[ 9.82848724e-01 1.82245730e-01 2.81936038e-02 1.87177413e+02] [-1.82177038e-01 9.83252993e-01 -5.00789397e-03 -2.94488909e+01] [-2.86341126e-02 -2.14225017e-04 9.99589937e-01 -8.13782878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.55264000000003 meters 0.018007984754370647 Centerline is valid? [True, True] Translation: X:187.20, Y:-29.46, Z:-8.14 [[ 9.82678321e-01 1.83201192e-01 2.79399555e-02 1.87204872e+02] [-1.83134136e-01 9.83075412e-01 -4.96213245e-03 -2.94554097e+01] [-2.83761518e-02 -2.40579637e-04 9.99597287e-01 -8.14073814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58264000000003 meters 0.018358067721508383 Centerline is valid? [True, True] Translation: X:187.23, Y:-29.46, Z:-8.14 [[ 9.82530031e-01 1.83982967e-01 2.80179563e-02 1.87233638e+02] [-1.83915947e-01 9.82929396e-01 -4.97271999e-03 -2.94609406e+01] [-2.84545686e-02 -2.67102222e-04 9.99595051e-01 -8.14169877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.61264000000003 meters 0.020083201093516464 Centerline is valid? [True, True] Translation: X:187.26, Y:-29.47, Z:-8.14 [[ 9.82125232e-01 1.86146638e-01 2.79187755e-02 1.87261611e+02] [-1.86080998e-01 9.82521919e-01 -4.95394336e-03 -2.94651022e+01] [-2.83529688e-02 -3.29760848e-04 9.99597919e-01 -8.14370350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64264000000003 meters 0.021894997737534654 Centerline is valid? [True, True] Translation: X:187.29, Y:-29.47, Z:-8.15 [[ 9.81907147e-01 1.87266849e-01 2.80977283e-02 1.87289251e+02] [-1.87200860e-01 9.82309011e-01 -4.98441634e-03 -2.94677173e+01] [-2.85340676e-02 -3.65684874e-04 9.99592754e-01 -8.14586721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.67264000000003 meters 0.021018632789076844 Centerline is valid? [True, True] Translation: X:187.32, Y:-29.47, Z:-8.14 [[ 9.81689246e-01 1.88361961e-01 2.83900795e-02 1.87317030e+02] [-1.88295142e-01 9.82099592e-01 -5.03303677e-03 -2.94740576e+01] [-2.88299182e-02 -4.04835999e-04 9.99584250e-01 -8.14431647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70264000000003 meters 0.023117090383811666 Centerline is valid? [True, True] Translation: X:187.34, Y:-29.48, Z:-8.15 [[ 9.81451034e-01 1.89475618e-01 2.92037164e-02 1.87344668e+02] [-1.89405448e-01 9.81885322e-01 -5.17591443e-03 -2.94781766e+01] [-2.96554101e-02 -4.51436411e-04 9.99560080e-01 -8.14555137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.73264000000003 meters 0.03442646732425999 Centerline is valid? [True, True] Translation: X:187.37, Y:-29.49, Z:-8.14 [[ 9.81416067e-01 1.89574385e-01 2.97330919e-02 1.87372858e+02] [-1.89501755e-01 9.81866252e-01 -5.26766877e-03 -2.94853042e+01] [-3.01925346e-02 -4.64698335e-04 9.99543993e-01 -8.14215050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76264000000003 meters 0.02365179052503857 Centerline is valid? [True, True] Translation: X:187.40, Y:-29.49, Z:-8.15 [[ 9.81347363e-01 1.89935599e-01 2.96954757e-02 1.87400219e+02] [-1.89863358e-01 9.81796436e-01 -5.25965707e-03 -2.94898161e+01] [-3.01539083e-02 -4.76532137e-04 9.99545154e-01 -8.14695561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.79264000000003 meters 0.023596712173613234 Centerline is valid? [True, True] Translation: X:187.43, Y:-29.50, Z:-8.15 [[ 9.81320845e-01 1.90005026e-01 3.01245542e-02 1.87428235e+02] [-1.89930781e-01 9.81782996e-01 -5.33349789e-03 -2.94972320e+01] [-3.05891665e-02 -4.87707452e-04 9.99531923e-01 -8.14742278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82264000000004 meters 0.022604432232882395 Centerline is valid? [True, True] Translation: X:187.46, Y:-29.50, Z:-8.15 [[ 9.81274380e-01 1.90270112e-01 2.99645757e-02 1.87456253e+02] [-1.90196820e-01 9.81731654e-01 -5.30375699e-03 -2.95049194e+01] [-3.04263189e-02 -4.94726166e-04 9.99536890e-01 -8.14744740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.85264000000004 meters 0.023329217176621325 Centerline is valid? [True, True] Translation: X:187.48, Y:-29.51, Z:-8.15 [[ 9.81234938e-01 1.90518340e-01 2.96775798e-02 1.87483806e+02] [-1.90446599e-01 9.81683510e-01 -5.25164401e-03 -2.95095958e+01] [-3.01345252e-02 -4.98897560e-04 9.99545728e-01 -8.14976338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88264000000004 meters 0.025203288984622076 Centerline is valid? [True, True] Translation: X:187.51, Y:-29.51, Z:-8.15 [[ 9.80790370e-01 1.92737509e-01 3.00416736e-02 1.87512410e+02] [-1.92665100e-01 9.81250183e-01 -5.31397380e-03 -2.95116721e+01] [-3.05025997e-02 -5.76087709e-04 9.99534521e-01 -8.14962777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.91264000000004 meters 0.028075418895049362 Centerline is valid? [True, True] Translation: X:187.54, Y:-29.51, Z:-8.15 [[ 9.80090647e-01 1.96226149e-01 3.02922661e-02 1.87541901e+02] [-1.96154237e-01 9.80558423e-01 -5.35681524e-03 -2.95119909e+01] [-3.07544839e-02 -6.91791822e-04 9.99526730e-01 -8.14914172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94264000000004 meters 0.0335631040282961 Centerline is valid? [True, True] Translation: X:187.57, Y:-29.51, Z:-8.15 [[ 9.79667468e-01 1.98256727e-01 3.07558487e-02 1.87570254e+02] [-1.98183626e-01 9.80149825e-01 -5.43781836e-03 -2.95077419e+01] [-3.12234238e-02 -7.68051888e-04 9.99512135e-01 -8.15182588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.97264000000004 meters 0.03505055549180954 Centerline is valid? [True, True] Translation: X:187.60, Y:-29.51, Z:-8.15 [[ 9.79250573e-01 2.00278528e-01 3.09326220e-02 1.87598878e+02] [-2.00205719e-01 9.79738640e-01 -5.46501802e-03 -2.95097332e+01] [-3.14004107e-02 -8.41265807e-04 9.99506531e-01 -8.15093424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.00264000000004 meters 0.03835507295744899 Centerline is valid? [True, True] Translation: X:187.63, Y:-29.51, Z:-8.15 [[ 9.78606146e-01 2.03502024e-01 3.02809721e-02 1.87628033e+02] [-2.03433848e-01 9.79074087e-01 -5.34804472e-03 -2.95066885e+01] [-3.07356531e-02 -9.26545252e-04 9.99527119e-01 -8.15431420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.03264000000001 meters 0.03981298088548242 Centerline is valid? [True, True] Translation: X:187.66, Y:-29.51, Z:-8.16 [[ 9.78407773e-01 2.04413824e-01 3.05486346e-02 1.87656627e+02] [-2.04344894e-01 9.78884089e-01 -5.39492254e-03 -2.95088201e+01] [-3.10063691e-02 -9.64023365e-04 9.99518722e-01 -8.15542945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.06264000000002 meters 0.04223245145094971 Centerline is valid? [True, True] Translation: X:187.68, Y:-29.51, Z:-8.16 [[ 9.78316958e-01 2.04822459e-01 3.07195241e-02 1.87684622e+02] [-2.04753163e-01 9.78798642e-01 -5.41847610e-03 -2.95078119e+01] [-3.11780541e-02 -9.88932678e-04 9.99513357e-01 -8.15762142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.09264000000002 meters 0.040145375750584675 Centerline is valid? [True, True] Translation: X:187.71, Y:-29.51, Z:-8.16 [[ 9.78420512e-01 2.04345810e-01 3.05956238e-02 1.87712905e+02] [-2.04276853e-01 9.78898283e-01 -5.39618261e-03 -2.95140769e+01] [-3.10526909e-02 -9.70242000e-04 9.99517278e-01 -8.15821599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.12264000000002 meters 0.03857334464620284 Centerline is valid? [True, True] Translation: X:187.74, Y:-29.52, Z:-8.16 [[ 9.78572403e-01 2.03583289e-01 3.08203967e-02 1.87741252e+02] [-2.03513101e-01 9.79057162e-01 -5.43059791e-03 -2.95196852e+01] [-3.12805091e-02 -9.58121258e-04 9.99510186e-01 -8.15896918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.15264000000002 meters 0.037853330258355335 Centerline is valid? [True, True] Translation: X:187.77, Y:-29.52, Z:-8.16 [[ 9.78917867e-01 2.01867739e-01 3.11324015e-02 1.87769288e+02] [-2.01795469e-01 9.79412360e-01 -5.47882591e-03 -2.95217922e+01] [-3.15974570e-02 -9.19056983e-04 9.99500253e-01 -8.16017964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.18264000000002 meters 0.0363106729781354 Centerline is valid? [True, True] Translation: X:187.80, Y:-29.53, Z:-8.16 [[ 9.79103125e-01 2.00968094e-01 3.11271040e-02 1.87798059e+02] [-2.00895411e-01 9.79597383e-01 -5.47735299e-03 -2.95262729e+01] [-3.15928028e-02 -8.90398904e-04 9.99500426e-01 -8.16123961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21264000000002 meters 0.04093963344196417 Centerline is valid? [True, True] Translation: X:187.83, Y:-29.53, Z:-8.16 [[ 9.79421923e-01 1.99460874e-01 3.07905283e-02 1.87826085e+02] [-1.99389215e-01 9.79905432e-01 -5.41157638e-03 -2.95266215e+01] [-3.12512037e-02 -8.39082724e-04 9.99511210e-01 -8.16447820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24264000000002 meters 0.04093963344196417 Centerline is valid? [True, True] Translation: X:187.85, Y:-29.53, Z:-8.17 [[ 9.79458516e-01 1.99281097e-01 3.07905687e-02 1.87853149e+02] [-1.99209356e-01 9.79942013e-01 -5.41134820e-03 -2.95311642e+01] [-3.12513512e-02 -8.33578281e-04 9.99511210e-01 -8.16568972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27264000000002 meters 0.035755475473896216 Centerline is valid? [True, True] Translation: X:187.88, Y:-29.54, Z:-8.17 [[ 9.79707903e-01 1.98232270e-01 2.96039058e-02 1.87880105e+02] [-1.98165689e-01 9.80154766e-01 -5.19570251e-03 -2.95363173e+01] [-3.00463653e-02 -7.76207577e-04 9.99548205e-01 -8.16976870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30264000000003 meters 0.031162686652875107 Centerline is valid? [True, True] Translation: X:187.91, Y:-29.54, Z:-8.17 [[ 9.80017275e-01 1.96710959e-01 2.95116702e-02 1.87908757e+02] [-1.96644106e-01 9.80461253e-01 -5.17939437e-03 -2.95420779e+01] [-2.99538928e-02 -7.27400048e-04 9.99551017e-01 -8.16944958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.33264000000003 meters 0.033000306978767935 Centerline is valid? [True, True] Translation: X:187.94, Y:-29.54, Z:-8.17 [[ 9.80169842e-01 1.95960325e-01 2.94386280e-02 1.87936431e+02] [-1.95893651e-01 9.80611569e-01 -5.16031729e-03 -2.95422497e+01] [-2.98790766e-02 -7.08852938e-04 9.99553269e-01 -8.17270532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36264000000003 meters 0.02835106528532813 Centerline is valid? [True, True] Translation: X:187.97, Y:-29.55, Z:-8.17 [[ 9.80521948e-01 1.94157269e-01 2.96591204e-02 1.87965028e+02] [-1.94088823e-01 9.80970192e-01 -5.19715963e-03 -2.95495769e+01] [-3.01037794e-02 -6.60574672e-04 9.99546560e-01 -8.17164895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.39264000000003 meters 0.027772836555209606 Centerline is valid? [True, True] Translation: X:187.99, Y:-29.55, Z:-8.17 [[ 9.80771020e-01 1.92840318e-01 3.00136447e-02 1.87992498e+02] [-1.92769801e-01 9.81229948e-01 -5.25297076e-03 -2.95526498e+01] [-3.04632716e-02 -6.33762836e-04 9.99535686e-01 -8.17293549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42264000000003 meters 0.029700338686602108 Centerline is valid? [True, True] Translation: X:188.02, Y:-29.56, Z:-8.17 [[ 9.81041510e-01 1.91379797e-01 3.05176867e-02 1.88020860e+02] [-1.91306201e-01 9.81515876e-01 -5.34068914e-03 -2.95568456e+01] [-3.09756940e-02 -5.98784960e-04 9.99519959e-01 -8.17260913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.45264000000003 meters 0.02269137329990553 Centerline is valid? [True, True] Translation: X:188.05, Y:-29.56, Z:-8.17 [[ 9.81699032e-01 1.87937689e-01 3.07641935e-02 1.88048746e+02] [-1.87861425e-01 9.82180826e-01 -5.37688238e-03 -2.95640195e+01] [-3.12265198e-02 -5.00924992e-04 9.99512208e-01 -8.17433368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48264000000003 meters 0.021378837814983176 Centerline is valid? [True, True] Translation: X:188.08, Y:-29.57, Z:-8.18 [[ 9.82028487e-01 1.86189843e-01 3.08770724e-02 1.88075571e+02] [-1.86112198e-01 9.82513685e-01 -5.39522574e-03 -2.95699596e+01] [-3.13416824e-02 -4.48334435e-04 9.99508628e-01 -8.17631836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.51264000000003 meters 0.01989593127478241 Centerline is valid? [True, True] Translation: X:188.10, Y:-29.57, Z:-8.18 [[ 9.82520372e-01 1.83694572e-01 3.01665876e-02 1.88102930e+02] [-1.83619339e-01 9.82983303e-01 -5.26925539e-03 -2.95728907e+01] [-3.06211855e-02 -3.62018108e-04 9.99530996e-01 -8.17928955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54264000000003 meters 0.02587933821755208 Centerline is valid? [True, True] Translation: X:188.13, Y:-29.58, Z:-8.18 [[ 9.82644908e-01 1.82923323e-01 3.07903003e-02 1.88131676e+02] [-1.82844633e-01 9.83127122e-01 -5.37613969e-03 -2.95769467e+01] [-3.12542007e-02 -3.47004859e-04 9.99511408e-01 -8.17856247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.57264000000004 meters 0.017413455070657786 Centerline is valid? [True, True] Translation: X:188.16, Y:-29.58, Z:-8.18 [[ 9.82959098e-01 1.81244950e-01 3.06867863e-02 1.88160246e+02] [-1.81166017e-01 9.83437940e-01 -5.35655531e-03 -2.95825019e+01] [-3.11493985e-02 -2.94128084e-04 9.99514696e-01 -8.18108727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60264000000004 meters 0.016530092820432458 Centerline is valid? [True, True] Translation: X:188.19, Y:-29.59, Z:-8.18 [[ 9.83115004e-01 1.80404711e-01 3.06435751e-02 1.88188558e+02] [-1.80325638e-01 9.83592430e-01 -5.34752760e-03 -2.95875799e+01] [-3.11055077e-02 -2.68587630e-04 9.99516071e-01 -8.18141191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.63264000000004 meters 0.015437018943279798 Centerline is valid? [True, True] Translation: X:188.22, Y:-29.59, Z:-8.18 [[ 9.83442512e-01 1.78497032e-01 3.12991337e-02 1.88216090e+02] [-1.78413608e-01 9.83940427e-01 -5.46083556e-03 -2.95919845e+01] [-3.17712259e-02 -2.13773520e-04 9.99495144e-01 -8.18261665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66264000000004 meters 0.015209328039519568 Centerline is valid? [True, True] Translation: X:188.24, Y:-29.60, Z:-8.18 [[ 9.83556491e-01 1.77785562e-01 3.17635562e-02 1.88243371e+02] [-1.77699379e-01 9.84069233e-01 -5.53853867e-03 -2.95958000e+01] [-3.22422106e-02 -1.96898557e-04 9.99480065e-01 -8.18363542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.69264000000004 meters 0.014178458688038324 Centerline is valid? [True, True] Translation: X:188.27, Y:-29.60, Z:-8.18 [[ 9.83770339e-01 1.76515366e-01 3.22218131e-02 1.88271641e+02] [-1.76426067e-01 9.84297872e-01 -5.61630644e-03 -2.95995547e+01] [-3.27072265e-02 -1.59612068e-04 9.99464963e-01 -8.18323673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.72264000000004 meters 0.013785475065463682 Centerline is valid? [True, True] Translation: X:188.30, Y:-29.60, Z:-8.18 [[ 9.83869460e-01 1.75957033e-01 3.22491719e-02 1.88300530e+02] [-1.75867334e-01 9.84397837e-01 -5.61950669e-03 -2.96042968e+01] [-3.27348068e-02 -1.42714861e-04 9.99464062e-01 -8.18401000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.75264000000004 meters 0.013201928343568857 Centerline is valid? [True, True] Translation: X:188.33, Y:-29.61, Z:-8.19 [[ 9.84126198e-01 1.74536190e-01 3.21363315e-02 1.88329043e+02] [-1.74446412e-01 9.84650755e-01 -5.59826033e-03 -2.96090455e+01] [-3.26201621e-02 -9.66730604e-05 9.99467816e-01 -8.18562356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.78264000000004 meters 0.013948889043671905 Centerline is valid? [True, True] Translation: X:188.36, Y:-29.61, Z:-8.19 [[ 9.84235682e-01 1.74021258e-01 3.15709529e-02 1.88356528e+02] [-1.73934391e-01 9.84741893e-01 -5.49835539e-03 -2.96124174e+01] [-3.20460707e-02 -7.95969230e-05 9.99486390e-01 -8.19060062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.81264000000002 meters 0.01330633923998757 Centerline is valid? [True, True] Translation: X:188.39, Y:-29.62, Z:-8.19 [[ 9.84297115e-01 1.73579856e-01 3.20814964e-02 1.88385040e+02] [-1.73489995e-01 9.84819795e-01 -5.58504712e-03 -2.96159751e+01] [-3.25639444e-02 -6.84728769e-05 9.99469652e-01 -8.19006409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.84264000000002 meters 0.013544911871019185 Centerline is valid? [True, True] Translation: X:188.41, Y:-29.62, Z:-8.19 [[ 9.84250201e-01 1.73808754e-01 3.22809323e-02 1.88411446e+02] [-1.73717933e-01 9.84779423e-01 -5.61859151e-03 -2.96186262e+01] [-3.27661583e-02 -7.76770205e-05 9.99463042e-01 -8.19203565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.87264000000002 meters 0.022187611067994422 Centerline is valid? [True, True] Translation: X:188.44, Y:-29.62, Z:-8.19 [[ 9.84171271e-01 1.74245031e-01 3.23354033e-02 1.88439753e+02] [-1.74154232e-01 9.84702321e-01 -5.62525070e-03 -2.96208067e+01] [-3.28209186e-02 -9.51371880e-05 9.99461244e-01 -8.19043442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.90264000000002 meters 0.01596135244025648 Centerline is valid? [True, True] Translation: X:188.47, Y:-29.62, Z:-8.19 [[ 9.84006638e-01 1.75293141e-01 3.16741415e-02 1.88468370e+02] [-1.75206644e-01 9.84516276e-01 -5.50763697e-03 -2.96213359e+01] [-3.21491588e-02 -1.29968704e-04 9.99483074e-01 -8.19337838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.93264000000002 meters 0.01417511346491361 Centerline is valid? [True, True] Translation: X:188.49, Y:-29.62, Z:-8.20 [[ 9.83995016e-01 1.75332637e-01 3.18162600e-02 1.88494745e+02] [-1.75245401e-01 9.84509243e-01 -5.53175900e-03 -2.96236380e+01] [-3.22932999e-02 -1.32429957e-04 9.99478427e-01 -8.19666714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96264000000002 meters 0.0134940834687752 Centerline is valid? [True, True] Translation: X:188.52, Y:-29.63, Z:-8.20 [[ 9.84007586e-01 1.75090021e-01 3.27498744e-02 1.88524161e+02] [-1.74997639e-01 9.84552419e-01 -5.68857288e-03 -2.96253952e+01] [-3.32399804e-02 -1.33551818e-04 9.99447390e-01 -8.19585711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99264000000002 meters 0.027547729886949812 Centerline is valid? [True, True] Translation: X:188.55, Y:-29.63, Z:-8.20 [[ 9.84055276e-01 1.74764099e-01 3.30563667e-02 1.88552749e+02] [-1.74669849e-01 9.84610326e-01 -5.74018734e-03 -2.96288234e+01] [-3.35508187e-02 -1.25288943e-04 9.99437005e-01 -8.19543393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02264000000002 meters 0.012811513932402246 Centerline is valid? [True, True] Translation: X:188.58, Y:-29.64, Z:-8.20 [[ 9.84429409e-01 1.72651958e-01 3.30157419e-02 1.88579581e+02] [-1.72556802e-01 9.84982892e-01 -5.73164504e-03 -2.96350058e+01] [-3.35095207e-02 -5.46908733e-05 9.99438397e-01 -8.19793906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.05264000000003 meters 0.012562415900610505 Centerline is valid? [True, True] Translation: X:188.61, Y:-29.64, Z:-8.20 [[ 9.84621582e-01 1.71414224e-01 3.37268983e-02 1.88606888e+02] [-1.71314270e-01 9.85199048e-01 -5.85298838e-03 -2.96407628e+01] [-3.42309936e-02 -1.49202815e-05 9.99413948e-01 -8.19890817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08264000000003 meters 0.012495041482956342 Centerline is valid? [True, True] Translation: X:188.63, Y:-29.65, Z:-8.20 [[ 9.85116295e-01 1.68385213e-01 3.45297697e-02 1.88634162e+02] [-1.68278659e-01 9.85721265e-01 -5.99007539e-03 -2.96505456e+01] [-3.50453683e-02 9.02975250e-05 9.99385718e-01 -8.19857941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.11264000000003 meters 0.012930414082561294 Centerline is valid? [True, True] Translation: X:188.66, Y:-29.66, Z:-8.20 [[ 9.85391271e-01 1.66696550e-01 3.48755379e-02 1.88662056e+02] [-1.66586854e-01 9.86008234e-01 -6.04835059e-03 -2.96586254e+01] [-3.53958068e-02 1.50185746e-04 9.99373361e-01 -8.19957658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14264000000003 meters 0.02241686523225127 Centerline is valid? [True, True] Translation: X:188.69, Y:-29.67, Z:-8.20 [[ 9.85894500e-01 1.63717764e-01 3.47638931e-02 1.88689219e+02] [-1.63606973e-01 9.86507186e-01 -6.02741136e-03 -2.96672166e+01] [-3.52816247e-02 2.54776393e-04 9.99377377e-01 -8.20065137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.17264000000003 meters 0.015486055414893568 Centerline is valid? [True, True] Translation: X:188.72, Y:-29.67, Z:-8.20 [[ 9.86206139e-01 1.62014857e-01 3.38915526e-02 1.88717092e+02] [-1.61908624e-01 9.86788272e-01 -5.87408514e-03 -2.96743338e+01] [-3.43954757e-02 3.05724189e-04 9.99408254e-01 -8.20362461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20264000000003 meters 0.01751475274864955 Centerline is valid? [True, True] Translation: X:188.74, Y:-29.69, Z:-8.21 [[ 9.86498200e-01 1.60297138e-01 3.35578463e-02 1.88742945e+02] [-1.60192044e-01 9.87068740e-01 -5.81475951e-03 -2.96852546e+01] [-3.40559903e-02 3.60549803e-04 9.99419861e-01 -8.20672246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.23264000000003 meters 0.016846408736780304 Centerline is valid? [True, True] Translation: X:188.77, Y:-29.69, Z:-8.21 [[ 9.86581536e-01 1.59814918e-01 3.34075528e-02 1.88771510e+02] [-1.59710559e-01 9.87146925e-01 -5.78660863e-03 -2.96906853e+01] [-3.39029495e-02 3.73422285e-04 9.99425060e-01 -8.20710428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26264000000003 meters 0.017441863386413802 Centerline is valid? [True, True] Translation: X:188.80, Y:-29.70, Z:-8.21 [[ 9.86601349e-01 1.59901394e-01 3.23932435e-02 1.88797886e+02] [-1.59803370e-01 9.87132927e-01 -5.60952003e-03 -2.96983087e+01] [-3.28734073e-02 3.57810559e-04 9.99459459e-01 -8.21101458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.29264000000003 meters 0.015982178313860458 Centerline is valid? [True, True] Translation: X:188.83, Y:-29.70, Z:-8.21 [[ 9.86522744e-01 1.60416178e-01 3.22416825e-02 1.88827021e+02] [-1.60319411e-01 9.87049409e-01 -5.58121173e-03 -2.97018175e+01] [-3.27194503e-02 3.37024755e-04 9.99464519e-01 -8.21081506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32264000000004 meters 0.016339670428894462 Centerline is valid? [True, True] Translation: X:188.85, Y:-29.71, Z:-8.21 [[ 9.86398826e-01 1.61163383e-01 3.23066479e-02 1.88853850e+02] [-1.61066676e-01 9.86927691e-01 -5.59095939e-03 -2.97070639e+01] [-3.27853833e-02 3.11391403e-04 9.99462366e-01 -8.21380908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.35264000000004 meters 0.014707004540446853 Centerline is valid? [True, True] Translation: X:188.88, Y:-29.71, Z:-8.21 [[ 9.86111978e-01 1.62950017e-01 3.21007714e-02 1.88882084e+02] [-1.62855555e-01 9.86634294e-01 -5.55319749e-03 -2.97102171e+01] [-3.25766156e-02 2.48285613e-04 9.99469210e-01 -8.21484904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38264000000004 meters 0.014365183826141827 Centerline is valid? [True, True] Translation: X:188.91, Y:-29.72, Z:-8.22 [[ 9.85975793e-01 1.63731589e-01 3.23063944e-02 1.88909055e+02] [-1.63636381e-01 9.86504900e-01 -5.58727062e-03 -2.97151429e+01] [-3.27852291e-02 2.22412120e-04 9.99462395e-01 -8.21666235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.41264000000004 meters 0.0135512163495122 Centerline is valid? [True, True] Translation: X:188.94, Y:-29.72, Z:-8.22 [[ 9.85684886e-01 1.65286780e-01 3.32503580e-02 1.88936042e+02] [-1.65186882e-01 9.86245532e-01 -5.74837028e-03 -2.97203431e+01] [-3.37431466e-02 1.73558739e-04 9.99430523e-01 -8.21755412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44264000000004 meters 0.013244560347595606 Centerline is valid? [True, True] Translation: X:188.96, Y:-29.72, Z:-8.22 [[ 9.85581888e-01 1.65751752e-01 3.39808621e-02 1.88963092e+02] [-1.65647765e-01 9.86167497e-01 -5.87250999e-03 -2.97244929e+01] [-3.44842005e-02 1.58985618e-04 9.99405230e-01 -8.21784308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.47264000000004 meters 0.01320059996816891 Centerline is valid? [True, True] Translation: X:188.99, Y:-29.73, Z:-8.22 [[ 9.85465143e-01 1.66338038e-01 3.44979453e-02 1.88990294e+02] [-1.66231296e-01 9.86068779e-01 -5.95973028e-03 -2.97298416e+01] [-3.50086767e-02 1.38468298e-04 9.99386999e-01 -8.22014758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.50264000000004 meters 0.013450547935160257 Centerline is valid? [True, True] Translation: X:189.02, Y:-29.74, Z:-8.22 [[ 9.85558650e-01 1.65728048e-01 3.47615020e-02 1.89016234e+02] [-1.65619356e-01 9.86171480e-01 -6.00333743e-03 -2.97368842e+01] [-3.52757233e-02 1.59463545e-04 9.99377605e-01 -8.22185491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.53264000000004 meters 0.022133782371405217 Centerline is valid? [True, True] Translation: X:189.04, Y:-29.74, Z:-8.22 [[ 9.85710416e-01 1.64645831e-01 3.55910941e-02 1.89043734e+02] [-1.64531292e-01 9.86352731e-01 -6.14357239e-03 -2.97433526e+01] [-3.61168864e-02 1.99934614e-04 9.99347552e-01 -8.22051922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.56264000000002 meters 0.016165757275672387 Centerline is valid? [True, True] Translation: X:189.07, Y:-29.76, Z:-8.22 [[ 9.86429412e-01 1.60211493e-01 3.59067167e-02 1.89070746e+02] [-1.60092076e-01 9.87082644e-01 -6.19524652e-03 -2.97586784e+01] [-3.64354465e-02 3.62792549e-04 9.99335943e-01 -8.22161511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.59264000000002 meters 0.021343157500061258 Centerline is valid? [True, True] Translation: X:189.10, Y:-29.78, Z:-8.22 [[ 9.87294239e-01 1.54734719e-01 3.61559343e-02 1.89096808e+02] [-1.54610032e-01 9.87955892e-01 -6.23640792e-03 -2.97763170e+01] [-3.66854572e-02 5.67099431e-04 9.99326701e-01 -8.22268758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.62264000000002 meters 0.028523712196105132 Centerline is valid? [True, True] Translation: X:189.12, Y:-29.79, Z:-8.22 [[ 9.87707958e-01 1.51975121e-01 3.65588768e-02 1.89124477e+02] [-1.51845795e-01 9.88384088e-01 -6.30466431e-03 -2.97874716e+01] [-3.70923643e-02 6.75855398e-04 9.99311613e-01 -8.22322246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.65264000000002 meters 0.02707145315304101 Centerline is valid? [True, True] Translation: X:189.15, Y:-29.80, Z:-8.23 [[ 9.88153596e-01 1.49115577e-01 3.62907150e-02 1.89150996e+02] [-1.48986280e-01 9.88819469e-01 -6.25663913e-03 -2.98007279e+01] [-3.68179279e-02 7.75701837e-04 9.99321689e-01 -8.22561789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.68264000000002 meters 0.029146165886829663 Centerline is valid? [True, True] Translation: X:189.18, Y:-29.81, Z:-8.22 [[ 9.88681371e-01 1.45340973e-01 3.72175770e-02 1.89179607e+02] [-1.45202370e-01 9.89381181e-01 -6.41486826e-03 -2.98142832e+01] [-3.77547135e-02 9.38180365e-04 9.99286596e-01 -8.22393955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71264000000002 meters 0.03290964304225435 Centerline is valid? [True, True] Translation: X:189.21, Y:-29.83, Z:-8.23 [[ 9.88876061e-01 1.44126217e-01 3.67664193e-02 1.89206354e+02] [-1.43990110e-01 9.89558835e-01 -6.33726855e-03 -2.98293141e+01] [-3.72959016e-02 9.72772410e-04 9.99303792e-01 -8.22639303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74264000000002 meters 0.03246912628231569 Centerline is valid? [True, True] Translation: X:189.24, Y:-29.84, Z:-8.23 [[ 9.88963765e-01 1.43142054e-01 3.82233484e-02 1.89235136e+02] [-1.42994249e-01 9.89701598e-01 -6.58729549e-03 -2.98422249e+01] [-3.87726280e-02 1.04887754e-03 9.99247508e-01 -8.22587472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77264000000002 meters 0.030976377966197368 Centerline is valid? [True, True] Translation: X:189.27, Y:-29.85, Z:-8.23 [[ 9.88911036e-01 1.43383967e-01 3.86781738e-02 1.89265550e+02] [-1.43232812e-01 9.89666576e-01 -6.66556412e-03 -2.98495332e+01] [-3.92342308e-02 1.05166634e-03 9.99229488e-01 -8.22601463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80264000000003 meters 0.029811926455213637 Centerline is valid? [True, True] Translation: X:189.30, Y:-29.86, Z:-8.23 [[ 9.88659520e-01 1.45288684e-01 3.79941128e-02 1.89295824e+02] [-1.45144231e-01 9.89388841e-01 -6.54778769e-03 -2.98603214e+01] [-3.85422706e-02 9.58906363e-04 9.99256511e-01 -8.22883644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.83264000000003 meters 0.0301524399100323 Centerline is valid? [True, True] Translation: X:189.33, Y:-29.87, Z:-8.23 [[ 9.88440354e-01 1.46776909e-01 3.79763834e-02 1.89326815e+02] [-1.46633412e-01 9.89169205e-01 -6.55187949e-03 -2.98664508e+01] [-3.85267336e-02 9.07535416e-04 9.99257158e-01 -8.22973538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86264000000003 meters 0.025569340703617705 Centerline is valid? [True, True] Translation: X:189.36, Y:-29.87, Z:-8.23 [[ 9.88245659e-01 1.48084423e-01 3.79673652e-02 1.89358138e+02] [-1.47941927e-01 9.88974352e-01 -6.55112761e-03 -2.98719268e+01] [-3.85188704e-02 8.57158244e-04 9.99257505e-01 -8.23157659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.89264000000003 meters 0.024764734384076604 Centerline is valid? [True, True] Translation: X:189.39, Y:-29.88, Z:-8.23 [[ 9.87796652e-01 1.51084245e-01 3.78328629e-02 1.89386792e+02] [-1.50944887e-01 9.88520614e-01 -6.52969448e-03 -2.98824253e+01] [-3.83850988e-02 7.39333152e-04 9.99262747e-01 -8.23388743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92264000000003 meters 0.023080274939087538 Centerline is valid? [True, True] Translation: X:189.42, Y:-29.89, Z:-8.23 [[ 9.87333776e-01 1.53886925e-01 3.86112550e-02 1.89416643e+02] [-1.53743889e-01 9.88088255e-01 -6.66459197e-03 -2.98899899e+01] [-3.91769211e-02 6.43932244e-04 9.99232082e-01 -8.23405881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.95264000000003 meters 0.023029631655007963 Centerline is valid? [True, True] Translation: X:189.45, Y:-29.90, Z:-8.24 [[ 9.87182740e-01 1.54873114e-01 3.85299385e-02 1.89445218e+02] [-1.54731433e-01 9.87934185e-01 -6.65049767e-03 -2.99007207e+01] [-3.90950267e-02 6.03463909e-04 9.99235315e-01 -8.23650994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98264000000003 meters 0.01929014978420259 Centerline is valid? [True, True] Translation: X:189.48, Y:-29.90, Z:-8.24 [[ 9.87013346e-01 1.55973265e-01 3.84316933e-02 1.89475980e+02] [-1.55833124e-01 9.87761119e-01 -6.63393246e-03 -2.99041595e+01] [-3.89960485e-02 5.58849052e-04 9.99239209e-01 -8.23696703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.01264000000003 meters 0.017234556269807362 Centerline is valid? [True, True] Translation: X:189.51, Y:-29.91, Z:-8.24 [[ 9.86685434e-01 1.58279265e-01 3.74102773e-02 1.89505860e+02] [-1.58148100e-01 9.87394281e-01 -6.45850427e-03 -2.99122658e+01] [-3.79609412e-02 4.56147801e-04 9.99279120e-01 -8.23974409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04264000000003 meters 0.01678343399833061 Centerline is valid? [True, True] Translation: X:189.54, Y:-29.92, Z:-8.24 [[ 9.86473557e-01 1.59770153e-01 3.66526930e-02 1.89535182e+02] [-1.59645241e-01 9.87154165e-01 -6.32868000e-03 -2.99196817e+01] [-3.71929927e-02 3.91647478e-04 9.99308025e-01 -8.24328250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.07264000000004 meters 0.013857320391421497 Centerline is valid? [True, True] Translation: X:189.57, Y:-29.92, Z:-8.24 [[ 9.85916434e-01 1.63260651e-01 3.62594168e-02 1.89565560e+02] [-1.63140745e-01 9.86582938e-01 -6.26130178e-03 -2.99241338e+01] [-3.67951461e-02 2.57732066e-04 9.99322796e-01 -8.24423034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10264000000004 meters 0.011797791589485762 Centerline is valid? [True, True] Translation: X:189.59, Y:-29.93, Z:-8.24 [[ 9.85097119e-01 1.67988739e-01 3.69249091e-02 1.89594483e+02] [-1.67867698e-01 9.85788911e-01 -6.37646036e-03 -2.99269178e+01] [-3.74713395e-02 8.29332478e-05 9.99297699e-01 -8.24424956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.13264000000004 meters 0.011439817061960317 Centerline is valid? [True, True] Translation: X:189.62, Y:-29.93, Z:-8.24 [[ 9.84597707e-01 1.70719019e-01 3.77143448e-02 1.89622747e+02] [-1.70594801e-01 9.85319753e-01 -6.51135628e-03 -2.99301220e+01] [-3.82723012e-02 -2.28046860e-05 9.99267347e-01 -8.24466142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16264000000004 meters 0.011439817061960317 Centerline is valid? [True, True] Translation: X:189.65, Y:-29.94, Z:-8.25 [[ 9.84601655e-01 1.70696195e-01 3.77145877e-02 1.89651466e+02] [-1.70572014e-01 9.85323707e-01 -6.50994866e-03 -2.99350336e+01] [-3.82723009e-02 -2.33469813e-05 9.99267347e-01 -8.24594737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.19264000000004 meters 0.011931513516182256 Centerline is valid? [True, True] Translation: X:189.68, Y:-29.94, Z:-8.25 [[ 9.84082152e-01 1.73502878e-01 3.84586684e-02 1.89680270e+02] [-1.73375920e-01 9.84833353e-01 -6.63757148e-03 -2.99375917e+01] [-3.90270171e-02 -1.35891407e-04 9.99238147e-01 -8.24536801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22264000000004 meters 0.015407127161816896 Centerline is valid? [True, True] Translation: X:189.71, Y:-29.94, Z:-8.25 [[ 9.83027729e-01 1.79351811e-01 3.85929060e-02 1.89710009e+02] [-1.79228539e-01 9.83784931e-01 -6.65886293e-03 -2.99370251e+01] [-3.91613985e-02 -3.71103273e-04 9.99232829e-01 -8.24624404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.25264000000004 meters 0.017206960512024572 Centerline is valid? [True, True] Translation: X:189.74, Y:-29.94, Z:-8.25 [[ 9.82577572e-01 1.81853797e-01 3.83472433e-02 1.89739107e+02] [-1.81734067e-01 9.83325468e-01 -6.61460471e-03 -2.99395511e+01] [-3.89107120e-02 -4.69638238e-04 9.99242581e-01 -8.24791964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28264000000004 meters 0.02204340777209871 Centerline is valid? [True, True] Translation: X:189.77, Y:-29.94, Z:-8.25 [[ 9.81935686e-01 1.85442910e-01 3.75930235e-02 1.89767560e+02] [-1.85330540e-01 9.82654856e-01 -6.48273174e-03 -2.99373446e+01] [-3.81431437e-02 -6.01509694e-04 9.99272104e-01 -8.25109306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.31264000000002 meters 0.023076559701302072 Centerline is valid? [True, True] Translation: X:189.80, Y:-29.94, Z:-8.25 [[ 9.81731367e-01 1.86616519e-01 3.71186934e-02 1.89796403e+02] [-1.86507894e-01 9.82432626e-01 -6.39857533e-03 -2.99408800e+01] [-3.76606953e-02 -6.41247232e-04 9.99290379e-01 -8.25274522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.34264000000002 meters 0.02255578856981121 Centerline is valid? [True, True] Translation: X:189.82, Y:-29.95, Z:-8.25 [[ 9.81610368e-01 1.87256239e-01 3.70969737e-02 1.89824546e+02] [-1.87148266e-01 9.82310875e-01 -6.39304341e-03 -2.99466838e+01] [-3.76378980e-02 -6.67156584e-04 9.99291221e-01 -8.25351762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.37264000000002 meters 0.02382756631106927 Centerline is valid? [True, True] Translation: X:189.85, Y:-29.95, Z:-8.25 [[ 9.81635219e-01 1.87101595e-01 3.72194827e-02 1.89853339e+02] [-1.86992870e-01 9.82340343e-01 -6.41220119e-03 -2.99523410e+01] [-3.77619325e-02 -6.65335367e-04 9.99286542e-01 -8.25395933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.40264000000002 meters 0.022214300690637505 Centerline is valid? [True, True] Translation: X:189.88, Y:-29.96, Z:-8.26 [[ 9.81802210e-01 1.86202681e-01 3.73226819e-02 1.89881122e+02] [-1.86092754e-01 9.82511150e-01 -6.42863323e-03 -2.99576562e+01] [-3.78669798e-02 -6.33834330e-04 9.99282588e-01 -8.25608909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.43264000000002 meters 0.019359815929330483 Centerline is valid? [True, True] Translation: X:189.91, Y:-29.97, Z:-8.26 [[ 9.82266286e-01 1.83657253e-01 3.77221115e-02 1.89908886e+02] [-1.83543156e-01 9.82990192e-01 -6.49550497e-03 -2.99664008e+01] [-3.82734123e-02 -5.43319852e-04 9.99267157e-01 -8.25607508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46264000000002 meters 0.017567328422720064 Centerline is valid? [True, True] Translation: X:189.94, Y:-29.98, Z:-8.26 [[ 9.82801641e-01 1.80745384e-01 3.78423053e-02 1.89935382e+02] [-1.80628471e-01 9.83529826e-01 -6.51435600e-03 -2.99754988e+01] [-3.83964757e-02 -4.33077951e-04 9.99262490e-01 -8.25795847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49264000000002 meters 0.016430385597626235 Centerline is valid? [True, True] Translation: X:189.96, Y:-29.98, Z:-8.26 [[ 9.83086792e-01 1.79164442e-01 3.79534319e-02 1.89961879e+02] [-1.79045755e-01 9.83819070e-01 -6.53109419e-03 -2.99833224e+01] [-3.85094499e-02 -3.74768445e-04 9.99258166e-01 -8.25939096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52264000000002 meters 0.029164754175034092 Centerline is valid? [True, True] Translation: X:189.99, Y:-29.99, Z:-8.26 [[ 9.83299072e-01 1.78012412e-01 3.78750013e-02 1.89990331e+02] [-1.77893452e-01 9.84028186e-01 -6.51525386e-03 -2.99901751e+01] [-3.84298649e-02 -3.31271642e-04 9.99261245e-01 -8.25923094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.55264000000003 meters 0.013562931183114206 Centerline is valid? [True, True] Translation: X:190.02, Y:-30.00, Z:-8.26 [[ 9.83788918e-01 1.75485238e-01 3.69363826e-02 1.90018432e+02] [-1.75370392e-01 9.84482036e-01 -6.35189930e-03 -3.00015024e+01] [-3.74778697e-02 -2.28619781e-04 9.99297432e-01 -8.26302974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58264000000003 meters 0.013121132653669137 Centerline is valid? [True, True] Translation: X:190.05, Y:-30.01, Z:-8.26 [[ 9.83987038e-01 1.74442605e-01 3.65962601e-02 1.90047230e+02] [-1.74329177e-01 9.84667326e-01 -6.29250833e-03 -3.00082860e+01] [-3.71328231e-02 -1.88049281e-04 9.99310321e-01 -8.26459545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.61264000000003 meters 0.015024614788744966 Centerline is valid? [True, True] Translation: X:190.08, Y:-30.01, Z:-8.26 [[ 9.84155810e-01 1.73293963e-01 3.75039084e-02 1.90075241e+02] [-1.73174037e-01 9.84870134e-01 -6.44769289e-03 -3.00145315e+01] [-3.80538255e-02 -1.49168808e-04 9.99275680e-01 -8.26388321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64264000000003 meters 0.012437802516057648 Centerline is valid? [True, True] Translation: X:190.10, Y:-30.02, Z:-8.27 [[ 9.84226980e-01 1.72835704e-01 3.77501282e-02 1.90104485e+02] [-1.72713917e-01 9.84950659e-01 -6.48855338e-03 -3.00210144e+01] [-3.83034673e-02 -1.33763211e-04 9.99266144e-01 -8.26501996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.67264000000003 meters 0.012203113912861838 Centerline is valid? [True, True] Translation: X:190.13, Y:-30.03, Z:-8.27 [[ 9.84259494e-01 1.72606633e-01 3.79499486e-02 1.90133161e+02] [-1.72483418e-01 9.84990830e-01 -6.52197998e-03 -3.00274602e+01] [-3.85060884e-02 -1.26416133e-04 9.99258358e-01 -8.26586767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70264000000003 meters 0.022072668684811912 Centerline is valid? [True, True] Translation: X:190.16, Y:-30.03, Z:-8.27 [[ 9.84239784e-01 1.72838416e-01 3.74022561e-02 1.90162271e+02] [-1.72718934e-01 9.84950183e-01 -6.42697229e-03 -3.00325063e+01] [-3.79501867e-02 -1.34395978e-04 9.99279623e-01 -8.26646042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.73264000000003 meters 0.01285266931899163 Centerline is valid? [True, True] Translation: X:190.19, Y:-30.04, Z:-8.27 [[ 9.84187139e-01 1.73327141e-01 3.65154561e-02 1.90190618e+02] [-1.73213624e-01 9.84864295e-01 -6.27381152e-03 -3.00387259e+01] [-3.70501907e-02 -1.50369866e-04 9.99313395e-01 -8.27011502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76264000000003 meters 0.013239387697250896 Centerline is valid? [True, True] Translation: X:190.22, Y:-30.04, Z:-8.27 [[ 9.84088959e-01 1.73958737e-01 3.61563083e-02 1.90219378e+02] [-1.73847920e-01 9.84752927e-01 -6.21071885e-03 -3.00435549e+01] [-3.66854392e-02 -1.73799150e-04 9.99326848e-01 -8.27173832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.79264000000003 meters 0.023276045850950867 Centerline is valid? [True, True] Translation: X:190.25, Y:-30.05, Z:-8.27 [[ 9.83778053e-01 1.75891573e-01 3.52547424e-02 1.90249046e+02] [-1.75787485e-01 9.84409517e-01 -6.05503666e-03 -3.00455566e+01] [-3.57701339e-02 -2.40530336e-04 9.99360015e-01 -8.27246730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82264000000004 meters 0.025457840492270515 Centerline is valid? [True, True] Translation: X:190.28, Y:-30.05, Z:-8.28 [[ 9.83647026e-01 1.76755437e-01 3.45838580e-02 1.90277551e+02] [-1.76655828e-01 9.84254766e-01 -5.93920658e-03 -3.00483327e+01] [-3.50891142e-02 -2.67357191e-04 9.99384152e-01 -8.27519488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.85264000000004 meters 0.01574823248168687 Centerline is valid? [True, True] Translation: X:190.31, Y:-30.05, Z:-8.28 [[ 9.83572910e-01 1.77274056e-01 3.40329370e-02 1.90305510e+02] [-1.77177962e-01 9.84161485e-01 -5.84298424e-03 -3.00523725e+01] [-3.45297154e-02 -2.82885434e-04 9.99403632e-01 -8.27856118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88264000000004 meters 0.016203950820594178 Centerline is valid? [True, True] Translation: X:190.33, Y:-30.06, Z:-8.28 [[ 9.83477078e-01 1.77776998e-01 3.41785839e-02 1.90332430e+02] [-1.77680436e-01 9.84070753e-01 -5.86648565e-03 -3.00572862e+01] [-3.46770711e-02 -3.03311517e-04 9.99398523e-01 -8.27988443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.91264000000004 meters 0.016616082879986394 Centerline is valid? [True, True] Translation: X:190.36, Y:-30.06, Z:-8.28 [[ 9.83437163e-01 1.77988299e-01 3.42273602e-02 1.90360361e+02] [-1.77891673e-01 9.84032554e-01 -5.87245117e-03 -3.00619962e+01] [-3.47260643e-02 -3.13575648e-04 9.99396819e-01 -8.28126557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.94264000000004 meters 0.020404143321058367 Centerline is valid? [True, True] Translation: X:190.39, Y:-30.07, Z:-8.28 [[ 9.83476608e-01 1.77922062e-01 3.34290569e-02 1.90388474e+02] [-1.77829905e-01 9.84044535e-01 -5.73393876e-03 -3.00658553e+01] [-3.39158749e-02 -3.05491384e-04 9.99424645e-01 -8.28287570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.97264000000004 meters 0.0156180593142872 Centerline is valid? [True, True] Translation: X:190.42, Y:-30.07, Z:-8.28 [[ 9.83571520e-01 1.77450687e-01 3.31408999e-02 1.90416778e+02] [-1.77359897e-01 9.84129651e-01 -5.68297700e-03 -3.00727883e+01] [-3.36233904e-02 -2.88252259e-04 9.99434532e-01 -8.28425234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.00264000000004 meters 0.028050513771844695 Centerline is valid? [True, True] Translation: X:190.44, Y:-30.08, Z:-8.29 [[ 9.83747999e-01 1.76598344e-01 3.24484253e-02 1.90444757e+02] [-1.76510894e-01 9.84282967e-01 -5.56278195e-03 -3.00764214e+01] [-3.29208104e-02 -2.55124942e-04 9.99457931e-01 -8.28647443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.03264000000004 meters 0.01477149266131994 Centerline is valid? [True, True] Translation: X:190.47, Y:-30.08, Z:-8.29 [[ 9.83902886e-01 1.75731011e-01 3.24610839e-02 1.90472441e+02] [-1.75643091e-01 9.84438195e-01 -5.56279906e-03 -3.00825885e+01] [-3.29334871e-02 -2.28311061e-04 9.99457520e-01 -8.28780745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.06264000000002 meters 0.015039972273194167 Centerline is valid? [True, True] Translation: X:190.50, Y:-30.09, Z:-8.29 [[ 9.84085710e-01 1.74794424e-01 3.19722422e-02 1.90500451e+02] [-1.74708695e-01 9.84604931e-01 -5.47730724e-03 -3.00879843e+01] [-3.24374301e-02 -1.95688919e-04 9.99473749e-01 -8.29175124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.09264000000002 meters 0.014507563126947332 Centerline is valid? [True, True] Translation: X:190.53, Y:-30.09, Z:-8.29 [[ 9.84109271e-01 1.74691183e-01 3.18108855e-02 1.90528681e+02] [-1.74606297e-01 9.84623255e-01 -5.44862573e-03 -3.00940632e+01] [-3.22735644e-02 -1.92337813e-04 9.99479054e-01 -8.29132846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.12264000000002 meters 0.01477916580287206 Centerline is valid? [True, True] Translation: X:190.56, Y:-30.10, Z:-8.29 [[ 9.84113307e-01 1.74645529e-01 3.19364560e-02 1.90556405e+02] [-1.74559995e-01 9.84631353e-01 -5.46867983e-03 -3.00975205e+01] [-3.24007163e-02 -1.93026986e-04 9.99474940e-01 -8.29288354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.15264000000002 meters 0.014859380978262178 Centerline is valid? [True, True] Translation: X:190.58, Y:-30.10, Z:-8.29 [[ 9.84026929e-01 1.75262077e-01 3.12122795e-02 1.90584851e+02] [-1.75180752e-01 9.84521793e-01 -5.34267990e-03 -3.01002827e+01] [-3.16655386e-02 -2.10449693e-04 9.99498499e-01 -8.29341473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.18264000000002 meters 0.016164757137756815 Centerline is valid? [True, True] Translation: X:190.61, Y:-30.10, Z:-8.30 [[ 9.83999354e-01 1.75411224e-01 3.12437788e-02 1.90612550e+02] [-1.75329854e-01 9.84495229e-01 -5.34663836e-03 -3.01026565e+01] [-3.16972116e-02 -2.16878499e-04 9.99497494e-01 -8.29764880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21264000000002 meters 0.015524918314821253 Centerline is valid? [True, True] Translation: X:190.64, Y:-30.11, Z:-8.30 [[ 9.83871840e-01 1.76208902e-01 3.07672899e-02 1.90641095e+02] [-1.76130450e-01 9.84352765e-01 -5.26305051e-03 -3.01075587e+01] [-3.12132632e-02 -2.40889413e-04 9.99512718e-01 -8.29659062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24264000000002 meters 0.016333409210936508 Centerline is valid? [True, True] Translation: X:190.67, Y:-30.11, Z:-8.30 [[ 9.83808256e-01 1.76537810e-01 3.09146787e-02 1.90668748e+02] [-1.76458811e-01 9.84293827e-01 -5.28683863e-03 -3.01101584e+01] [-3.13624543e-02 -2.53931957e-04 9.99508045e-01 -8.29952265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27264000000002 meters 0.016892821771594003 Centerline is valid? [True, True] Translation: X:190.70, Y:-30.11, Z:-8.30 [[ 9.83672789e-01 1.77231718e-01 3.12531900e-02 1.90697038e+02] [-1.77151399e-01 9.84169111e-01 -5.34254236e-03 -3.01134109e+01] [-3.17052922e-02 -2.81232796e-04 9.99497221e-01 -8.29986701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30264000000003 meters 0.023470430277427724 Centerline is valid? [True, True] Translation: X:190.73, Y:-30.12, Z:-8.30 [[ 9.83561508e-01 1.77670408e-01 3.22488118e-02 1.90725544e+02] [-1.77585178e-01 9.84090002e-01 -5.51110732e-03 -3.01177043e+01] [-3.27148939e-02 -3.06397956e-04 9.99464678e-01 -8.29908739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.33264000000003 meters 0.017596532231374647 Centerline is valid? [True, True] Translation: X:190.75, Y:-30.12, Z:-8.30 [[ 9.83370951e-01 1.78534873e-01 3.32696851e-02 1.90753323e+02] [-1.78444707e-01 9.83933523e-01 -5.68400035e-03 -3.01211043e+01] [-3.37499507e-02 -3.47318381e-04 9.99430248e-01 -8.29976516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36264000000003 meters 0.017942612401508188 Centerline is valid? [True, True] Translation: X:190.78, Y:-30.12, Z:-8.30 [[ 9.83318162e-01 1.78951784e-01 3.25829935e-02 1.90782061e+02] [-1.78865600e-01 9.83857780e-01 -5.56464122e-03 -3.01249027e+01] [-3.30528341e-02 -3.56163900e-04 9.99453542e-01 -8.30117523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.39264000000003 meters 0.017876105865958065 Centerline is valid? [True, True] Translation: X:190.81, Y:-30.13, Z:-8.30 [[ 9.83245603e-01 1.79429173e-01 3.21443004e-02 1.90810548e+02] [-1.79345599e-01 9.83770825e-01 -5.48819677e-03 -3.01288415e+01] [-3.26073675e-02 -3.68693461e-04 9.99468170e-01 -8.30220139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42264000000003 meters 0.019412253574870787 Centerline is valid? [True, True] Translation: X:190.84, Y:-30.13, Z:-8.30 [[ 9.83103307e-01 1.80211044e-01 3.21226828e-02 1.90838223e+02] [-1.80128047e-01 9.83627889e-01 -5.48302929e-03 -3.01298426e+01] [-3.25848691e-02 -3.95811887e-04 9.99468894e-01 -8.30497607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.45264000000003 meters 0.019943817213278908 Centerline is valid? [True, True] Translation: X:190.87, Y:-30.13, Z:-8.31 [[ 9.83002938e-01 1.80922923e-01 3.11788425e-02 1.90866776e+02] [-1.80845155e-01 9.83497193e-01 -5.31988873e-03 -3.01324678e+01] [-3.16267939e-02 -4.09076364e-04 9.99499664e-01 -8.30684548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48264000000003 meters 0.019615045817137574 Centerline is valid? [True, True] Translation: X:190.89, Y:-30.14, Z:-8.31 [[ 9.82982878e-01 1.81236428e-01 2.99669614e-02 1.90894691e+02] [-1.81164771e-01 9.83439472e-01 -5.11191678e-03 -3.01368374e+01] [-3.03971582e-02 -4.04031030e-04 9.99537818e-01 -8.30852649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.51264000000003 meters 0.021429676993953355 Centerline is valid? [True, True] Translation: X:190.92, Y:-30.14, Z:-8.31 [[ 9.82964226e-01 1.81461575e-01 2.92066200e-02 1.90922358e+02] [-1.81393657e-01 9.83397954e-01 -4.98054834e-03 -3.01383685e+01] [-2.96255085e-02 -4.02194781e-04 9.99560987e-01 -8.31295862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54264000000003 meters 0.021737629381641817 Centerline is valid? [True, True] Translation: X:190.95, Y:-30.14, Z:-8.32 [[ 9.82982197e-01 1.81495689e-01 2.83780590e-02 1.90950958e+02] [-1.81431653e-01 9.83391661e-01 -4.83692315e-03 -3.01404260e+01] [-2.87846273e-02 -3.94068807e-04 9.99585559e-01 -8.31518347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.57264000000004 meters 0.021173635531702373 Centerline is valid? [True, True] Translation: X:190.98, Y:-30.14, Z:-8.32 [[ 9.83155009e-01 1.80571393e-01 2.82878239e-02 1.90978446e+02] [-1.80507415e-01 9.83561812e-01 -4.82035958e-03 -3.01422983e+01] [-2.86932423e-02 -3.67001296e-04 9.99588197e-01 -8.31587101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60264000000004 meters 0.02469608750305504 Centerline is valid? [True, True] Translation: X:191.01, Y:-30.15, Z:-8.31 [[ 9.83239657e-01 1.80014289e-01 2.88899961e-02 1.91007455e+02] [-1.79947381e-01 9.83663929e-01 -4.92081753e-03 -3.01472741e+01] [-2.93038645e-02 -3.60336173e-04 9.99570485e-01 -8.31465440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.63264000000004 meters 0.018229794572944824 Centerline is valid? [True, True] Translation: X:191.03, Y:-30.15, Z:-8.31 [[ 9.83574897e-01 1.77888197e-01 3.05975790e-02 1.91034458e+02] [-1.77812143e-01 9.84050654e-01 -5.21076959e-03 -3.01547506e+01] [-3.10365020e-02 -3.15438926e-04 9.99518202e-01 -8.31289996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66264000000004 meters 0.016323915882554222 Centerline is valid? [True, True] Translation: X:191.06, Y:-30.16, Z:-8.31 [[ 9.83745728e-01 1.76779242e-01 3.15189324e-02 1.91062252e+02] [-1.76698035e-01 9.84250484e-01 -5.36556955e-03 -3.01616191e+01] [-3.19710457e-02 -2.90977289e-04 9.99488753e-01 -8.31076698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.69264000000004 meters 0.015085202786548145 Centerline is valid? [True, True] Translation: X:191.09, Y:-30.17, Z:-8.31 [[ 9.84009124e-01 1.75104479e-01 3.26261335e-02 1.91089428e+02] [-1.75016597e-01 9.84549827e-01 -5.55246277e-03 -3.01679250e+01] [-3.30943151e-02 -2.46440830e-04 9.99452203e-01 -8.30906456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.72264000000004 meters 0.020664334231036467 Centerline is valid? [True, True] Translation: X:191.12, Y:-30.17, Z:-8.31 [[ 9.84141075e-01 1.74296016e-01 3.29733782e-02 1.91116497e+02] [-1.74205871e-01 9.84693276e-01 -5.60945646e-03 -3.01727871e+01] [-3.34463698e-02 -2.23659551e-04 9.99440489e-01 -8.31059063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.75264000000004 meters 0.014352546879205867 Centerline is valid? [True, True] Translation: X:191.14, Y:-30.18, Z:-8.31 [[ 9.84356521e-01 1.73179479e-01 3.24207868e-02 1.91144749e+02] [-1.73091794e-01 9.84890265e-01 -5.51333459e-03 -3.01797787e+01] [-3.28857137e-02 -1.84685283e-04 9.99459102e-01 -8.31267000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78264000000004 meters 0.013735615444195645 Centerline is valid? [True, True] Translation: X:191.17, Y:-30.19, Z:-8.31 [[ 9.84635857e-01 1.71796998e-01 3.12733326e-02 1.91172281e+02] [-1.71714753e-01 9.85132363e-01 -5.31698664e-03 -3.01864536e+01] [-3.17218144e-02 -1.34796887e-04 9.99496728e-01 -8.31452913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.81264000000002 meters 0.01420440876984478 Centerline is valid? [True, True] Translation: X:191.20, Y:-30.19, Z:-8.32 [[ 9.84734717e-01 1.71206609e-01 3.13979798e-02 1.91199419e+02] [-1.71123477e-01 9.85235141e-01 -5.33598003e-03 -3.01909983e+01] [-3.18479481e-02 -1.18406693e-04 9.99492718e-01 -8.31798619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.84264000000002 meters 0.01360381612981295 Centerline is valid? [True, True] Translation: X:191.23, Y:-30.20, Z:-8.32 [[ 9.84887124e-01 1.70546367e-01 3.01875770e-02 1.91227606e+02] [-1.70469277e-01 9.85349647e-01 -5.12814812e-03 -3.01979803e+01] [-3.06199054e-02 -9.54073885e-05 9.99531096e-01 -8.31789882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.87264000000002 meters 0.029278690851534995 Centerline is valid? [True, True] Translation: X:191.25, Y:-30.20, Z:-8.32 [[ 9.84902284e-01 1.70410315e-01 3.04600660e-02 1.91254850e+02] [-1.70331803e-01 9.85373186e-01 -5.17310217e-03 -3.02023519e+01] [-3.08960823e-02 -9.33178345e-05 9.99522598e-01 -8.31984474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.90264000000002 meters 0.013987233789402469 Centerline is valid? [True, True] Translation: X:191.28, Y:-30.21, Z:-8.32 [[ 9.84920824e-01 1.70385592e-01 2.99953542e-02 1.91282411e+02] [-1.70309509e-01 9.85377461e-01 -5.09211549e-03 -3.02072560e+01] [-3.04243690e-02 -9.31634612e-05 9.99537067e-01 -8.32226054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.93264000000002 meters 0.02177789415060465 Centerline is valid? [True, True] Translation: X:191.31, Y:-30.21, Z:-8.32 [[ 9.84768110e-01 1.71271524e-01 2.99638911e-02 1.91309812e+02] [-1.71196068e-01 9.85223858e-01 -5.08492317e-03 -3.02100442e+01] [-3.03920429e-02 -1.22230148e-04 9.99538048e-01 -8.32349614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96264000000002 meters 0.01520156657592885 Centerline is valid? [True, True] Translation: X:191.34, Y:-30.21, Z:-8.32 [[ 9.84389756e-01 1.73445087e-01 2.98933082e-02 1.91338380e+02] [-1.73371045e-01 9.84843523e-01 -5.07100935e-03 -3.02115781e+01] [-3.03197726e-02 -1.90784424e-04 9.99540232e-01 -8.32326299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99264000000002 meters 0.015559748204205727 Centerline is valid? [True, True] Translation: X:191.37, Y:-30.22, Z:-8.32 [[ 9.84179502e-01 1.74653918e-01 2.97778040e-02 1.91367327e+02] [-1.74581044e-01 9.84629858e-01 -5.04997640e-03 -3.02152653e+01] [-3.02021131e-02 -2.28556862e-04 9.99543786e-01 -8.32367832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02264000000002 meters 0.01714466718726639 Centerline is valid? [True, True] Translation: X:191.39, Y:-30.22, Z:-8.33 [[ 9.83969115e-01 1.75894076e-01 2.94288176e-02 1.91394708e+02] [-1.75823490e-01 9.84409063e-01 -4.98960275e-03 -3.02171211e+01] [-2.98476364e-02 -2.64662428e-04 9.99554425e-01 -8.32705637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.05264000000003 meters 0.01714466718726639 Centerline is valid? [True, True] Translation: X:191.42, Y:-30.22, Z:-8.33 [[ 9.83977437e-01 1.75847448e-01 2.94292057e-02 1.91422628e+02] [-1.75776910e-01 9.84417394e-01 -4.98731274e-03 -3.02217620e+01] [-2.98476281e-02 -2.65571629e-04 9.99554425e-01 -8.32830568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08264000000003 meters 0.019460625605792703 Centerline is valid? [True, True] Translation: X:191.45, Y:-30.22, Z:-8.33 [[ 9.83650537e-01 1.77855069e-01 2.82700426e-02 1.91450979e+02] [-1.77790845e-01 9.84056642e-01 -4.78957521e-03 -3.02215959e+01] [-2.86711734e-02 -3.14886526e-04 9.99588848e-01 -8.33237323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.11264000000003 meters 0.020072825459332203 Centerline is valid? [True, True] Translation: X:191.48, Y:-30.22, Z:-8.33 [[ 9.83554997e-01 1.78302560e-01 2.87708909e-02 1.91478358e+02] [-1.78236263e-01 9.83975653e-01 -4.87335009e-03 -3.02236443e+01] [-2.91787869e-02 -3.34808251e-04 9.99574152e-01 -8.33361693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14264000000003 meters 0.018925247365640045 Centerline is valid? [True, True] Translation: X:191.51, Y:-30.23, Z:-8.33 [[ 9.83518521e-01 1.78426056e-01 2.92482701e-02 1.91506522e+02] [-1.78357669e-01 9.83953262e-01 -4.95172091e-03 -3.02278380e+01] [-2.96624468e-02 -3.46544043e-04 9.99559913e-01 -8.33162877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.17264000000003 meters 0.018512570425810605 Centerline is valid? [True, True] Translation: X:191.53, Y:-30.23, Z:-8.33 [[ 9.83650067e-01 1.77612338e-01 2.97725138e-02 1.91534147e+02] [-1.77541145e-01 9.84100477e-01 -5.03911792e-03 -3.02330042e+01] [-3.01941546e-02 -3.29117526e-04 9.99543998e-01 -8.33287632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20264000000003 meters 0.024326273239525936 Centerline is valid? [True, True] Translation: X:191.56, Y:-30.24, Z:-8.33 [[ 9.84121544e-01 1.74877785e-01 3.03734659e-02 1.91561897e+02] [-1.74802451e-01 9.84590116e-01 -5.13872241e-03 -3.02391694e+01] [-3.08040627e-02 -2.52228843e-04 9.99525410e-01 -8.33303283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.23264000000003 meters 0.026513738812993706 Centerline is valid? [True, True] Translation: X:191.59, Y:-30.25, Z:-8.33 [[ 9.84442286e-01 1.72927130e-01 3.11383048e-02 1.91589933e+02] [-1.72847027e-01 9.84934601e-01 -5.26654726e-03 -3.02455924e+01] [-3.15799227e-02 -1.97551571e-04 9.99501210e-01 -8.33211313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26264000000003 meters 0.0138274441542943 Centerline is valid? [True, True] Translation: X:191.62, Y:-30.25, Z:-8.33 [[ 9.84795058e-01 1.70875137e-01 3.13110384e-02 1.91617643e+02] [-1.70793154e-01 9.85292682e-01 -5.29423055e-03 -3.02529096e+01] [-3.17551894e-02 -1.33978916e-04 9.99495668e-01 -8.33233791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.29264000000003 meters 0.013189478317602229 Centerline is valid? [True, True] Translation: X:191.64, Y:-30.26, Z:-8.33 [[ 9.85529149e-01 1.66594017e-01 3.12846486e-02 1.91643977e+02] [-1.66510059e-01 9.86025574e-01 -5.28835283e-03 -3.02628860e+01] [-3.17284716e-02 2.61716358e-06 9.99496525e-01 -8.33442750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32264000000004 meters 0.013833195399956137 Centerline is valid? [True, True] Translation: X:191.67, Y:-30.27, Z:-8.34 [[ 9.86204243e-01 1.62605824e-01 3.09925259e-02 1.91671780e+02] [-1.62521531e-01 9.86691102e-01 -5.23660940e-03 -3.02742198e+01] [-3.14315527e-02 1.27413644e-04 9.99505899e-01 -8.33541903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.35264000000004 meters 0.015199147387638867 Centerline is valid? [True, True] Translation: X:191.70, Y:-30.28, Z:-8.34 [[ 9.86516111e-01 1.60700886e-01 3.10030365e-02 1.91699307e+02] [-1.60615615e-01 9.87003136e-01 -5.23776455e-03 -3.02826707e+01] [-3.14418077e-02 1.87567351e-04 9.99505567e-01 -8.33881424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38264000000004 meters 0.016143812314846302 Centerline is valid? [True, True] Translation: X:191.73, Y:-30.29, Z:-8.34 [[ 9.86805640e-01 1.59014963e-01 3.04773678e-02 1.91728573e+02] [-1.58931796e-01 9.87276145e-01 -5.14767529e-03 -3.02896640e+01] [-3.09081356e-02 2.35932220e-04 9.99522202e-01 -8.34036638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.41264000000004 meters 0.017564967260152834 Centerline is valid? [True, True] Translation: X:191.76, Y:-30.30, Z:-8.34 [[ 9.87169908e-01 1.56949833e-01 2.93653264e-02 1.91758098e+02] [-1.56871742e-01 9.87606534e-01 -4.95884941e-03 -3.02986137e+01] [-2.97796789e-02 2.88637021e-04 9.99556445e-01 -8.34333865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44264000000004 meters 0.022498554212846415 Centerline is valid? [True, True] Translation: X:191.79, Y:-30.31, Z:-8.34 [[ 9.87242349e-01 1.56527140e-01 2.91856097e-02 1.91787170e+02] [-1.56449806e-01 9.87673612e-01 -4.92884752e-03 -3.03050709e+01] [-2.95973550e-02 2.99884011e-04 9.99561857e-01 -8.34482607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.47264000000004 meters 0.018420900297824366 Centerline is valid? [True, True] Translation: X:191.81, Y:-30.31, Z:-8.35 [[ 9.87285632e-01 1.56390628e-01 2.84438488e-02 1.91814641e+02] [-1.56317138e-01 9.87695238e-01 -4.80295728e-03 -3.03114980e+01] [-2.88449915e-02 2.95629681e-04 9.99583853e-01 -8.34708719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.50264000000004 meters 0.018337904618666967 Centerline is valid? [True, True] Translation: X:191.84, Y:-30.32, Z:-8.35 [[ 9.87241966e-01 1.56607563e-01 2.87640617e-02 1.91843618e+02] [-1.56532525e-01 9.87660866e-01 -4.85619051e-03 -3.03166290e+01] [-2.91696543e-02 2.91723868e-04 9.99574433e-01 -8.34807308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.53264000000004 meters 0.017025329317915013 Centerline is valid? [True, True] Translation: X:191.87, Y:-30.32, Z:-8.35 [[ 9.87046594e-01 1.57861834e-01 2.86122952e-02 1.91872926e+02] [-1.57788132e-01 9.87461178e-01 -4.82990545e-03 -3.03214625e+01] [-2.90159885e-02 2.52661112e-04 9.99578916e-01 -8.34840178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.56264000000002 meters 0.016409437274468617 Centerline is valid? [True, True] Translation: X:191.90, Y:-30.33, Z:-8.35 [[ 9.86932976e-01 1.58586307e-01 2.85251464e-02 1.91902747e+02] [-1.58513375e-01 9.87345092e-01 -4.81450592e-03 -3.03257249e+01] [-2.89276780e-02 2.29977420e-04 9.99581481e-01 -8.34891832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.59264000000002 meters 0.015963587154400348 Centerline is valid? [True, True] Translation: X:191.93, Y:-30.33, Z:-8.35 [[ 9.86679953e-01 1.59963321e-01 2.95703692e-02 1.91930525e+02] [-1.59885582e-01 9.87122939e-01 -4.99032046e-03 -3.03305859e+01] [-2.99878580e-02 1.95973464e-04 9.99550244e-01 -8.35069885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.62264000000002 meters 0.014750290430451967 Centerline is valid? [True, True] Translation: X:191.96, Y:-30.33, Z:-8.35 [[ 9.86548431e-01 1.60764468e-01 2.96138338e-02 1.91959659e+02] [-1.60686898e-01 9.86992784e-01 -4.99641621e-03 -3.03339957e+01] [-3.00318865e-02 1.70651478e-04 9.99548927e-01 -8.34917771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.65264000000002 meters 0.01430829258665073 Centerline is valid? [True, True] Translation: X:191.99, Y:-30.34, Z:-8.35 [[ 9.86208456e-01 1.62794985e-01 2.98441658e-02 1.91988026e+02] [-1.62717155e-01 9.86659912e-01 -5.03451592e-03 -3.03373093e+01] [-3.02656359e-02 1.08924428e-04 9.99541885e-01 -8.35182081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.68264000000002 meters 0.014101048460094278 Centerline is valid? [True, True] Translation: X:192.02, Y:-30.34, Z:-8.35 [[ 9.85995113e-01 1.64102509e-01 2.97322018e-02 1.92015570e+02] [-1.64025862e-01 9.86443289e-01 -5.01546236e-03 -3.03402876e+01] [-3.01521809e-02 6.83713398e-05 9.99545317e-01 -8.35329102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71264000000002 meters 0.013519409067176967 Centerline is valid? [True, True] Translation: X:192.04, Y:-30.34, Z:-8.35 [[ 9.85783278e-01 1.65333366e-01 2.99367028e-02 1.92044527e+02] [-1.65256292e-01 9.86237739e-01 -5.04782180e-03 -3.03433798e+01] [-3.03592794e-02 2.88298107e-05 9.99539050e-01 -8.35235595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74264000000002 meters 0.01345594256404183 Centerline is valid? [True, True] Translation: X:192.07, Y:-30.35, Z:-8.35 [[ 9.85250115e-01 1.68272339e-01 3.10906793e-02 1.92072598e+02] [-1.68190716e-01 9.85740542e-01 -5.24093410e-03 -3.03455840e+01] [-3.15292472e-02 -6.55326681e-05 9.99502828e-01 -8.35179047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.77264000000002 meters 0.014863923242144217 Centerline is valid? [True, True] Translation: X:192.10, Y:-30.34, Z:-8.35 [[ 9.84661340e-01 1.71714106e-01 3.09242930e-02 1.92101845e+02] [-1.71635101e-01 9.85146809e-01 -5.21125842e-03 -3.03446929e+01] [-3.13598151e-02 -1.76369458e-04 9.99508144e-01 -8.35314928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80264000000003 meters 0.016019032151315008 Centerline is valid? [True, True] Translation: X:192.13, Y:-30.35, Z:-8.35 [[ 9.84343586e-01 1.73523700e-01 3.09391276e-02 1.92130021e+02] [-1.73445599e-01 9.84829665e-01 -5.21103926e-03 -3.03455040e+01] [-3.13740095e-02 -2.36802444e-04 9.99507687e-01 -8.35486416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.83264000000003 meters 0.016639289400684713 Centerline is valid? [True, True] Translation: X:192.16, Y:-30.35, Z:-8.36 [[ 9.84037921e-01 1.75323241e-01 3.05144447e-02 1.92158435e+02] [-1.75248204e-01 9.84510881e-01 -5.13726702e-03 -3.03480385e+01] [-3.09424852e-02 -2.92336068e-04 9.99521124e-01 -8.35521147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86264000000003 meters 0.020542615467418635 Centerline is valid? [True, True] Translation: X:192.19, Y:-30.35, Z:-8.36 [[ 9.83456209e-01 1.78746704e-01 2.93853702e-02 1.92186864e+02] [-1.78678681e-01 9.83895049e-01 -4.94595111e-03 -3.03468360e+01] [-2.97961927e-02 -3.86412862e-04 9.99555920e-01 -8.35965655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.89264000000003 meters 0.020732715859220544 Centerline is valid? [True, True] Translation: X:192.22, Y:-30.35, Z:-8.36 [[ 9.83225050e-01 1.80017566e-01 2.93628599e-02 1.92215115e+02] [-1.79950273e-01 9.83663303e-01 -4.94015146e-03 -3.03504415e+01] [-2.97724818e-02 -4.26573990e-04 9.99556610e-01 -8.35947141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92264000000003 meters 0.021975233428679172 Centerline is valid? [True, True] Translation: X:192.24, Y:-30.35, Z:-8.36 [[ 9.82933651e-01 1.81394861e-01 3.06160285e-02 1.92243054e+02] [-1.81322414e-01 9.83410222e-01 -5.14951847e-03 -3.03516983e+01] [-3.10422115e-02 -4.89737209e-04 9.99517954e-01 -8.35886173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.95264000000003 meters 0.022328434131323485 Centerline is valid? [True, True] Translation: X:192.27, Y:-30.36, Z:-8.36 [[ 9.82875611e-01 1.81671403e-01 3.08388526e-02 1.92271279e+02] [-1.81598100e-01 9.83359165e-01 -5.18488067e-03 -3.03554418e+01] [-3.12676129e-02 -5.04184273e-04 9.99510921e-01 -8.35923202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98264000000003 meters 0.023686719096356952 Centerline is valid? [True, True] Translation: X:192.30, Y:-30.36, Z:-8.36 [[ 9.82830386e-01 1.81863766e-01 3.11448602e-02 1.92298159e+02] [-1.81789133e-01 9.83323601e-01 -5.23521554e-03 -3.03565115e+01] [-3.15775721e-02 -5.16468229e-04 9.99501171e-01 -8.36116345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.01264000000003 meters 0.02353012303023466 Centerline is valid? [True, True] Translation: X:192.33, Y:-30.36, Z:-8.36 [[ 9.82832654e-01 1.81873599e-01 3.10156147e-02 1.92326680e+02] [-1.81799687e-01 9.83321781e-01 -5.21034703e-03 -3.03609282e+01] [-3.14459541e-02 -5.17729857e-04 9.99505320e-01 -8.36257407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04264000000003 meters 0.023522665457046777 Centerline is valid? [True, True] Translation: X:192.35, Y:-30.36, Z:-8.37 [[ 9.82952595e-01 1.81374533e-01 3.01243273e-02 1.92353769e+02] [-1.81304612e-01 9.83413972e-01 -5.05937649e-03 -3.03648315e+01] [-3.05423264e-02 -4.88552242e-04 9.99533355e-01 -8.36541059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.07264000000004 meters 0.023107796918494065 Centerline is valid? [True, True] Translation: X:192.38, Y:-30.37, Z:-8.37 [[ 9.82946849e-01 1.81420963e-01 3.00320770e-02 1.92382447e+02] [-1.81351552e-01 9.83405407e-01 -5.04192165e-03 -3.03692847e+01] [-3.04484172e-02 -4.90422782e-04 9.99536219e-01 -8.36669692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10264000000004 meters 0.02333234119645957 Centerline is valid? [True, True] Translation: X:192.41, Y:-30.37, Z:-8.37 [[ 9.82981363e-01 1.81259887e-01 2.98746369e-02 1.92409473e+02] [-1.81191156e-01 9.83435112e-01 -5.01453323e-03 -3.03714382e+01] [-3.02887006e-02 -4.83827293e-04 9.99541075e-01 -8.36829944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.13264000000004 meters 0.02243766158929824 Centerline is valid? [True, True] Translation: X:192.44, Y:-30.38, Z:-8.37 [[ 9.83114765e-01 1.80516797e-01 2.99840814e-02 1.92437985e+02] [-1.80447310e-01 9.83571792e-01 -5.02983681e-03 -3.03782032e+01] [-3.03994667e-02 -4.65639979e-04 9.99537721e-01 -8.36943953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16264000000004 meters 0.021333078975284216 Centerline is valid? [True, True] Translation: X:192.47, Y:-30.38, Z:-8.37 [[ 9.83281546e-01 1.79549864e-01 3.03190858e-02 1.92466127e+02] [-1.79478402e-01 9.83748774e-01 -5.08453536e-03 -3.03839573e+01] [-3.07392911e-02 -4.42091273e-04 9.99527339e-01 -8.36989842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.19264000000004 meters 0.020485626601415733 Centerline is valid? [True, True] Translation: X:192.49, Y:-30.39, Z:-8.37 [[ 9.83450946e-01 1.78584011e-01 3.05284761e-02 1.92494159e+02] [-1.78511140e-01 9.83924579e-01 -5.11813949e-03 -3.03894182e+01] [-3.09517359e-02 -4.16233943e-04 9.99520794e-01 -8.37061978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22264000000004 meters 0.01852092816273567 Centerline is valid? [True, True] Translation: X:192.52, Y:-30.40, Z:-8.37 [[ 9.83912774e-01 1.76001516e-01 3.06450475e-02 1.92521383e+02] [-1.75926881e-01 9.84389838e-01 -5.13616702e-03 -3.03976330e+01] [-3.10706465e-02 -3.37747295e-04 9.99517134e-01 -8.37224419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.25264000000004 meters 0.017339364059090975 Centerline is valid? [True, True] Translation: X:192.55, Y:-30.41, Z:-8.37 [[ 9.84152783e-01 1.74636467e-01 3.07474263e-02 1.92549325e+02] [-1.74560713e-01 9.84632935e-01 -5.15181730e-03 -3.04050614e+01] [-3.11746238e-02 -2.97117329e-04 9.99513909e-01 -8.37292296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28264000000004 meters 0.01589785705020867 Centerline is valid? [True, True] Translation: X:192.58, Y:-30.41, Z:-8.37 [[ 9.84589476e-01 1.72120787e-01 3.09515527e-02 1.92576243e+02] [-1.72042823e-01 9.85075828e-01 -5.18467197e-03 -3.04142482e+01] [-3.13820162e-02 -2.20219042e-04 9.99507439e-01 -8.37498956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.31264000000002 meters 0.015214144641704778 Centerline is valid? [True, True] Translation: X:192.60, Y:-30.42, Z:-8.38 [[ 9.84815594e-01 1.70922881e-01 3.03910172e-02 1.92603870e+02] [-1.70847208e-01 9.85284393e-01 -5.08877758e-03 -3.04217206e+01] [-3.08135835e-02 -1.80712902e-04 9.99525132e-01 -8.37665942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.34264000000002 meters 0.014461838346847063 Centerline is valid? [True, True] Translation: X:192.63, Y:-30.43, Z:-8.38 [[ 9.85222192e-01 1.68635769e-01 2.99868115e-02 1.92631356e+02] [-1.68561079e-01 9.85678429e-01 -5.01967959e-03 -3.04331595e+01] [-3.04038508e-02 -1.09109569e-04 9.99537690e-01 -8.37937533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.37264000000002 meters 0.01409446818953347 Centerline is valid? [True, True] Translation: X:192.66, Y:-30.44, Z:-8.38 [[ 9.85424968e-01 1.67441128e-01 3.00183345e-02 1.92659480e+02] [-1.67365770e-01 9.85882074e-01 -5.02351781e-03 -3.04415690e+01] [-3.04356814e-02 -7.37418005e-05 9.99536725e-01 -8.38077833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.40264000000002 meters 0.014014894851427992 Centerline is valid? [True, True] Translation: X:192.69, Y:-30.45, Z:-8.38 [[ 9.85635693e-01 1.66209567e-01 2.99442820e-02 1.92685964e+02] [-1.66134051e-01 9.86090451e-01 -5.00985742e-03 -3.04497498e+01] [-3.03604568e-02 -3.68705784e-05 9.99539014e-01 -8.38314994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43264000000002 meters 0.013925419792947136 Centerline is valid? [True, True] Translation: X:192.71, Y:-30.46, Z:-8.38 [[ 9.85789165e-01 1.65257620e-01 3.01602740e-02 1.92712761e+02] [-1.65180620e-01 9.86250434e-01 -5.04419213e-03 -3.04592121e+01] [-3.05791745e-02 -9.38280830e-06 9.99532348e-01 -8.38400505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46264000000002 meters 0.01387818144716211 Centerline is valid? [True, True] Translation: X:192.74, Y:-30.46, Z:-8.38 [[ 9.85746887e-01 1.65462285e-01 3.04188615e-02 1.92740778e+02] [-1.65384117e-01 9.86216118e-01 -5.08547686e-03 -3.04646337e+01] [-3.08410261e-02 -1.78035472e-05 9.99524302e-01 -8.38456718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49264000000002 meters 0.014386750261506912 Centerline is valid? [True, True] Translation: X:192.77, Y:-30.47, Z:-8.39 [[ 9.85388653e-01 1.67592854e-01 3.03617727e-02 1.92769219e+02] [-1.67516033e-01 9.85856292e-01 -5.07451140e-03 -3.04690540e+01] [-3.07827965e-02 -8.57177759e-05 9.99526094e-01 -8.38597409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52264000000002 meters 0.015083445181748468 Centerline is valid? [True, True] Translation: X:192.80, Y:-30.47, Z:-8.39 [[ 9.85066392e-01 1.69407463e-01 3.07459664e-02 1.92798231e+02] [-1.69329614e-01 9.85546087e-01 -5.13727242e-03 -3.04723334e+01] [-3.11718592e-02 -1.45648218e-04 9.99514029e-01 -8.38673596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.55264000000003 meters 0.0187136452579527 Centerline is valid? [True, True] Translation: X:192.83, Y:-30.47, Z:-8.39 [[ 9.84175083e-01 1.74419054e-01 3.12633832e-02 1.92827141e+02] [-1.74341130e-01 9.84671467e-01 -5.22238416e-03 -3.04692888e+01] [-3.16950447e-02 -3.10753189e-04 9.99497538e-01 -8.38663340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58264000000003 meters 0.02273533001139564 Centerline is valid? [True, True] Translation: X:192.86, Y:-30.47, Z:-8.39 [[ 9.83695982e-01 1.76980999e-01 3.19365163e-02 1.92856363e+02] [-1.76901098e-01 9.84214185e-01 -5.33279912e-03 -3.04685429e+01] [-3.23761765e-02 -4.03751733e-04 9.99475673e-01 -8.38601837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.61264000000003 meters 0.022454571132351806 Centerline is valid? [True, True] Translation: X:192.89, Y:-30.47, Z:-8.39 [[ 9.83171019e-01 1.79783713e-01 3.24432549e-02 1.92885072e+02] [-1.79702829e-01 9.83706034e-01 -5.41591584e-03 -3.04707075e+01] [-3.28883190e-02 -5.05373178e-04 9.99458905e-01 -8.38559549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64264000000003 meters 0.02554506123617644 Centerline is valid? [True, True] Translation: X:192.92, Y:-30.47, Z:-8.38 [[ 9.82221463e-01 1.84784140e-01 3.31031757e-02 1.92915163e+02] [-1.84702829e-01 9.82778891e-01 -5.52421268e-03 -3.04704034e+01] [-3.35538892e-02 -6.88249944e-04 9.99436673e-01 -8.38428010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.67264000000003 meters 0.03065651112207878 Centerline is valid? [True, True] Translation: X:192.94, Y:-30.47, Z:-8.38 [[ 9.81465737e-01 1.88633900e-01 3.37973252e-02 1.92944574e+02] [-1.88551444e-01 9.82047122e-01 -5.63942027e-03 -3.04654011e+01] [-3.42543518e-02 -8.37636681e-04 9.99412796e-01 -8.38462655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70264000000003 meters 0.032345800731726604 Centerline is valid? [True, True] Translation: X:192.97, Y:-30.47, Z:-8.39 [[ 9.81238647e-01 1.89812838e-01 3.37906002e-02 1.92972297e+02] [-1.89731166e-01 9.81819898e-01 -5.63673113e-03 -3.04662151e+01] [-3.42462076e-02 -8.80151569e-04 9.99413039e-01 -8.38663487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.73264000000003 meters 0.03313527328999954 Centerline is valid? [True, True] Translation: X:193.00, Y:-30.47, Z:-8.39 [[ 9.81090900e-01 1.90653734e-01 3.33436533e-02 1.93000409e+02] [-1.90574760e-01 9.81656939e-01 -5.56019051e-03 -3.04691010e+01] [-3.37920997e-02 -8.99406432e-04 9.99428479e-01 -8.38905566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76264000000003 meters 0.03189329860453772 Centerline is valid? [True, True] Translation: X:193.03, Y:-30.47, Z:-8.39 [[ 9.81297806e-01 1.89862997e-01 3.17278709e-02 1.93028441e+02] [-1.89791133e-01 9.81810242e-01 -5.28911389e-03 -3.04729414e+01] [-3.21549556e-02 -8.31472713e-04 9.99482550e-01 -8.39301215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.79264000000003 meters 0.03131540833582125 Centerline is valid? [True, True] Translation: X:193.06, Y:-30.48, Z:-8.40 [[ 9.81553665e-01 1.88584667e-01 3.14360633e-02 1.93055821e+02] [-1.88513541e-01 9.82056621e-01 -5.23804243e-03 -3.04763670e+01] [-3.18598086e-02 -7.84703874e-04 9.99492039e-01 -8.39548379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82264000000004 meters 0.02723930898535255 Centerline is valid? [True, True] Translation: X:193.08, Y:-30.48, Z:-8.40 [[ 9.82276121e-01 1.84920616e-01 3.06265757e-02 1.93083673e+02] [-1.84851386e-01 9.82753246e-01 -5.10122014e-03 -3.04849944e+01] [-3.10416875e-02 -6.50558235e-04 9.99517879e-01 -8.39821144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.85264000000004 meters 0.025467849939647593 Centerline is valid? [True, True] Translation: X:193.11, Y:-30.49, Z:-8.40 [[ 9.82715057e-01 1.82680267e-01 2.99839465e-02 1.93110796e+02] [-1.82612906e-01 9.83172211e-01 -4.99300332e-03 -3.04921023e+01] [-3.03915062e-02 -5.68756072e-04 9.99537910e-01 -8.40045387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88264000000004 meters 0.030313374262412505 Centerline is valid? [True, True] Translation: X:193.14, Y:-30.50, Z:-8.40 [[ 9.83621105e-01 1.77879763e-01 2.91258042e-02 1.93138228e+02] [-1.77814161e-01 9.84052144e-01 -4.84796715e-03 -3.05021441e+01] [-2.95236653e-02 -4.10417636e-04 9.99563997e-01 -8.40305902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.91264000000004 meters 0.01919293043316103 Centerline is valid? [True, True] Translation: X:193.17, Y:-30.51, Z:-8.41 [[ 9.84054476e-01 1.75492562e-01 2.89680693e-02 1.93166155e+02] [-1.75426675e-01 9.84480699e-01 -4.82031506e-03 -3.05102279e+01] [-2.93644345e-02 -3.38319444e-04 9.99568715e-01 -8.40502829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.94264000000004 meters 0.01657118729864702 Centerline is valid? [True, True] Translation: X:193.19, Y:-30.52, Z:-8.40 [[ 9.84634928e-01 1.71993776e-01 3.02026564e-02 1.93193004e+02] [-1.71920549e-01 9.85098006e-01 -5.02434322e-03 -3.05169873e+01] [-3.06167324e-02 -2.45313456e-04 9.99531168e-01 -8.40395950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.97264000000004 meters 0.01657118729864702 Centerline is valid? [True, True] Translation: X:193.22, Y:-30.52, Z:-8.41 [[ 9.84642931e-01 1.71947893e-01 3.02029801e-02 1.93220938e+02] [-1.71874704e-01 9.85106015e-01 -5.02239671e-03 -3.05215404e+01] [-3.06167279e-02 -2.45860835e-04 9.99531168e-01 -8.40520876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.00264000000004 meters 0.014793218379964177 Centerline is valid? [True, True] Translation: X:193.25, Y:-30.53, Z:-8.40 [[ 9.84780474e-01 1.71046151e-01 3.08323384e-02 1.93249197e+02] [-1.70969483e-01 9.85262992e-01 -5.12557371e-03 -3.05269051e+01] [-3.12546717e-02 -2.23824058e-04 9.99511428e-01 -8.40319442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.03264000000004 meters 0.015034660699126802 Centerline is valid? [True, True] Translation: X:193.28, Y:-30.53, Z:-8.41 [[ 9.84815838e-01 1.70945546e-01 3.02553317e-02 1.93276702e+02] [-1.70871713e-01 9.85280454e-01 -5.02839389e-03 -3.05305856e+01] [-3.06695685e-02 -2.17738427e-04 9.99529554e-01 -8.40573244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.06264000000002 meters 0.015860147501742656 Centerline is valid? [True, True] Translation: X:193.30, Y:-30.53, Z:-8.41 [[ 9.84743497e-01 1.71329265e-01 3.04389192e-02 1.93304368e+02] [-1.71254783e-01 9.85213798e-01 -5.05674986e-03 -3.05339716e+01] [-3.08552125e-02 -2.33208965e-04 9.99523837e-01 -8.40814231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.09264000000002 meters 0.015899432897609214 Centerline is valid? [True, True] Translation: X:193.33, Y:-30.54, Z:-8.41 [[ 9.84611550e-01 1.72063886e-01 3.05633053e-02 1.93332667e+02] [-1.71989219e-01 9.85085759e-01 -5.07509462e-03 -3.05375494e+01] [-3.09807173e-02 -2.59562243e-04 9.99519949e-01 -8.40787088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.12264000000002 meters 0.01754412187712345 Centerline is valid? [True, True] Translation: X:193.36, Y:-30.54, Z:-8.41 [[ 9.84283529e-01 1.73862729e-01 3.09464977e-02 1.93361123e+02] [-1.73787111e-01 9.84769845e-01 -5.13730768e-03 -3.05371622e+01] [-3.13683641e-02 -3.21535100e-04 9.99507840e-01 -8.40904989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.15264000000002 meters 0.01744462670012743 Centerline is valid? [True, True] Translation: X:193.39, Y:-30.54, Z:-8.41 [[ 9.84170781e-01 1.74454677e-01 3.12000020e-02 1.93389603e+02] [-1.74378178e-01 9.84665144e-01 -5.17728807e-03 -3.05411855e+01] [-3.16247566e-02 -3.45263875e-04 9.99499753e-01 -8.40922320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18264000000002 meters 0.02281765357059979 Centerline is valid? [True, True] Translation: X:193.42, Y:-30.54, Z:-8.42 [[ 9.83973446e-01 1.75418089e-01 3.20117340e-02 1.93418301e+02] [-1.75338116e-01 9.84493953e-01 -5.31046412e-03 -3.05371603e+01] [-3.24469100e-02 -3.87521450e-04 9.99473385e-01 -8.41523129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21264000000002 meters 0.018977488606804153 Centerline is valid? [True, True] Translation: X:193.45, Y:-30.54, Z:-8.41 [[ 9.83955254e-01 1.75505230e-01 3.20931828e-02 1.93445362e+02] [-1.75424958e-01 9.84478420e-01 -5.32207883e-03 -3.05443487e+01] [-3.25290986e-02 -3.93257833e-04 9.99470711e-01 -8.41164265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24264000000002 meters 0.018134827853985947 Centerline is valid? [True, True] Translation: X:193.47, Y:-30.55, Z:-8.41 [[ 9.84060101e-01 1.74961641e-01 3.18455853e-02 1.93473202e+02] [-1.74882402e-01 9.84575179e-01 -5.27844103e-03 -3.05501278e+01] [-3.22778976e-02 -3.74929229e-04 9.99478863e-01 -8.41250192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27264000000002 meters 0.018137648394677634 Centerline is valid? [True, True] Translation: X:193.50, Y:-30.56, Z:-8.41 [[ 9.84175417e-01 1.74300413e-01 3.19078965e-02 1.93500045e+02] [-1.74220563e-01 9.84692459e-01 -5.28731827e-03 -3.05559092e+01] [-3.23410469e-02 -3.55363038e-04 9.99476828e-01 -8.41463984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30264000000003 meters 0.023525583926037732 Centerline is valid? [True, True] Translation: X:193.53, Y:-30.56, Z:-8.41 [[ 9.84349664e-01 1.73409394e-01 3.13834496e-02 1.93528019e+02] [-1.73331760e-01 9.84849774e-01 -5.19838019e-03 -3.05633807e+01] [-3.18094312e-02 -3.22724740e-04 9.99493900e-01 -8.41442893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.33264000000003 meters 0.023904964402525295 Centerline is valid? [True, True] Translation: X:193.56, Y:-30.57, Z:-8.42 [[ 9.84474341e-01 1.72912364e-01 3.01924901e-02 1.93555044e+02] [-1.72840317e-01 9.84937169e-01 -4.99983139e-03 -3.05670166e+01] [-3.06022384e-02 -2.96273852e-04 9.99531598e-01 -8.41872366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36264000000003 meters 0.01662991659355605 Centerline is valid? [True, True] Translation: X:193.58, Y:-30.57, Z:-8.42 [[ 9.84491835e-01 1.72810011e-01 3.02080610e-02 1.93583666e+02] [-1.72737904e-01 9.84955132e-01 -5.00035872e-03 -3.05735871e+01] [-3.06176967e-02 -2.95264809e-04 9.99531125e-01 -8.41932364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.39264000000003 meters 0.01667919074928375 Centerline is valid? [True, True] Translation: X:193.61, Y:-30.58, Z:-8.42 [[ 9.84524551e-01 1.72629053e-01 3.01764496e-02 1.93611387e+02] [-1.72557052e-01 9.84986866e-01 -4.99383482e-03 -3.05786062e+01] [-3.05854875e-02 -2.90606198e-04 9.99532112e-01 -8.42100630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42264000000003 meters 0.0172091790699913 Centerline is valid? [True, True] Translation: X:193.64, Y:-30.58, Z:-8.42 [[ 9.84543019e-01 1.72496179e-01 3.03333639e-02 1.93638601e+02] [-1.72423429e-01 9.85010144e-01 -5.01766267e-03 -3.05827707e+01] [-3.07441988e-02 -2.90077870e-04 9.99527243e-01 -8.42299748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.45264000000003 meters 0.017601379171894267 Centerline is valid? [True, True] Translation: X:193.67, Y:-30.59, Z:-8.42 [[ 9.84513487e-01 1.72636497e-01 3.04931931e-02 1.93666134e+02] [-1.72563106e-01 9.84985559e-01 -5.04215152e-03 -3.05866031e+01] [-3.09058143e-02 -2.97933935e-04 9.99522257e-01 -8.42409286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48264000000003 meters 0.018111756925927473 Centerline is valid? [True, True] Translation: X:193.69, Y:-30.59, Z:-8.42 [[ 9.84290731e-01 1.73792768e-01 3.11099724e-02 1.93694891e+02] [-1.73717020e-01 9.84782187e-01 -5.14206570e-03 -3.05891819e+01] [-3.15302005e-02 -3.43044104e-04 9.99502741e-01 -8.42345425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.51264000000003 meters 0.01963034007214787 Centerline is valid? [True, True] Translation: X:193.72, Y:-30.59, Z:-8.42 [[ 9.83939874e-01 1.75635774e-01 3.18496354e-02 1.93723835e+02] [-1.75557396e-01 9.84455131e-01 -5.26272675e-03 -3.05894185e+01] [-3.22788600e-02 -4.13232365e-04 9.99478816e-01 -8.42375293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54264000000003 meters 0.0211304747850078 Centerline is valid? [True, True] Translation: X:193.75, Y:-30.59, Z:-8.43 [[ 9.83744525e-01 1.76767901e-01 3.16199226e-02 1.93751297e+02] [-1.76691278e-01 9.84252462e-01 -5.22341294e-03 -3.05905551e+01] [-3.20453184e-02 -4.48460659e-04 9.99486316e-01 -8.42591737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.57264000000004 meters 0.022588662925868162 Centerline is valid? [True, True] Translation: X:193.78, Y:-30.59, Z:-8.43 [[ 9.83523639e-01 1.78036619e-01 3.13721703e-02 1.93780014e+02] [-1.77961905e-01 9.84023742e-01 -5.18036879e-03 -3.05917955e+01] [-3.17932557e-02 -4.88036035e-04 9.99494348e-01 -8.42827022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60264000000004 meters 0.025253962580126712 Centerline is valid? [True, True] Translation: X:193.81, Y:-30.59, Z:-8.43 [[ 9.83019559e-01 1.80846018e-01 3.11008615e-02 1.93809191e+02] [-1.80774042e-01 9.83511254e-01 -5.13410109e-03 -3.05915078e+01] [-3.15165290e-02 -5.75306639e-04 9.99503065e-01 -8.42946256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.63264000000004 meters 0.027132272281806036 Centerline is valid? [True, True] Translation: X:193.84, Y:-30.59, Z:-8.43 [[ 9.82800031e-01 1.81991984e-01 3.13531023e-02 1.93837445e+02] [-1.81919462e-01 9.83299820e-01 -5.17435195e-03 -3.05921444e+01] [-3.17711904e-02 -6.18386236e-04 9.99494977e-01 -8.43074337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66264000000004 meters 0.02739154966116295 Centerline is valid? [True, True] Translation: X:193.87, Y:-30.59, Z:-8.43 [[ 9.82479047e-01 1.83781385e-01 3.09729515e-02 1.93866683e+02] [-1.83711562e-01 9.82966914e-01 -5.10964324e-03 -3.05937840e+01] [-3.13844439e-02 -6.69971882e-04 9.99507162e-01 -8.43158663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.69264000000004 meters 0.029465496291668936 Centerline is valid? [True, True] Translation: X:193.89, Y:-30.59, Z:-8.43 [[ 9.82466071e-01 1.83831128e-01 3.10891611e-02 1.93894170e+02] [-1.83760839e-01 9.82957609e-01 -5.12772028e-03 -3.05941703e+01] [-3.15019621e-02 -6.75159131e-04 9.99503462e-01 -8.43439333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72264000000004 meters 0.027891619106503205 Centerline is valid? [True, True] Translation: X:193.92, Y:-30.60, Z:-8.43 [[ 9.82657387e-01 1.82739546e-01 3.14756625e-02 1.93922841e+02] [-1.82667041e-01 9.83161143e-01 -5.18826277e-03 -3.05978828e+01] [-3.18937491e-02 -6.51281401e-04 9.99491053e-01 -8.43476480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.75264000000004 meters 0.02644828314671104 Centerline is valid? [True, True] Translation: X:193.95, Y:-30.60, Z:-8.44 [[ 9.82854457e-01 1.81673722e-01 3.14924503e-02 1.93951640e+02] [-1.81600645e-01 9.83358671e-01 -5.18938147e-03 -3.06033236e+01] [-3.19111483e-02 -6.18642567e-04 9.99490518e-01 -8.43622016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78264000000004 meters 0.02472160243855795 Centerline is valid? [True, True] Translation: X:193.98, Y:-30.61, Z:-8.44 [[ 9.83118722e-01 1.80252354e-01 3.14112544e-02 1.93979320e+02] [-1.80178960e-01 9.83620232e-01 -5.17502216e-03 -3.06099215e+01] [-3.18295553e-02 -5.71985974e-04 9.99493148e-01 -8.43730742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.81264000000002 meters 0.021028723357826268 Centerline is valid? [True, True] Translation: X:194.01, Y:-30.62, Z:-8.44 [[ 9.83606069e-01 1.77567731e-01 3.14452172e-02 1.94007177e+02] [-1.77492854e-01 9.84108461e-01 -5.17910845e-03 -3.06181106e+01] [-3.18651469e-02 -4.87098838e-04 9.99492059e-01 -8.43762942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.84264000000002 meters 0.02039962305616394 Centerline is valid? [True, True] Translation: X:194.04, Y:-30.62, Z:-8.44 [[ 9.83966564e-01 1.75578154e-01 3.13386844e-02 1.94035253e+02] [-1.75502825e-01 9.84465405e-01 -5.15998510e-03 -3.06208748e+01] [-3.17578313e-02 -4.22774831e-04 9.99495503e-01 -8.44110321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.87264000000002 meters 0.019433934751303936 Centerline is valid? [True, True] Translation: X:194.06, Y:-30.63, Z:-8.44 [[ 9.84161515e-01 1.74538633e-01 3.10222103e-02 1.94063629e+02] [-1.74464350e-01 9.84650251e-01 -5.10631963e-03 -3.06265089e+01] [-3.14372772e-02 -3.86826501e-04 9.99505652e-01 -8.44317248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.90264000000002 meters 0.018667065848185997 Centerline is valid? [True, True] Translation: X:194.09, Y:-30.63, Z:-8.44 [[ 9.84329547e-01 1.73636308e-01 3.07534600e-02 1.94092276e+02] [-1.73562913e-01 9.84809781e-01 -5.06061413e-03 -3.06321055e+01] [-3.11650146e-02 -3.56348098e-04 9.99514189e-01 -8.44481755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93264000000002 meters 0.0172563848015927 Centerline is valid? [True, True] Translation: X:194.12, Y:-30.64, Z:-8.45 [[ 9.84587771e-01 1.72065667e-01 3.13101868e-02 1.94120331e+02] [-1.71988845e-01 9.85085432e-01 -5.15066939e-03 -3.06387528e+01] [-3.17294623e-02 -3.13716766e-04 9.99496445e-01 -8.44509344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96264000000002 meters 0.01742327255554789 Centerline is valid? [True, True] Translation: X:194.15, Y:-30.64, Z:-8.45 [[ 9.84713727e-01 1.71345362e-01 3.12992324e-02 1.94147648e+02] [-1.71268273e-01 9.85210983e-01 -5.14748786e-03 -3.06429054e+01] [-3.17183457e-02 -2.91763546e-04 9.99496804e-01 -8.44727115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99264000000002 meters 0.015719455066734517 Centerline is valid? [True, True] Translation: X:194.18, Y:-30.65, Z:-8.45 [[ 9.84886914e-01 1.70217771e-01 3.19949512e-02 1.94176280e+02] [-1.70136691e-01 9.85406435e-01 -5.25976419e-03 -3.06468820e+01] [-3.24233361e-02 -2.63242201e-04 9.99474191e-01 -8.44573153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02264000000002 meters 0.015924805452620136 Centerline is valid? [True, True] Translation: X:194.20, Y:-30.65, Z:-8.45 [[ 9.84918018e-01 1.70039658e-01 3.19845770e-02 1.94202714e+02] [-1.69958575e-01 9.85437186e-01 -5.25691220e-03 -3.06495806e+01] [-3.24126751e-02 -2.58425571e-04 9.99474538e-01 -8.44728064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.05264000000003 meters 0.02696898201694483 Centerline is valid? [True, True] Translation: X:194.23, Y:-30.65, Z:-8.45 [[ 9.84882383e-01 1.70240427e-01 3.20138870e-02 1.94230615e+02] [-1.70159393e-01 9.85402519e-01 -5.25886040e-03 -3.06521672e+01] [-3.24418356e-02 -2.68104639e-04 9.99473589e-01 -8.44858667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08264000000003 meters 0.015948926732739344 Centerline is valid? [True, True] Translation: X:194.26, Y:-30.66, Z:-8.45 [[ 9.84887062e-01 1.70089430e-01 3.26658986e-02 1.94259259e+02] [-1.70005069e-01 9.85428593e-01 -5.36323083e-03 -3.06568671e+01] [-3.31021394e-02 -2.71191690e-04 9.99451937e-01 -8.44916619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.11264000000003 meters 0.015538588312863798 Centerline is valid? [True, True] Translation: X:194.29, Y:-30.66, Z:-8.45 [[ 9.84907882e-01 1.69989455e-01 3.25583997e-02 1.94287202e+02] [-1.69905636e-01 9.85445845e-01 -5.34431036e-03 -3.06608996e+01] [-3.29930161e-02 -2.68202198e-04 9.99455546e-01 -8.44968181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14264000000003 meters 0.02571870410614431 Centerline is valid? [True, True] Translation: X:194.31, Y:-30.66, Z:-8.45 [[ 9.84981250e-01 1.69602021e-01 3.23587821e-02 1.94313661e+02] [-1.69519091e-01 9.85512602e-01 -5.30930672e-03 -3.06635722e+01] [-3.27904567e-02 -2.55863754e-04 9.99462216e-01 -8.45161580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.17264000000003 meters 0.014965760857507154 Centerline is valid? [True, True] Translation: X:194.34, Y:-30.67, Z:-8.45 [[ 9.85135792e-01 1.68602105e-01 3.28755478e-02 1.94342119e+02] [-1.68516056e-01 9.85684167e-01 -5.39082201e-03 -3.06699567e+01] [-3.33138109e-02 -2.29365958e-04 9.99444915e-01 -8.45231888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20264000000003 meters 0.013711926511788564 Centerline is valid? [True, True] Translation: X:194.37, Y:-30.68, Z:-8.45 [[ 9.85482955e-01 1.66445587e-01 3.34546299e-02 1.94369289e+02] [-1.66355290e-01 9.86050628e-01 -5.48424203e-03 -3.06776759e+01] [-3.39007867e-02 -1.60727598e-04 9.99425190e-01 -8.45289503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.23264000000003 meters 0.0130642216251083 Centerline is valid? [True, True] Translation: X:194.40, Y:-30.68, Z:-8.45 [[ 9.85651314e-01 1.65374416e-01 3.38051742e-02 1.94397176e+02] [-1.65281661e-01 9.86230848e-01 -5.53953293e-03 -3.06837549e+01] [-3.42558027e-02 -1.27327434e-04 9.99413090e-01 -8.45275922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26264000000003 meters 0.012118172918167974 Centerline is valid? [True, True] Translation: X:194.43, Y:-30.69, Z:-8.45 [[ 9.85990715e-01 1.63297404e-01 3.40039238e-02 1.94425761e+02] [-1.63202380e-01 9.86576887e-01 -5.57034114e-03 -3.06910157e+01] [-3.44571075e-02 -5.72166459e-05 9.99406176e-01 -8.45238420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.29264000000003 meters 0.012309433721081117 Centerline is valid? [True, True] Translation: X:194.45, Y:-30.70, Z:-8.46 [[ 9.86131209e-01 1.62476880e-01 3.38600289e-02 1.94452556e+02] [-1.62382211e-01 9.86712350e-01 -5.54573234e-03 -3.06963881e+01] [-3.43111620e-02 -2.94466157e-05 9.99411198e-01 -8.45510146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32264000000004 meters 0.012225682019007596 Centerline is valid? [True, True] Translation: X:194.48, Y:-30.70, Z:-8.46 [[ 9.86333806e-01 1.61328796e-01 3.34461045e-02 1.94480713e+02] [-1.61235842e-01 9.86900714e-01 -5.47573473e-03 -3.07042564e+01] [-3.38913781e-02 8.19144965e-06 9.99425522e-01 -8.45657792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.35264000000004 meters 0.012675634385700178 Centerline is valid? [True, True] Translation: X:194.51, Y:-30.71, Z:-8.46 [[ 9.86505363e-01 1.60537562e-01 3.21692501e-02 1.94508239e+02] [-1.60451197e-01 9.87029731e-01 -5.26530466e-03 -3.07096371e+01] [-3.25972854e-02 3.26566104e-05 9.99468567e-01 -8.46046250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38264000000004 meters 0.013066462799734568 Centerline is valid? [True, True] Translation: X:194.54, Y:-30.71, Z:-8.46 [[ 9.86618187e-01 1.60023743e-01 3.12562598e-02 1.94536998e+02] [-1.59942018e-01 9.87113164e-01 -5.11384527e-03 -3.07143565e+01] [-3.16718022e-02 4.62234793e-05 9.99498322e-01 -8.46291305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.41264000000004 meters 0.013548070008496524 Centerline is valid? [True, True] Translation: X:194.56, Y:-30.72, Z:-8.47 [[ 9.86793161e-01 1.58956042e-01 3.11806602e-02 1.94563883e+02] [-1.58874220e-01 9.87285658e-01 -5.10016883e-03 -3.07189344e+01] [-3.15949213e-02 7.90086521e-05 9.99500753e-01 -8.46561541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.44264000000004 meters 0.020938076590082393 Centerline is valid? [True, True] Translation: X:194.59, Y:-30.72, Z:-8.46 [[ 9.86875608e-01 1.58549368e-01 3.06371218e-02 1.94592026e+02] [-1.58470246e-01 9.87351047e-01 -5.00909436e-03 -3.07230860e+01] [-3.10437830e-02 8.82808148e-05 9.99518022e-01 -8.46483158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.47264000000004 meters 0.01312946232742229 Centerline is valid? [True, True] Translation: X:194.62, Y:-30.73, Z:-8.47 [[ 9.86950650e-01 1.57959541e-01 3.12601625e-02 1.94619961e+02] [-1.57876921e-01 9.87445579e-01 -5.10937878e-03 -3.07281809e+01] [-3.16747844e-02 1.07446503e-04 9.99498222e-01 -8.46565163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.50264000000004 meters 0.013063856063137059 Centerline is valid? [True, True] Translation: X:194.65, Y:-30.73, Z:-8.47 [[ 9.86892416e-01 1.58247497e-01 3.16399950e-02 1.94647563e+02] [-1.58163051e-01 9.87399473e-01 -5.17004057e-03 -3.07331630e+01] [-3.20594604e-02 9.79956836e-05 9.99485959e-01 -8.46692438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.53264000000004 meters 0.013115292331976246 Centerline is valid? [True, True] Translation: X:194.68, Y:-30.74, Z:-8.47 [[ 9.86819803e-01 1.58718907e-01 3.15433816e-02 1.94675443e+02] [-1.58635284e-01 9.87323808e-01 -5.15211762e-03 -3.07375579e+01] [-3.19612702e-02 8.03183770e-05 9.99489105e-01 -8.46890138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.56264000000002 meters 0.012922121356364853 Centerline is valid? [True, True] Translation: X:194.70, Y:-30.74, Z:-8.47 [[ 9.86728653e-01 1.59297097e-01 3.14801714e-02 1.94703621e+02] [-1.59214171e-01 9.87230688e-01 -5.13969239e-03 -3.07412708e+01] [-3.18969294e-02 5.93923609e-05 9.99491162e-01 -8.46991808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.59264000000002 meters 0.012913586248521115 Centerline is valid? [True, True] Translation: X:194.73, Y:-30.75, Z:-8.47 [[ 9.86692826e-01 1.59413472e-01 3.20095640e-02 1.94731502e+02] [-1.59327841e-01 9.87211903e-01 -5.22466113e-03 -3.07456754e+01] [-3.24331040e-02 5.51209192e-05 9.99473907e-01 -8.47110337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.62264000000002 meters 0.012548443638599815 Centerline is valid? [True, True] Translation: X:194.76, Y:-30.75, Z:-8.47 [[ 9.86815297e-01 1.58537560e-01 3.25792973e-02 1.94759898e+02] [-1.58448447e-01 9.87352943e-01 -5.31550794e-03 -3.07508749e+01] [-3.30099727e-02 8.32854859e-05 9.99455019e-01 -8.46914419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.65264000000002 meters 0.012673998881804462 Centerline is valid? [True, True] Translation: X:194.79, Y:-30.76, Z:-8.47 [[ 9.86928305e-01 1.57791591e-01 3.27770391e-02 1.94788485e+02] [-1.57701036e-01 9.87472431e-01 -5.34611310e-03 -3.07568534e+01] [-3.32099941e-02 1.07257335e-04 9.99448390e-01 -8.46981684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68264000000002 meters 0.01360545541883541 Centerline is valid? [True, True] Translation: X:194.81, Y:-30.77, Z:-8.47 [[ 9.87288971e-01 1.55570895e-01 3.25297515e-02 1.94814965e+02] [-1.55480549e-01 9.87824714e-01 -5.30416196e-03 -3.07687394e+01] [-3.29588657e-02 1.78996972e-04 9.99456693e-01 -8.47302768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71264000000002 meters 0.014498801197786551 Centerline is valid? [True, True] Translation: X:194.84, Y:-30.78, Z:-8.48 [[ 9.87490113e-01 1.54301639e-01 3.24696926e-02 1.94842855e+02] [-1.54210999e-01 9.88023763e-01 -5.29261722e-03 -3.07778812e+01] [-3.28974874e-02 2.19223451e-04 9.99458707e-01 -8.47509277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74264000000002 meters 0.016334315791378666 Centerline is valid? [True, True] Translation: X:194.87, Y:-30.79, Z:-8.48 [[ 9.87927418e-01 1.51543391e-01 3.21561273e-02 1.94870646e+02] [-1.51453075e-01 9.88450558e-01 -5.24018198e-03 -3.07899671e+01] [-3.25788569e-02 3.06775098e-04 9.99469121e-01 -8.47635378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77264000000002 meters 0.02921358551834096 Centerline is valid? [True, True] Translation: X:194.90, Y:-30.80, Z:-8.48 [[ 9.88269407e-01 1.49514369e-01 3.11292876e-02 1.94899629e+02] [-1.49428757e-01 9.88759487e-01 -5.07182744e-03 -3.08013142e+01] [-3.15376895e-02 3.60721157e-04 9.99502498e-01 -8.47789078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80264000000003 meters 0.01903419060979842 Centerline is valid? [True, True] Translation: X:194.93, Y:-30.81, Z:-8.48 [[ 9.88400625e-01 1.48627198e-01 3.12115432e-02 1.94929349e+02] [-1.48540690e-01 9.88893222e-01 -5.08522916e-03 -3.08105976e+01] [-3.16206868e-02 3.90059542e-04 9.99499865e-01 -8.48088114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.83264000000003 meters 0.020026862466394655 Centerline is valid? [True, True] Translation: X:194.96, Y:-30.82, Z:-8.48 [[ 9.88458501e-01 1.48251848e-01 3.11637742e-02 1.94958294e+02] [-1.48165423e-01 9.88949558e-01 -5.07729869e-03 -3.08201161e+01] [-3.15721196e-02 4.01305266e-04 9.99501396e-01 -8.48322521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86264000000003 meters 0.020026862466394655 Centerline is valid? [True, True] Translation: X:194.99, Y:-30.82, Z:-8.48 [[ 9.88458501e-01 1.48251871e-01 3.11636917e-02 1.94987879e+02] [-1.48165429e-01 9.88949555e-01 -5.07780522e-03 -3.08249365e+01] [-3.15721131e-02 4.01817971e-04 9.99501396e-01 -8.48454814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.89264000000003 meters 0.018935591456588706 Centerline is valid? [True, True] Translation: X:195.02, Y:-30.83, Z:-8.48 [[ 9.88335140e-01 1.48897055e-01 3.19893425e-02 1.95017805e+02] [-1.48806309e-01 9.88852625e-01 -5.21233658e-03 -3.08338265e+01] [-3.24088468e-02 3.91319422e-04 9.99474619e-01 -8.48332829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92264000000003 meters 0.015991561959591425 Centerline is valid? [True, True] Translation: X:195.05, Y:-30.84, Z:-8.48 [[ 9.87901254e-01 1.51661874e-01 3.24004356e-02 1.95048179e+02] [-1.51570266e-01 9.88432387e-01 -5.27932000e-03 -3.08371552e+01] [-3.28263114e-02 3.04504200e-04 9.99461025e-01 -8.48291471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.95264000000003 meters 0.014725091351974674 Centerline is valid? [True, True] Translation: X:195.08, Y:-30.84, Z:-8.49 [[ 9.87606449e-01 1.53630369e-01 3.21124993e-02 1.95078484e+02] [-1.53541422e-01 9.88128359e-01 -5.23240373e-03 -3.08413153e+01] [-3.25351273e-02 2.36956860e-04 9.99470565e-01 -8.48501194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98264000000003 meters 0.01946761724707501 Centerline is valid? [True, True] Translation: X:195.11, Y:-30.84, Z:-8.49 [[ 9.87274574e-01 1.55891164e-01 3.14143423e-02 1.95109085e+02] [-1.55807188e-01 9.87774225e-01 -5.11864617e-03 -3.08448702e+01] [-3.18282293e-02 1.58928892e-04 9.99493341e-01 -8.48564997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.01264000000003 meters 0.012666440197829488 Centerline is valid? [True, True] Translation: X:195.14, Y:-30.85, Z:-8.49 [[ 9.86525809e-01 1.60377647e-01 3.23394180e-02 1.95137399e+02] [-1.60291045e-01 9.87055728e-01 -5.26979298e-03 -3.08466970e+01] [-3.27659648e-02 1.50676673e-05 9.99463052e-01 -8.48830421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04264000000003 meters 0.02493800281632036 Centerline is valid? [True, True] Translation: X:195.17, Y:-30.85, Z:-8.49 [[ 9.86206384e-01 1.62426177e-01 3.18544488e-02 1.95166694e+02] [-1.62343264e-01 9.86720697e-01 -5.18946394e-03 -3.08494438e+01] [-3.22743487e-02 -5.34727142e-05 9.99479046e-01 -8.48746780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.07264000000004 meters 0.013987494741035023 Centerline is valid? [True, True] Translation: X:195.19, Y:-30.85, Z:-8.49 [[ 9.85709446e-01 1.65365898e-01 3.21093170e-02 1.95194875e+02] [-1.65283236e-01 9.86232273e-01 -5.23020883e-03 -3.08531693e+01] [-3.25321429e-02 -1.51665569e-04 9.99470678e-01 -8.49202028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10264000000004 meters 0.014362175827677457 Centerline is valid? [True, True] Translation: X:195.22, Y:-30.86, Z:-8.49 [[ 9.85526986e-01 1.66471192e-01 3.19984710e-02 1.95223098e+02] [-1.66389703e-01 9.86046301e-01 -5.21151597e-03 -3.08580510e+01] [-3.24195412e-02 -1.88126453e-04 9.99474331e-01 -8.49283791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.13264000000004 meters 0.01541410143348581 Centerline is valid? [True, True] Translation: X:195.25, Y:-30.86, Z:-8.50 [[ 9.85325082e-01 1.67745894e-01 3.15562563e-02 1.95250772e+02] [-1.67667339e-01 9.85830241e-01 -5.13812071e-03 -3.08613953e+01] [-3.19710103e-02 -2.28234307e-04 9.99488771e-01 -8.49533886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16264000000004 meters 0.015721817214695004 Centerline is valid? [True, True] Translation: X:195.28, Y:-30.87, Z:-8.50 [[ 9.85282123e-01 1.68072924e-01 3.11549323e-02 1.95279375e+02] [-1.67996582e-01 9.85774536e-01 -5.07075967e-03 -3.08665179e+01] [-3.15639963e-02 -2.37793291e-04 9.99501705e-01 -8.49739308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.19264000000004 meters 0.01516593470862945 Centerline is valid? [True, True] Translation: X:195.31, Y:-30.88, Z:-8.50 [[ 9.85395099e-01 1.67534132e-01 3.04764521e-02 1.95308261e+02] [-1.67460876e-01 9.85866252e-01 -4.95859491e-03 -3.08751993e+01] [-3.08764395e-02 -2.17438228e-04 9.99523185e-01 -8.49880405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.22264000000004 meters 0.015540984406867154 Centerline is valid? [True, True] Translation: X:195.34, Y:-30.88, Z:-8.50 [[ 9.85451970e-01 1.67247869e-01 3.02087006e-02 1.95336517e+02] [-1.67175779e-01 9.85914858e-01 -4.91445047e-03 -3.08804107e+01] [-3.06051382e-02 -2.07208150e-04 9.99531532e-01 -8.50126536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.25264000000004 meters 0.01434257469539196 Centerline is valid? [True, True] Translation: X:195.36, Y:-30.89, Z:-8.50 [[ 9.85705045e-01 1.65548106e-01 3.12952052e-02 1.95364167e+02] [-1.65469924e-01 9.86201703e-01 -5.08976044e-03 -3.08891624e+01] [-3.17059849e-02 -1.61412681e-04 9.99497226e-01 -8.50137415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.28264000000004 meters 0.013327000571403687 Centerline is valid? [True, True] Translation: X:195.39, Y:-30.90, Z:-8.50 [[ 9.85951238e-01 1.63979392e-01 3.17949008e-02 1.95392552e+02] [-1.63897896e-01 9.86463758e-01 -5.17045307e-03 -3.08977879e+01] [-3.22123651e-02 -1.13302750e-04 9.99481041e-01 -8.50056684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.31264000000002 meters 0.012967627730515402 Centerline is valid? [True, True] Translation: X:195.42, Y:-30.91, Z:-8.50 [[ 9.86232734e-01 1.62177129e-01 3.23043816e-02 1.95420893e+02] [-1.62092064e-01 9.86761661e-01 -5.25235098e-03 -3.09060959e+01] [-3.27285365e-02 -5.62434131e-05 9.99464276e-01 -8.50217659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.34264000000002 meters 0.01275901082770013 Centerline is valid? [True, True] Translation: X:195.45, Y:-30.92, Z:-8.50 [[ 9.86792426e-01 1.58782921e-01 3.20732379e-02 1.95450590e+02] [-1.58697303e-01 9.87313517e-01 -5.21395211e-03 -3.09187966e+01] [-3.24942278e-02 5.51521079e-05 9.99471922e-01 -8.50166977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.37264000000002 meters 0.013384533594966715 Centerline is valid? [True, True] Translation: X:195.48, Y:-30.93, Z:-8.50 [[ 9.87022203e-01 1.57357559e-01 3.20276262e-02 1.95480406e+02] [-1.57271434e-01 9.87541689e-01 -5.20651497e-03 -3.09278693e+01] [-3.24479006e-02 1.01915189e-04 9.99473423e-01 -8.50446438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.40264000000002 meters 0.024776713761928987 Centerline is valid? [True, True] Translation: X:195.51, Y:-30.94, Z:-8.51 [[ 9.87385024e-01 1.55379073e-01 3.04656899e-02 1.95510911e+02] [-1.55300148e-01 9.87854907e-01 -4.95440103e-03 -3.09388081e+01] [-3.08654915e-02 1.60575240e-04 9.99523534e-01 -8.50611215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43264000000002 meters 0.01543916507153824 Centerline is valid? [True, True] Translation: X:195.54, Y:-30.95, Z:-8.51 [[ 9.87491749e-01 1.54654489e-01 3.06925820e-02 1.95540787e+02] [-1.54573867e-01 9.87968599e-01 -4.99667781e-03 -3.09475722e+01] [-3.10960659e-02 1.89907037e-04 9.99516382e-01 -8.51052779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46264000000002 meters 0.015444590298598302 Centerline is valid? [True, True] Translation: X:195.57, Y:-30.96, Z:-8.51 [[ 9.87562654e-01 1.54124224e-01 3.10761772e-02 1.95573017e+02] [-1.54041171e-01 9.88051455e-01 -5.06355977e-03 -3.09574047e+01] [-3.14852793e-02 2.13571808e-04 9.99504193e-01 -8.50984613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49264000000002 meters 0.01581823370942449 Centerline is valid? [True, True] Translation: X:195.60, Y:-30.96, Z:-8.51 [[ 9.87565355e-01 1.54134692e-01 3.09381045e-02 1.95604614e+02] [-1.54052190e-01 9.88049821e-01 -5.04714968e-03 -3.09647998e+01] [-3.13463294e-02 2.18307413e-04 9.99508559e-01 -8.51191844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52264000000002 meters 0.015717720607641875 Centerline is valid? [True, True] Translation: X:195.64, Y:-30.97, Z:-8.51 [[ 9.87632833e-01 1.53843219e-01 3.02266777e-02 1.95635930e+02] [-1.53764167e-01 9.88095245e-01 -4.93646274e-03 -3.09717045e+01] [-3.06262778e-02 2.27632746e-04 9.99530880e-01 -8.51297435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.55264000000003 meters 0.0160396150547668 Centerline is valid? [True, True] Translation: X:195.67, Y:-30.98, Z:-8.51 [[ 9.87641183e-01 1.53783940e-01 3.02554713e-02 1.95668015e+02] [-1.53704561e-01 9.88104471e-01 -4.94604568e-03 -3.09789576e+01] [-3.06561888e-02 2.34514486e-04 9.99529961e-01 -8.51453560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58264000000003 meters 0.016014621452064115 Centerline is valid? [True, True] Translation: X:195.70, Y:-30.99, Z:-8.52 [[ 9.87643087e-01 1.53749370e-01 3.03688047e-02 1.95700566e+02] [-1.53669195e-01 9.88109848e-01 -4.97052012e-03 -3.09864498e+01] [-3.07719294e-02 2.42350053e-04 9.99526403e-01 -8.51551298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.61264000000003 meters 0.015400296697991237 Centerline is valid? [True, True] Translation: X:195.73, Y:-30.99, Z:-8.52 [[ 9.87395560e-01 1.55390076e-01 3.00654799e-02 1.95730929e+02] [-1.55312062e-01 9.87853170e-01 -4.92719432e-03 -3.09927301e+01] [-3.04659168e-02 1.95558107e-04 9.99535787e-01 -8.51722804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64264000000003 meters 0.013422672291399462 Centerline is valid? [True, True] Translation: X:195.76, Y:-30.99, Z:-8.52 [[ 9.86665925e-01 1.60061500e-01 2.95070843e-02 1.95763803e+02] [-1.59988316e-01 9.87107042e-01 -4.83999272e-03 -3.09927401e+01] [-2.99013472e-02 5.46671628e-05 9.99552853e-01 -8.51759604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.67264000000003 meters 0.013549098945785217 Centerline is valid? [True, True] Translation: X:195.79, Y:-30.99, Z:-8.52 [[ 9.86069727e-01 1.63641217e-01 2.98000843e-02 1.95794629e+02] [-1.63567979e-01 9.86519919e-01 -4.89551912e-03 -3.09937721e+01] [-3.01994854e-02 -4.70163668e-05 9.99543890e-01 -8.51939958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70264000000003 meters 0.014801598877807255 Centerline is valid? [True, True] Translation: X:195.83, Y:-30.99, Z:-8.52 [[ 9.85392428e-01 1.67604956e-01 3.01718694e-02 1.95825963e+02] [-1.67531720e-01 9.85854223e-01 -4.95713981e-03 -3.09935395e+01] [-3.05759061e-02 -1.70017135e-04 9.99532433e-01 -8.51994125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.73264000000003 meters 0.020386504376152217 Centerline is valid? [True, True] Translation: X:195.86, Y:-30.99, Z:-8.52 [[ 9.83978762e-01 1.75698053e-01 3.02653363e-02 1.95856921e+02] [-1.75628168e-01 9.84444014e-01 -4.97298411e-03 -3.09851579e+01] [-3.06682728e-02 -4.22134821e-04 9.99529529e-01 -8.51968557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76264000000003 meters 0.02676711785162247 Centerline is valid? [True, True] Translation: X:195.89, Y:-30.98, Z:-8.52 [[ 9.82794516e-01 1.82156214e-01 3.05622761e-02 1.95886919e+02] [-1.82088099e-01 9.83269402e-01 -5.02078035e-03 -3.09770476e+01] [-3.09655173e-02 -6.30631361e-04 9.99520254e-01 -8.52065391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.79264000000003 meters 0.02910034209982132 Centerline is valid? [True, True] Translation: X:195.92, Y:-30.98, Z:-8.52 [[ 9.82325892e-01 1.84654892e-01 3.06335256e-02 1.95916061e+02] [-1.84587719e-01 9.82803166e-01 -5.03100073e-03 -3.09777287e+01] [-3.10357249e-02 -7.12490329e-04 9.99518022e-01 -8.52136978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82264000000004 meters 0.03200702145336781 Centerline is valid? [True, True] Translation: X:195.94, Y:-30.98, Z:-8.52 [[ 9.81966771e-01 1.86563877e-01 3.05807280e-02 1.95943854e+02] [-1.86497895e-01 9.82442529e-01 -5.02117695e-03 -3.09764874e+01] [-3.09805780e-02 -7.72612487e-04 9.99519688e-01 -8.52306237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.85264000000004 meters 0.03492694401778241 Centerline is valid? [True, True] Translation: X:195.97, Y:-30.97, Z:-8.53 [[ 9.81442538e-01 1.89340372e-01 3.03441751e-02 1.95974269e+02] [-1.89276808e-01 9.81911142e-01 -4.97986384e-03 -3.09723786e+01] [-3.07381729e-02 -8.55998401e-04 9.99527104e-01 -8.52508285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88264000000004 meters 0.03429067605513453 Centerline is valid? [True, True] Translation: X:196.00, Y:-30.98, Z:-8.53 [[ 9.81298738e-01 1.90139095e-01 2.99985118e-02 1.96002439e+02] [-1.90077384e-01 9.81756774e-01 -4.92180931e-03 -3.09753091e+01] [-3.03870706e-02 -8.72273400e-04 9.99537826e-01 -8.52616169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.91264000000004 meters 0.03926515031087569 Centerline is valid? [True, True] Translation: X:196.03, Y:-30.97, Z:-8.53 [[ 9.81273931e-01 1.90338495e-01 2.95420024e-02 1.96031736e+02] [-1.90278792e-01 9.81718140e-01 -4.84512032e-03 -3.09688753e+01] [-2.99241325e-02 -8.66826271e-04 9.99551797e-01 -8.53086806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.94264000000004 meters 0.034570881842087446 Centerline is valid? [True, True] Translation: X:196.06, Y:-30.98, Z:-8.53 [[ 9.81377077e-01 1.89795109e-01 2.96116387e-02 1.96060145e+02] [-1.89734937e-01 9.81823348e-01 -4.85454619e-03 -3.09764508e+01] [-2.99947674e-02 -8.54222060e-04 9.99549691e-01 -8.52962836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.97264000000004 meters 0.03354623613507109 Centerline is valid? [True, True] Translation: X:196.09, Y:-30.98, Z:-8.53 [[ 9.81910132e-01 1.87128660e-01 2.89025545e-02 1.96088393e+02] [-1.87070216e-01 9.82335123e-01 -4.73711269e-03 -3.09759674e+01] [-2.92784440e-02 -7.55388159e-04 9.99571009e-01 -8.53323899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.00264000000004 meters 0.030253953068693665 Centerline is valid? [True, True] Translation: X:196.12, Y:-30.98, Z:-8.53 [[ 9.82334595e-01 1.84854095e-01 2.91154229e-02 1.96117058e+02] [-1.84793851e-01 9.82765730e-01 -4.76985945e-03 -3.09827520e+01] [-2.94953679e-02 -6.94753175e-04 9.99564676e-01 -8.53375654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.03264000000004 meters 0.024090046238614216 Centerline is valid? [True, True] Translation: X:196.15, Y:-30.99, Z:-8.53 [[ 9.83442938e-01 1.78610227e-01 3.06328952e-02 1.96145135e+02] [-1.78540551e-01 9.83919763e-01 -5.01709532e-03 -3.09927261e+01] [-3.10364155e-02 -5.35187032e-04 9.99518111e-01 -8.53296881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.06264000000002 meters 0.02112312156227565 Centerline is valid? [True, True] Translation: X:196.17, Y:-31.00, Z:-8.53 [[ 9.84088454e-01 1.74923180e-01 3.11736411e-02 1.96171803e+02] [-1.74849181e-01 9.84581992e-01 -5.10534873e-03 -3.10003227e+01] [-3.15860495e-02 -4.26570869e-04 9.99500945e-01 -8.53380507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.09264000000002 meters 0.016514156623162385 Centerline is valid? [True, True] Translation: X:196.20, Y:-31.01, Z:-8.53 [[ 9.84760888e-01 1.71088218e-01 3.12220154e-02 1.96199733e+02] [-1.71012131e-01 9.85255666e-01 -5.11110707e-03 -3.10112141e+01] [-3.16361178e-02 -3.06125038e-04 9.99499406e-01 -8.53279381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.12264000000002 meters 0.01274747401579017 Centerline is valid? [True, True] Translation: X:196.23, Y:-31.02, Z:-8.53 [[ 9.85953630e-01 1.63871466e-01 3.22735606e-02 1.96227481e+02] [-1.63786342e-01 9.86481696e-01 -5.28182613e-03 -3.10248573e+01] [-3.27028174e-02 -7.83327997e-05 9.99465117e-01 -8.53223914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.15264000000002 meters 0.0223620440941667 Centerline is valid? [True, True] Translation: X:196.25, Y:-31.04, Z:-8.53 [[ 9.86889946e-01 1.58035158e-01 3.27585541e-02 1.96254753e+02] [-1.57944271e-01 9.87433479e-01 -5.36022045e-03 -3.10381976e+01] [-3.31939963e-02 1.15921728e-04 9.99448921e-01 -8.53328731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18264000000002 meters 0.014408007253557266 Centerline is valid? [True, True] Translation: X:196.28, Y:-31.05, Z:-8.54 [[ 9.87295143e-01 1.55635462e-01 3.20297436e-02 1.96284681e+02] [-1.55547338e-01 9.87814540e-01 -5.24015891e-03 -3.10475483e+01] [-3.24550010e-02 1.91442091e-04 9.99473179e-01 -8.53601738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21264000000002 meters 0.015525263155929276 Centerline is valid? [True, True] Translation: X:196.31, Y:-31.06, Z:-8.54 [[ 9.87602542e-01 1.53744237e-01 3.16848453e-02 1.96314751e+02] [-1.53657004e-01 9.88110645e-01 -5.18448784e-03 -3.10563144e+01] [-3.21052180e-02 2.51614970e-04 9.99484463e-01 -8.53809091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24264000000002 meters 0.018752498955794315 Centerline is valid? [True, True] Translation: X:196.34, Y:-31.07, Z:-8.54 [[ 9.87973397e-01 1.51513103e-01 3.08601002e-02 1.96344273e+02] [-1.51429295e-01 9.88455199e-01 -5.04857413e-03 -3.10685395e+01] [-3.12687516e-02 3.14733703e-04 9.99510963e-01 -8.54254761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27264000000002 meters 0.01731116102191288 Centerline is valid? [True, True] Translation: X:196.38, Y:-31.07, Z:-8.54 [[ 9.88013975e-01 1.51389120e-01 3.01615716e-02 1.96376398e+02] [-1.51308872e-01 9.88474195e-01 -4.93868719e-03 -3.10726789e+01] [-3.05615988e-02 3.15778571e-04 9.99532835e-01 -8.54164908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30264000000003 meters 0.017746139294538634 Centerline is valid? [True, True] Translation: X:196.41, Y:-31.08, Z:-8.55 [[ 9.87915506e-01 1.52274986e-01 2.89012281e-02 1.96406735e+02] [-1.52201540e-01 9.88338125e-01 -4.73723364e-03 -3.10799941e+01] [-2.92855478e-02 2.81175140e-04 9.99571047e-01 -8.54660215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.33264000000003 meters 0.016629815197577707 Centerline is valid? [True, True] Translation: X:196.44, Y:-31.08, Z:-8.55 [[ 9.87761915e-01 1.53308789e-01 2.86847430e-02 1.96437739e+02] [-1.53236685e-01 9.88178299e-01 -4.70833341e-03 -3.10848398e+01] [-2.90674694e-02 2.55157509e-04 9.99577419e-01 -8.54767901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36264000000003 meters 0.015461302215064577 Centerline is valid? [True, True] Translation: X:196.47, Y:-31.09, Z:-8.55 [[ 9.87294557e-01 1.56387280e-01 2.81509505e-02 1.96467754e+02] [-1.56319084e-01 9.87695800e-01 -4.62076969e-03 -3.10902726e+01] [-2.85272051e-02 1.61529983e-04 9.99593003e-01 -8.55020584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.39264000000003 meters 0.018225271727588196 Centerline is valid? [True, True] Translation: X:196.50, Y:-31.09, Z:-8.55 [[ 9.86952262e-01 1.58552626e-01 2.80409963e-02 1.96498510e+02] [-1.58485754e-01 9.87350523e-01 -4.60556153e-03 -3.10925513e+01] [-2.84165162e-02 1.01370933e-04 9.99596164e-01 -8.54950176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42264000000003 meters 0.014052511506827032 Centerline is valid? [True, True] Translation: X:196.53, Y:-31.10, Z:-8.55 [[ 9.86510970e-01 1.61182982e-01 2.85683881e-02 1.96527720e+02] [-1.61114667e-01 9.86924539e-01 -4.69236863e-03 -3.10950654e+01] [-2.89511732e-02 2.62867904e-05 9.99580827e-01 -8.55284759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.45264000000003 meters 0.014466146301367855 Centerline is valid? [True, True] Translation: X:196.56, Y:-31.10, Z:-8.55 [[ 9.85634182e-01 1.66342423e-01 2.92482017e-02 1.96557931e+02] [-1.66273093e-01 9.86068041e-01 -4.80382567e-03 -3.10951844e+01] [-2.96397969e-02 -1.28374166e-04 9.99560636e-01 -8.55201226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48264000000003 meters 0.01623814245145156 Centerline is valid? [True, True] Translation: X:196.59, Y:-31.10, Z:-8.55 [[ 9.85208890e-01 1.68850078e-01 2.92077804e-02 1.96586182e+02] [-1.68782051e-01 9.85641725e-01 -4.79681792e-03 -3.10962515e+01] [-2.95983501e-02 -2.03881423e-04 9.99561852e-01 -8.55459952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.51264000000003 meters 0.019351366444906436 Centerline is valid? [True, True] Translation: X:196.62, Y:-31.10, Z:-8.56 [[ 9.84452120e-01 1.73231489e-01 2.90667138e-02 1.96615057e+02] [-1.73166063e-01 9.84881079e-01 -4.77238783e-03 -3.10951641e+01] [-2.94539843e-02 -3.35181070e-04 9.99566081e-01 -8.55636036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54264000000003 meters 0.029601082629328652 Centerline is valid? [True, True] Translation: X:196.64, Y:-31.10, Z:-8.56 [[ 9.84137373e-01 1.75067178e-01 2.87247824e-02 1.96643935e+02] [-1.75004119e-01 9.84556414e-01 -4.71437329e-03 -3.10983815e+01] [-2.91065008e-02 -3.87364298e-04 9.99576241e-01 -8.55628585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.57264000000004 meters 0.022607611835141612 Centerline is valid? [True, True] Translation: X:196.67, Y:-31.10, Z:-8.56 [[ 9.83870254e-01 1.76506261e-01 2.90665309e-02 1.96671555e+02] [-1.76442355e-01 9.84299421e-01 -4.76926918e-03 -3.11001342e+01] [-2.94519754e-02 -4.36225086e-04 9.99566101e-01 -8.55954861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60264000000004 meters 0.026567397709188 Centerline is valid? [True, True] Translation: X:196.70, Y:-31.10, Z:-8.56 [[ 9.83498923e-01 1.78605310e-01 2.88099138e-02 1.96699445e+02] [-1.78543489e-01 9.83920676e-01 -4.72506285e-03 -3.10987849e+01] [-2.91905911e-02 -4.96728281e-04 9.99573740e-01 -8.56368342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.63264000000004 meters 0.02595416968724014 Centerline is valid? [True, True] Translation: X:196.73, Y:-31.11, Z:-8.56 [[ 9.83255846e-01 1.80024410e-01 2.82692875e-02 1.96727279e+02] [-1.79965520e-01 9.83662000e-01 -4.63475241e-03 -3.11050717e+01] [-2.86417925e-02 -5.30349626e-04 9.99589599e-01 -8.56296760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66264000000004 meters 0.02502983250293092 Centerline is valid? [True, True] Translation: X:196.76, Y:-31.11, Z:-8.56 [[ 9.83137041e-01 1.80683767e-01 2.81945942e-02 1.96755604e+02] [-1.80625512e-01 9.83541089e-01 -4.62065609e-03 -3.11114355e+01] [-2.85654194e-02 -5.49924863e-04 9.99591774e-01 -8.56201114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.69264000000004 meters 0.02761990633533117 Centerline is valid? [True, True] Translation: X:196.78, Y:-31.11, Z:-8.56 [[ 9.82993279e-01 1.81434627e-01 2.83846599e-02 1.96783435e+02] [-1.81375933e-01 9.83402839e-01 -4.65054576e-03 -3.11124955e+01] [-2.87573251e-02 -5.76838952e-04 9.99586256e-01 -8.56478888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.72264000000004 meters 0.029433676328692135 Centerline is valid? [True, True] Translation: X:196.81, Y:-31.11, Z:-8.57 [[ 9.82740212e-01 1.82874726e-01 2.79018150e-02 1.96812033e+02] [-1.82818641e-01 9.83136035e-01 -4.56969803e-03 -3.11131058e+01] [-2.82669620e-02 -6.10145879e-04 9.99600223e-01 -8.56608563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.75264000000004 meters 0.030672283898738818 Centerline is valid? [True, True] Translation: X:196.84, Y:-31.11, Z:-8.57 [[ 9.82582465e-01 1.83698109e-01 2.80482638e-02 1.96839681e+02] [-1.83641817e-01 9.82982501e-01 -4.59197652e-03 -3.11148634e+01] [-2.84144898e-02 -6.38838529e-04 9.99596023e-01 -8.56672722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.78264000000004 meters 0.030672283898738818 Centerline is valid? [True, True] Translation: X:196.87, Y:-31.12, Z:-8.57 [[ 9.82595270e-01 1.83629566e-01 2.80485035e-02 1.96866816e+02] [-1.83573289e-01 9.82995308e-01 -4.59051159e-03 -3.11191646e+01] [-2.84145010e-02 -6.38341056e-04 9.99596023e-01 -8.56793991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.81264000000002 meters 0.03551345023476811 Centerline is valid? [True, True] Translation: X:196.90, Y:-31.12, Z:-8.57 [[ 9.82400047e-01 1.84657086e-01 2.81408706e-02 1.96895921e+02] [-1.84600927e-01 9.82802782e-01 -4.60323969e-03 -3.11212965e+01] [-2.85069467e-02 -6.72607891e-04 9.99593368e-01 -8.56787750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.84264000000002 meters 0.03697104615225902 Centerline is valid? [True, True] Translation: X:196.92, Y:-31.13, Z:-8.57 [[ 9.82438222e-01 1.84478968e-01 2.79758779e-02 1.96923901e+02] [-1.84423420e-01 9.82836237e-01 -4.57529527e-03 -3.11256020e+01] [-2.83397523e-02 -6.64462131e-04 9.99598128e-01 -8.56832925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.87264000000002 meters 0.03532264667861065 Centerline is valid? [True, True] Translation: X:196.95, Y:-31.13, Z:-8.57 [[ 9.82590386e-01 1.83597264e-01 2.84284735e-02 1.96952204e+02] [-1.83539606e-01 9.83001333e-01 -4.64686788e-03 -3.11307393e+01] [-2.87983796e-02 -6.51783131e-04 9.99585028e-01 -8.56826639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.90264000000002 meters 0.02714821957192221 Centerline is valid? [True, True] Translation: X:196.98, Y:-31.14, Z:-8.57 [[ 9.82837071e-01 1.82307354e-01 2.82014244e-02 1.96980447e+02] [-1.82250121e-01 9.83241403e-01 -4.60840402e-03 -3.11371045e+01] [-2.85689541e-02 -6.10402708e-04 9.99591638e-01 -8.57032127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93264000000002 meters 0.026375231274310736 Centerline is valid? [True, True] Translation: X:197.01, Y:-31.14, Z:-8.57 [[ 9.83344451e-01 1.79616598e-01 2.77771303e-02 1.97008316e+02] [-1.79560039e-01 9.83736551e-01 -4.53770513e-03 -3.11416118e+01] [-2.81404255e-02 -5.25535450e-04 9.99603842e-01 -8.57428751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96264000000002 meters 0.023615584962654583 Centerline is valid? [True, True] Translation: X:197.04, Y:-31.15, Z:-8.57 [[ 9.83591705e-01 1.78284688e-01 2.76030274e-02 1.97036056e+02] [-1.78228355e-01 9.83978828e-01 -4.50771300e-03 -3.11494323e+01] [-2.79644508e-02 -4.85893045e-04 9.99608800e-01 -8.57392149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.99264000000002 meters 0.022173153469006907 Centerline is valid? [True, True] Translation: X:197.06, Y:-31.16, Z:-8.58 [[ 9.83959950e-01 1.76321335e-01 2.70851234e-02 1.97063584e+02] [-1.76266369e-01 9.84332570e-01 -4.42255727e-03 -3.11552011e+01] [-2.74405603e-02 -4.22577124e-04 9.99623348e-01 -8.57592793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02264000000002 meters 0.02286462545356142 Centerline is valid? [True, True] Translation: X:197.09, Y:-31.16, Z:-8.58 [[ 9.84097630e-01 1.75575625e-01 2.69268417e-02 1.97091125e+02] [-1.75521067e-01 9.84465865e-01 -4.39502014e-03 -3.11579844e+01] [-2.72802149e-02 -4.01099081e-04 9.99627745e-01 -8.57902823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.05264000000003 meters 0.022007727395745875 Centerline is valid? [True, True] Translation: X:197.12, Y:-31.16, Z:-8.58 [[ 9.84305215e-01 1.74399252e-01 2.69841466e-02 1.97119083e+02] [-1.74344066e-01 9.84674953e-01 -4.40264419e-03 -3.11613973e+01] [-2.73384311e-02 -3.70980190e-04 9.99626166e-01 -8.58023729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08264000000003 meters 0.02045413951419352 Centerline is valid? [True, True] Translation: X:197.15, Y:-31.17, Z:-8.58 [[ 9.84410176e-01 1.73807557e-01 2.69729125e-02 1.97147390e+02] [-1.73752244e-01 9.84779573e-01 -4.39900936e-03 -3.11668224e+01] [-2.73269543e-02 -3.56174505e-04 9.99626486e-01 -8.57962431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.11264000000003 meters 0.020256676641367297 Centerline is valid? [True, True] Translation: X:197.17, Y:-31.17, Z:-8.58 [[ 9.84540210e-01 1.72939401e-01 2.77945688e-02 1.97174817e+02] [-1.72880357e-01 9.84932407e-01 -4.53174954e-03 -3.11702408e+01] [-2.81594896e-02 -3.43445326e-04 9.99603384e-01 -8.58053124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14264000000003 meters 0.019963899622849262 Centerline is valid? [True, True] Translation: X:197.20, Y:-31.17, Z:-8.58 [[ 9.84540828e-01 1.72901834e-01 2.80056012e-02 1.97203713e+02] [-1.72841929e-01 9.84939001e-01 -4.56419651e-03 -3.11746780e+01] [-2.83729668e-02 -3.46904327e-04 9.99597346e-01 -8.58059075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.17264000000003 meters 0.021455224750032913 Centerline is valid? [True, True] Translation: X:197.23, Y:-31.17, Z:-8.58 [[ 9.84343612e-01 1.73989183e-01 2.82031367e-02 1.97231912e+02] [-1.73928908e-01 9.84747490e-01 -4.59529328e-03 -3.11749104e+01] [-2.85724994e-02 -3.81993184e-04 9.99591650e-01 -8.58177946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20264000000003 meters 0.022028771469028208 Centerline is valid? [True, True] Translation: X:197.26, Y:-31.18, Z:-8.58 [[ 9.84183829e-01 1.74770120e-01 2.89412576e-02 1.97259743e+02] [-1.74707045e-01 9.84609177e-01 -4.71355207e-03 -3.11761423e+01] [-2.93196159e-02 -4.17239858e-04 9.99570001e-01 -8.58164515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.23264000000003 meters 0.023963602833800543 Centerline is valid? [True, True] Translation: X:197.29, Y:-31.17, Z:-8.58 [[ 9.83712065e-01 1.77390024e-01 2.90405418e-02 1.97289064e+02] [-1.77327723e-01 9.84140503e-01 -4.72744184e-03 -3.11733478e+01] [-2.94185744e-02 -4.99251573e-04 9.99567055e-01 -8.58130750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26264000000003 meters 0.025873472137231346 Centerline is valid? [True, True] Translation: X:197.32, Y:-31.17, Z:-8.58 [[ 9.83462140e-01 1.78757370e-01 2.91207991e-02 1.97317366e+02] [-1.78695370e-01 9.83893037e-01 -4.73892970e-03 -3.11728418e+01] [-2.94988701e-02 -5.43194019e-04 9.99564666e-01 -8.58300957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.29264000000003 meters 0.03203656118259989 Centerline is valid? [True, True] Translation: X:197.35, Y:-31.17, Z:-8.58 [[ 9.83191416e-01 1.80236703e-01 2.91439630e-02 1.97345696e+02] [-1.80175326e-01 9.83623089e-01 -4.74022301e-03 -3.11722028e+01] [-2.95210371e-02 -5.90476466e-04 9.99563985e-01 -8.58299221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32264000000004 meters 0.029024123595706795 Centerline is valid? [True, True] Translation: X:197.38, Y:-31.17, Z:-8.58 [[ 9.82598391e-01 1.83331452e-01 2.98325568e-02 1.97376484e+02] [-1.83268635e-01 9.83050907e-01 -4.84986896e-03 -3.11699864e+01] [-3.02160556e-02 -7.01898536e-04 9.99543144e-01 -8.58303948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.35264000000004 meters 0.03173660260322327 Centerline is valid? [True, True] Translation: X:197.41, Y:-31.17, Z:-8.58 [[ 9.82010389e-01 1.86480306e-01 2.96764480e-02 1.97406872e+02] [-1.86419598e-01 9.82458377e-01 -4.82393339e-03 -3.11661103e+01] [-3.00554436e-02 -7.95118798e-04 9.99547917e-01 -8.58441093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38264000000004 meters 0.03581482928394007 Centerline is valid? [True, True] Translation: X:197.44, Y:-31.16, Z:-8.59 [[ 9.81788355e-01 1.87625806e-01 2.98024022e-02 1.97435344e+02] [-1.87565132e-01 9.82240226e-01 -4.84361229e-03 -3.11623599e+01] [-3.01819049e-02 -8.34489360e-04 9.99544074e-01 -8.58760237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.41264000000004 meters 0.03581443663308357 Centerline is valid? [True, True] Translation: X:197.46, Y:-31.16, Z:-8.59 [[ 9.81674014e-01 1.88301105e-01 2.93057139e-02 1.97464520e+02] [-1.88242796e-01 9.82110983e-01 -4.76090406e-03 -3.11605629e+01] [-2.96779470e-02 -8.42933732e-04 9.99559157e-01 -8.58946740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.44264000000004 meters 0.039200410214818654 Centerline is valid? [True, True] Translation: X:197.49, Y:-31.16, Z:-8.59 [[ 9.81759897e-01 1.88004906e-01 2.83136158e-02 1.97493273e+02] [-1.87950393e-01 9.82167758e-01 -4.59843125e-03 -3.11622129e+01] [-2.86732482e-02 -8.06999825e-04 9.99588512e-01 -8.59154037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.47264000000004 meters 0.03833945602070909 Centerline is valid? [True, True] Translation: X:197.52, Y:-31.16, Z:-8.60 [[ 9.81966915e-01 1.86905154e-01 2.84154967e-02 1.97521729e+02] [-1.86849823e-01 9.82377655e-01 -4.61377861e-03 -3.11580261e+01] [-2.87770880e-02 -7.78852581e-04 9.99585550e-01 -8.59732014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.50264000000004 meters 0.03394956774744448 Centerline is valid? [True, True] Translation: X:197.55, Y:-31.17, Z:-8.60 [[ 9.82134716e-01 1.85934650e-01 2.89776826e-02 1.97549481e+02] [-1.85876743e-01 9.82561814e-01 -4.70310098e-03 -3.11651229e+01] [-2.93468338e-02 -7.67198505e-04 9.99568994e-01 -8.59519766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.53264000000004 meters 0.03225984891301377 Centerline is valid? [True, True] Translation: X:197.58, Y:-31.17, Z:-8.60 [[ 9.82469524e-01 1.84038085e-01 2.97257108e-02 1.97578412e+02] [-1.83976327e-01 9.82918842e-01 -4.82300892e-03 -3.11659915e+01] [-3.01055785e-02 -7.30367810e-04 9.99546458e-01 -8.59584960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.56264000000002 meters 0.029724322810157452 Centerline is valid? [True, True] Translation: X:197.61, Y:-31.17, Z:-8.60 [[ 9.82727061e-01 1.82693650e-01 2.95051325e-02 1.97606430e+02] [-1.82632241e-01 9.83169650e-01 -4.78583158e-03 -3.11705472e+01] [-2.98828918e-02 -6.85422256e-04 9.99553172e-01 -8.59659838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.59264000000002 meters 0.030891748735492348 Centerline is valid? [True, True] Translation: X:197.63, Y:-31.17, Z:-8.60 [[ 9.83477421e-01 1.78754551e-01 2.86177149e-02 1.97634047e+02] [-1.78695136e-01 9.83893545e-01 -4.64109479e-03 -3.11714832e+01] [-2.89864018e-02 -5.49434531e-04 9.99579655e-01 -8.60179773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.62264000000002 meters 0.02442769324650802 Centerline is valid? [True, True] Translation: X:197.66, Y:-31.18, Z:-8.60 [[ 9.83985133e-01 1.75938312e-01 2.86176426e-02 1.97661737e+02] [-1.75877795e-01 9.84401082e-01 -4.63801842e-03 -3.11804063e+01] [-2.89872434e-02 -4.69466692e-04 9.99579671e-01 -8.60359787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.65264000000002 meters 0.020677781662438218 Centerline is valid? [True, True] Translation: X:197.69, Y:-31.19, Z:-8.60 [[ 9.84587373e-01 1.72576302e-01 2.83747150e-02 1.97689234e+02] [-1.72515450e-01 9.84996083e-01 -4.59732373e-03 -3.11890124e+01] [-2.87423723e-02 -3.68609817e-04 9.99586785e-01 -8.60428465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68264000000002 meters 0.015988288586914177 Centerline is valid? [True, True] Translation: X:197.72, Y:-31.20, Z:-8.61 [[ 9.85777855e-01 1.65654168e-01 2.82969578e-02 1.97716081e+02] [-1.65590834e-01 9.86183892e-01 -4.58334546e-03 -3.12002973e+01] [-2.86652543e-02 -1.67556407e-04 9.99589053e-01 -8.60630207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71264000000002 meters 0.014440737579728679 Centerline is valid? [True, True] Translation: X:197.74, Y:-31.21, Z:-8.61 [[ 9.87002681e-01 1.58197647e-01 2.82703527e-02 1.97741706e+02] [-1.58131405e-01 9.87407465e-01 -4.57784586e-03 -3.12147741e+01] [-2.86385617e-02 4.79155647e-05 9.99589831e-01 -8.60794444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74264000000002 meters 0.015132974347009762 Centerline is valid? [True, True] Translation: X:197.77, Y:-31.22, Z:-8.61 [[ 9.87528849e-01 1.54816465e-01 2.86118060e-02 1.97769791e+02] [-1.54747248e-01 9.87943238e-01 -4.63121765e-03 -3.12247125e+01] [-2.89838290e-02 1.45862798e-04 9.99579870e-01 -8.60829826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.77264000000002 meters 0.016644859691042707 Centerline is valid? [True, True] Translation: X:197.80, Y:-31.23, Z:-8.61 [[ 9.87978104e-01 1.51853010e-01 2.89815448e-02 1.97796404e+02] [-1.51780755e-01 9.88403060e-01 -4.68981439e-03 -3.12348799e+01] [-2.93576099e-02 2.34593198e-04 9.99568945e-01 -8.60941938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80264000000003 meters 0.018277112317192853 Centerline is valid? [True, True] Translation: X:197.82, Y:-31.24, Z:-8.61 [[ 9.88325168e-01 1.49592238e-01 2.89054310e-02 1.97824084e+02] [-1.49519450e-01 9.88747730e-01 -4.67561201e-03 -3.12441520e+01] [-2.92796146e-02 2.99100875e-04 9.99571215e-01 -8.61082286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.83264000000003 meters 0.02702615025236299 Centerline is valid? [True, True] Translation: X:197.85, Y:-31.25, Z:-8.61 [[ 9.88680574e-01 1.47328631e-01 2.83724733e-02 1.97851229e+02] [-1.47257613e-01 9.89087532e-01 -4.58791681e-03 -3.12542650e+01] [-2.87387911e-02 3.57921546e-04 9.99586892e-01 -8.61085977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86264000000003 meters 0.01934882387359687 Centerline is valid? [True, True] Translation: X:197.88, Y:-31.26, Z:-8.61 [[ 9.88688400e-01 1.47176454e-01 2.88849193e-02 1.97879080e+02] [-1.47102807e-01 9.89110184e-01 -4.66992355e-03 -3.12610911e+01] [-2.92576706e-02 3.68046523e-04 9.99571835e-01 -8.61242877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.89264000000003 meters 0.019418644925083783 Centerline is valid? [True, True] Translation: X:197.91, Y:-31.27, Z:-8.61 [[ 9.88628185e-01 1.47677940e-01 2.83820123e-02 1.97906144e+02] [-1.47607074e-01 9.89035442e-01 -4.58753005e-03 -3.12673655e+01] [-2.87482931e-02 3.45975704e-04 9.99586623e-01 -8.61474721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92264000000003 meters 0.01748216824647905 Centerline is valid? [True, True] Translation: X:197.94, Y:-31.27, Z:-8.62 [[ 9.88265006e-01 1.50088308e-01 2.83862371e-02 1.97935130e+02] [-1.50018475e-01 9.88672557e-01 -4.58609398e-03 -3.12699586e+01] [-2.87530127e-02 2.73816181e-04 9.99586509e-01 -8.61523379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.95264000000003 meters 0.026907381314331034 Centerline is valid? [True, True] Translation: X:197.96, Y:-31.27, Z:-8.61 [[ 9.88009101e-01 1.51874572e-01 2.77872563e-02 1.97963531e+02] [-1.51808399e-01 9.88399751e-01 -4.48802109e-03 -3.12726346e+01] [-2.81465335e-02 2.15866795e-04 9.99603785e-01 -8.61438957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98264000000003 meters 0.02484870618341873 Centerline is valid? [True, True] Translation: X:197.99, Y:-31.28, Z:-8.62 [[ 9.87683628e-01 1.53945096e-01 2.79635295e-02 1.97990893e+02] [-1.53878943e-01 9.88079391e-01 -4.51531211e-03 -3.12750653e+01] [-2.83252973e-02 1.56701484e-04 9.99598746e-01 -8.61618117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.01264000000003 meters 0.014184584150554255 Centerline is valid? [True, True] Translation: X:198.02, Y:-31.27, Z:-8.62 [[ 9.86889003e-01 1.58826755e-01 2.87081442e-02 1.98020054e+02] [-1.58759152e-01 9.87306468e-01 -4.63356842e-03 -3.12748753e+01] [-2.90796711e-02 1.51370859e-05 9.99577097e-01 -8.61843279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04264000000003 meters 0.014523203389871881 Centerline is valid? [True, True] Translation: X:198.05, Y:-31.28, Z:-8.62 [[ 9.86516714e-01 1.61159192e-01 2.85041563e-02 1.98048652e+02] [-1.61093560e-01 9.86928423e-01 -4.59928116e-03 -3.12766774e+01] [-2.88727785e-02 -5.45682626e-05 9.99583093e-01 -8.62021613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.07264000000004 meters 0.01644663341499542 Centerline is valid? [True, True] Translation: X:198.08, Y:-31.28, Z:-8.62 [[ 9.85792834e-01 1.65527875e-01 2.85133390e-02 1.98077227e+02] [-1.65464060e-01 9.86205095e-01 -4.59956789e-03 -3.12758941e+01] [-2.88813569e-02 -1.83711761e-04 9.99582830e-01 -8.62211412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10264000000004 meters 0.02879275558791215 Centerline is valid? [True, True] Translation: X:198.11, Y:-31.28, Z:-8.62 [[ 9.85533375e-01 1.67232218e-01 2.75200323e-02 1.98105969e+02] [-1.67173485e-01 9.85917509e-01 -4.43758308e-03 -3.12783980e+01] [-2.78745886e-02 -2.27233489e-04 9.99611402e-01 -8.62218876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.13264000000004 meters 0.019381921044231865 Centerline is valid? [True, True] Translation: X:198.14, Y:-31.28, Z:-8.62 [[ 9.85053633e-01 1.69932664e-01 2.81465585e-02 1.98135195e+02] [-1.69872367e-01 9.85455627e-01 -4.53723518e-03 -3.12778316e+01] [-2.85082089e-02 -3.11902530e-04 9.99593510e-01 -8.62466935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.16264000000004 meters 0.019438403369002284 Centerline is valid? [True, True] Translation: X:198.16, Y:-31.28, Z:-8.63 [[ 9.84933311e-01 1.70644282e-01 2.80517615e-02 1.98163499e+02] [-1.70584717e-01 9.85332643e-01 -4.52062149e-03 -3.12812421e+01] [-2.84117345e-02 -3.32691112e-04 9.99596250e-01 -8.62518683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.19264000000004 meters 0.02046419409266378 Centerline is valid? [True, True] Translation: X:198.19, Y:-31.28, Z:-8.63 [[ 9.84886340e-01 1.70896434e-01 2.81656783e-02 1.98189964e+02] [-1.70836500e-01 9.85288938e-01 -4.53851413e-03 -3.12839503e+01] [-2.85269472e-02 -3.41805338e-04 9.99592965e-01 -8.62724541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.22264000000004 meters 0.020783968270300053 Centerline is valid? [True, True] Translation: X:198.22, Y:-31.29, Z:-8.63 [[ 9.85037705e-01 1.70067900e-01 2.78860082e-02 1.98216909e+02] [-1.70008929e-01 9.85432295e-01 -4.48958567e-03 -3.12888327e+01] [-2.82433075e-02 -3.18459213e-04 9.99601027e-01 -8.63022234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.25264000000004 meters 0.018011430593213494 Centerline is valid? [True, True] Translation: X:198.24, Y:-31.30, Z:-8.63 [[ 9.85312042e-01 1.68500953e-01 2.77057389e-02 1.98244604e+02] [-1.68442173e-01 9.85701453e-01 -4.45875319e-03 -3.12983583e+01] [-2.80608912e-02 -2.73551635e-04 9.99606178e-01 -8.62914404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.28264000000004 meters 0.0159312481965606 Centerline is valid? [True, True] Translation: X:198.27, Y:-31.31, Z:-8.63 [[ 9.86100123e-01 1.63758763e-01 2.81000944e-02 1.98271081e+02] [-1.63696406e-01 9.86500404e-01 -4.52096328e-03 -3.13106756e+01] [-2.84611019e-02 -1.41762024e-04 9.99594891e-01 -8.63181493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.31264000000002 meters 0.014616081303592175 Centerline is valid? [True, True] Translation: X:198.30, Y:-31.32, Z:-8.63 [[ 9.86551886e-01 1.60902284e-01 2.87372772e-02 1.98298878e+02] [-1.60835915e-01 9.86970339e-01 -4.62140719e-03 -3.13202694e+01] [-2.91064352e-02 -6.27283082e-05 9.99576316e-01 -8.63128145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.34264000000002 meters 0.014399656568983779 Centerline is valid? [True, True] Translation: X:198.33, Y:-31.33, Z:-8.63 [[ 9.87445427e-01 1.55096715e-01 2.99422315e-02 1.98326192e+02] [-1.55022038e-01 9.87899285e-01 -4.81365062e-03 -3.13340533e+01] [-3.03264904e-02 1.11511542e-04 9.99540040e-01 -8.62985087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.37264000000002 meters 0.015000959396005197 Centerline is valid? [True, True] Translation: X:198.35, Y:-31.34, Z:-8.63 [[ 9.87868357e-01 1.52356759e-01 3.00587299e-02 1.98354012e+02] [-1.52280274e-01 9.88325544e-01 -4.83094428e-03 -3.13420139e+01] [-3.04438375e-02 1.94985359e-04 9.99536460e-01 -8.62957007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.40264000000002 meters 0.017840378776753783 Centerline is valid? [True, True] Translation: X:198.38, Y:-31.35, Z:-8.63 [[ 9.88545478e-01 1.47935431e-01 2.98821905e-02 1.98380727e+02] [-1.47857872e-01 9.88996967e-01 -4.80091998e-03 -3.13548235e+01] [-3.02636220e-02 3.27610646e-04 9.99541898e-01 -8.63177032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43264000000002 meters 0.01958202788743348 Centerline is valid? [True, True] Translation: X:198.41, Y:-31.36, Z:-8.63 [[ 9.88757210e-01 1.46562544e-01 2.96412047e-02 1.98408684e+02] [-1.46485657e-01 9.89201338e-01 -4.76077018e-03 -3.13636481e+01] [-3.00188699e-02 3.65234502e-04 9.99549265e-01 -8.63427626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46264000000002 meters 0.022467683602282115 Centerline is valid? [True, True] Translation: X:198.44, Y:-31.38, Z:-8.64 [[ 9.89078164e-01 1.44486812e-01 2.91195162e-02 1.98436011e+02] [-1.44411714e-01 9.89506637e-01 -4.67680257e-03 -3.13755058e+01] [-2.94896909e-02 4.20524033e-04 9.99564996e-01 -8.63737154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.49264000000002 meters 0.020252483740241887 Centerline is valid? [True, True] Translation: X:198.47, Y:-31.38, Z:-8.63 [[ 9.89112601e-01 1.44142253e-01 2.96525536e-02 1.98466912e+02] [-1.44064256e-01 9.89556880e-01 -4.76135415e-03 -3.13791063e+01] [-3.00292007e-02 4.37642302e-04 9.99548926e-01 -8.63430549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52264000000002 meters 0.02145612391483905 Centerline is valid? [True, True] Translation: X:198.50, Y:-31.39, Z:-8.64 [[ 9.89047079e-01 1.44420621e-01 3.04722839e-02 1.98496508e+02] [-1.44338388e-01 9.89516291e-01 -4.89281698e-03 -3.13886705e+01] [-3.08594450e-02 4.40905996e-04 9.99523637e-01 -8.63590679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.55264000000003 meters 0.020789925849181705 Centerline is valid? [True, True] Translation: X:198.53, Y:-31.39, Z:-8.64 [[ 9.89009722e-01 1.44697954e-01 3.03689218e-02 1.98526226e+02] [-1.44616393e-01 9.89475778e-01 -4.87676031e-03 -3.13938590e+01] [-3.07549698e-02 4.31319440e-04 9.99526861e-01 -8.63698277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58264000000003 meters 0.03132887399130686 Centerline is valid? [True, True] Translation: X:198.56, Y:-31.40, Z:-8.64 [[ 9.88852967e-01 1.45989461e-01 2.92726308e-02 1.98555997e+02] [-1.45914249e-01 9.89286073e-01 -4.70071361e-03 -3.13991005e+01] [-2.96452606e-02 3.77020652e-04 9.99560412e-01 -8.63717662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.61264000000003 meters 0.01923400260883388 Centerline is valid? [True, True] Translation: X:198.58, Y:-31.40, Z:-8.64 [[ 9.88699210e-01 1.46908842e-01 2.98607507e-02 1.98584557e+02] [-1.46830992e-01 9.89149971e-01 -4.79532140e-03 -3.14041411e+01] [-3.02412358e-02 3.56646836e-04 9.99542566e-01 -8.64093684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64264000000003 meters 0.018333471799558236 Centerline is valid? [True, True] Translation: X:198.61, Y:-31.41, Z:-8.64 [[ 9.88539278e-01 1.47979030e-01 2.98714340e-02 1.98614693e+02] [-1.47901627e-01 9.88990446e-01 -4.79651078e-03 -3.14092509e+01] [-3.02523458e-02 3.23505598e-04 9.99542241e-01 -8.64211346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.67264000000003 meters 0.018333471799558236 Centerline is valid? [True, True] Translation: X:198.64, Y:-31.41, Z:-8.64 [[ 9.88539278e-01 1.47979030e-01 2.98714340e-02 1.98644289e+02] [-1.47901627e-01 9.88990446e-01 -4.79651078e-03 -3.14140033e+01] [-3.02523458e-02 3.23505598e-04 9.99542241e-01 -8.64343641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70264000000003 meters 0.01675152541381429 Centerline is valid? [True, True] Translation: X:198.67, Y:-31.42, Z:-8.65 [[ 9.88142832e-01 1.50712205e-01 2.93185016e-02 1.98674408e+02] [-1.50638844e-01 9.88577653e-01 -4.70772541e-03 -3.14190182e+01] [-2.96931272e-02 2.35399919e-04 9.99559034e-01 -8.64548792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.73264000000003 meters 0.015135930378850342 Centerline is valid? [True, True] Translation: X:198.70, Y:-31.42, Z:-8.65 [[ 9.87688892e-01 1.53746881e-01 2.88539299e-02 1.98704038e+02] [-1.53677111e-01 9.88110255e-01 -4.63348170e-03 -3.14209862e+01] [-2.92232473e-02 1.42249810e-04 9.99572900e-01 -8.64749303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76264000000003 meters 0.014859240886938421 Centerline is valid? [True, True] Translation: X:198.73, Y:-31.42, Z:-8.65 [[ 9.87484440e-01 1.55139325e-01 2.83949036e-02 1.98732502e+02] [-1.55072347e-01 9.87892595e-01 -4.55928219e-03 -3.14245703e+01] [-2.87584390e-02 9.89558801e-05 9.99586386e-01 -8.65004519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.79264000000003 meters 0.01424221677842556 Centerline is valid? [True, True] Translation: X:198.76, Y:-31.43, Z:-8.65 [[ 9.86934230e-01 1.58524946e-01 2.88213088e-02 1.98761567e+02] [-1.58457410e-01 9.87354972e-01 -4.62686708e-03 -3.14264016e+01] [-2.91903364e-02 -5.36430097e-07 9.99573871e-01 -8.65057825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82264000000004 meters 0.013856684246914192 Centerline is valid? [True, True] Translation: X:198.79, Y:-31.43, Z:-8.65 [[ 9.86620259e-01 1.60389110e-01 2.92540304e-02 1.98790936e+02] [-1.60320395e-01 9.87053864e-01 -4.69474722e-03 -3.14290048e+01] [-2.96282901e-02 -5.80850072e-05 9.99560984e-01 -8.64943554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.85264000000004 meters 0.015592737809422837 Centerline is valid? [True, True] Translation: X:198.82, Y:-31.43, Z:-8.65 [[ 9.85969870e-01 1.64262187e-01 2.96875351e-02 1.98819087e+02] [-1.64193199e-01 9.86416698e-01 -4.76351776e-03 -3.14279942e+01] [-3.00667462e-02 -1.77806372e-04 9.99547877e-01 -8.65149343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88264000000004 meters 0.017463596989702294 Centerline is valid? [True, True] Translation: X:198.85, Y:-31.43, Z:-8.65 [[ 9.85570979e-01 1.66642074e-01 2.96692462e-02 1.98846772e+02] [-1.66574305e-01 9.86017422e-01 -4.75868788e-03 -3.14293868e+01] [-3.00473913e-02 -2.52109406e-04 9.99548443e-01 -8.65423281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.91264000000004 meters 0.018635214759348602 Centerline is valid? [True, True] Translation: X:198.87, Y:-31.43, Z:-8.66 [[ 9.85428803e-01 1.67433802e-01 2.99332072e-02 1.98874592e+02] [-1.67365243e-01 9.85883281e-01 -4.79918872e-03 -3.14321085e+01] [-3.03141950e-02 -2.80519718e-04 9.99540380e-01 -8.65638557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.94264000000004 meters 0.017542778747940857 Centerline is valid? [True, True] Translation: X:198.90, Y:-31.44, Z:-8.65 [[ 9.85345108e-01 1.67946701e-01 2.98148204e-02 1.98903158e+02] [-1.67878974e-01 9.85796032e-01 -4.77832663e-03 -3.14381208e+01] [-3.01938359e-02 -2.96980702e-04 9.99544018e-01 -8.65449502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.97264000000004 meters 0.01782738008042926 Centerline is valid? [True, True] Translation: X:198.93, Y:-31.44, Z:-8.66 [[ 9.85284960e-01 1.68323348e-01 2.96782450e-02 1.98931248e+02] [-1.68256455e-01 9.85731787e-01 -4.75497880e-03 -3.14419486e+01] [-3.00551634e-02 -3.08547200e-04 9.99548194e-01 -8.65570981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.00264000000004 meters 0.019182472371477518 Centerline is valid? [True, True] Translation: X:198.96, Y:-31.44, Z:-8.66 [[ 9.85186024e-01 1.68826402e-01 3.01022304e-02 1.98958828e+02] [-1.68757861e-01 9.85645746e-01 -4.82154307e-03 -3.14436400e+01] [-3.04841391e-02 -3.29871153e-04 9.99535196e-01 -8.65846387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.03264000000004 meters 0.018846475020719913 Centerline is valid? [True, True] Translation: X:198.99, Y:-31.45, Z:-8.66 [[ 9.85184193e-01 1.68813521e-01 3.02341062e-02 1.98987788e+02] [-1.68744435e-01 9.85647951e-01 -4.84059519e-03 -3.14470129e+01] [-3.06173428e-02 -3.32959322e-04 9.99531124e-01 -8.65887935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.06264000000002 meters 0.029413841995702888 Centerline is valid? [True, True] Translation: X:199.02, Y:-31.45, Z:-8.66 [[ 9.85299113e-01 1.68310110e-01 2.92808001e-02 1.99016746e+02] [-1.68245130e-01 9.85734047e-01 -4.68662805e-03 -3.14491446e+01] [-2.96518885e-02 -3.08621566e-04 9.99560238e-01 -8.65865093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.09264000000002 meters 0.01849242989173862 Centerline is valid? [True, True] Translation: X:199.04, Y:-31.45, Z:-8.66 [[ 9.85364483e-01 1.67846849e-01 2.97367037e-02 1.99044424e+02] [-1.67779659e-01 9.85813037e-01 -4.75828233e-03 -3.14534517e+01] [-3.01134929e-02 -3.00571596e-04 9.99546441e-01 -8.66279123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.12264000000002 meters 0.017834143283441992 Centerline is valid? [True, True] Translation: X:199.07, Y:-31.46, Z:-8.66 [[ 9.85507196e-01 1.67114341e-01 2.91266871e-02 1.99072493e+02] [-1.67049615e-01 9.85937484e-01 -4.65877853e-03 -3.14596401e+01] [-2.94956413e-02 -2.74342110e-04 9.99564871e-01 -8.66458309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.15264000000002 meters 0.016575613896283287 Centerline is valid? [True, True] Translation: X:199.10, Y:-31.47, Z:-8.67 [[ 9.85902890e-01 1.64795509e-01 2.89470418e-02 1.99099143e+02] [-1.64730615e-01 9.86327734e-01 -4.62882671e-03 -3.14661471e+01] [-2.93140800e-02 -2.04890380e-04 9.99570229e-01 -8.66657966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18264000000002 meters 0.014479159338048152 Centerline is valid? [True, True] Translation: X:199.13, Y:-31.47, Z:-8.67 [[ 9.86495074e-01 1.61029669e-01 2.99485281e-02 1.99126607e+02] [-1.60958534e-01 9.86949561e-01 -4.78688800e-03 -3.14735171e+01] [-3.03285176e-02 -9.82297466e-05 9.99539980e-01 -8.66657275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21264000000002 meters 0.013772633924600009 Centerline is valid? [True, True] Translation: X:199.15, Y:-31.48, Z:-8.67 [[ 9.86879156e-01 1.58626512e-01 3.01191138e-02 1.99154459e+02] [-1.58553489e-01 9.87338660e-01 -4.81271232e-03 -3.14813020e+01] [-3.05011892e-02 -2.59250951e-05 9.99534730e-01 -8.66699700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24264000000002 meters 0.01387557784066746 Centerline is valid? [True, True] Translation: X:199.18, Y:-31.49, Z:-8.67 [[ 9.87302008e-01 1.56011408e-01 2.99196512e-02 1.99183441e+02] [-1.55938201e-01 9.87755252e-01 -4.77910059e-03 -3.14904678e+01] [-3.02988868e-02 5.27990459e-05 9.99540882e-01 -8.66855306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.27264000000002 meters 0.015153144000149393 Centerline is valid? [True, True] Translation: X:199.21, Y:-31.50, Z:-8.67 [[ 9.88094035e-01 1.50966863e-01 2.96510322e-02 1.99212264e+02] [-1.50892723e-01 9.88538803e-01 -4.73516238e-03 -3.15028396e+01] [-3.00260485e-02 2.04660727e-04 9.99549096e-01 -8.66821903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30264000000003 meters 0.027261637176158746 Centerline is valid? [True, True] Translation: X:199.24, Y:-31.51, Z:-8.67 [[ 9.88432315e-01 1.48878820e-01 2.89250193e-02 1.99241121e+02] [-1.48807367e-01 9.88855413e-01 -4.61940211e-03 -3.15111707e+01] [-2.92903931e-02 2.61710347e-04 9.99570910e-01 -8.66979301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.33264000000003 meters 0.02602425996097244 Centerline is valid? [True, True] Translation: X:199.27, Y:-31.52, Z:-8.67 [[ 9.88889962e-01 1.45893942e-01 2.84886178e-02 1.99270165e+02] [-1.45823406e-01 9.89300177e-01 -4.54917539e-03 -3.15212557e+01] [-2.88474918e-02 3.44326593e-04 9.99583765e-01 -8.67140812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36264000000003 meters 0.025019001052312227 Centerline is valid? [True, True] Translation: X:199.30, Y:-31.53, Z:-8.67 [[ 9.89030589e-01 1.44902904e-01 2.86643220e-02 1.99301072e+02] [-1.44831090e-01 9.89445808e-01 -4.57685966e-03 -3.15280199e+01] [-2.90249935e-02 3.75169183e-04 9.99578616e-01 -8.67220754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.39264000000003 meters 0.020544543926933504 Centerline is valid? [True, True] Translation: X:199.33, Y:-31.54, Z:-8.68 [[ 9.89072471e-01 1.44605355e-01 2.87217348e-02 1.99331262e+02] [-1.44533138e-01 9.89489335e-01 -4.58568682e-03 -3.15361485e+01] [-2.90829651e-02 3.84334135e-04 9.99576927e-01 -8.67679489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42264000000003 meters 0.019820790310515105 Centerline is valid? [True, True] Translation: X:199.36, Y:-31.54, Z:-8.68 [[ 9.89011841e-01 1.45146017e-01 2.80751180e-02 1.99362712e+02] [-1.45077192e-01 9.89410179e-01 -4.48388688e-03 -3.15424804e+01] [-2.84286258e-02 3.61557930e-04 9.99595760e-01 -8.67838555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.45264000000003 meters 0.021193099378684955 Centerline is valid? [True, True] Translation: X:199.39, Y:-31.55, Z:-8.68 [[ 9.88875194e-01 1.46034913e-01 2.82781759e-02 1.99392968e+02] [-1.45965304e-01 9.89279377e-01 -4.52147518e-03 -3.15503907e+01] [-2.86353095e-02 3.43542082e-04 9.99589866e-01 -8.68269189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48264000000003 meters 0.01794400486922811 Centerline is valid? [True, True] Translation: X:199.42, Y:-31.55, Z:-8.68 [[ 9.88602041e-01 1.47854397e-01 2.83739603e-02 1.99424285e+02] [-1.47784874e-01 9.89009094e-01 -4.54341949e-03 -3.15525448e+01] [-2.87338693e-02 2.98391629e-04 9.99587053e-01 -8.68034006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.51264000000003 meters 0.016834918956688105 Centerline is valid? [True, True] Translation: X:199.46, Y:-31.56, Z:-8.68 [[ 9.88453428e-01 1.48818917e-01 2.85087900e-02 1.99455864e+02] [-1.48749118e-01 9.88864427e-01 -4.56552114e-03 -3.15568151e+01] [-2.88707642e-02 2.72147652e-04 9.99583116e-01 -8.68062119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54264000000003 meters 0.01710323489761707 Centerline is valid? [True, True] Translation: X:199.49, Y:-31.56, Z:-8.69 [[ 9.88209367e-01 1.50394516e-01 2.87007982e-02 1.99486258e+02] [-1.50324460e-01 9.88626036e-01 -4.59549418e-03 -3.15644122e+01] [-2.90654935e-02 2.26878406e-04 9.99577484e-01 -8.68517523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.57264000000004 meters 0.016544581276014613 Centerline is valid? [True, True] Translation: X:199.52, Y:-31.57, Z:-8.69 [[ 9.88085924e-01 1.51214049e-01 2.86446799e-02 1.99516016e+02] [-1.51144404e-01 9.88501021e-01 -4.59365754e-03 -3.15698865e+01] [-2.90099208e-02 2.09445301e-04 9.99579102e-01 -8.68669154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60264000000004 meters 0.015415011984539123 Centerline is valid? [True, True] Translation: X:199.55, Y:-31.57, Z:-8.69 [[ 9.87919238e-01 1.52257105e-01 2.88678612e-02 1.99545745e+02] [-1.52186815e-01 9.88340904e-01 -4.62944844e-03 -3.15744988e+01] [-2.92361545e-02 1.80213320e-04 9.99572516e-01 -8.68614455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.63264000000004 meters 0.014896300481307707 Centerline is valid? [True, True] Translation: X:199.58, Y:-31.58, Z:-8.69 [[ 9.87609685e-01 1.54138603e-01 2.94686447e-02 1.99575045e+02] [-1.54066193e-01 9.88049227e-01 -4.72579421e-03 -3.15807469e+01] [-2.98448990e-02 1.27118224e-04 9.99554534e-01 -8.68760300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.66264000000004 meters 0.013453799917847155 Centerline is valid? [True, True] Translation: X:199.61, Y:-31.59, Z:-8.69 [[ 9.87260049e-01 1.56212473e-01 3.02532479e-02 1.99605359e+02] [-1.56137129e-01 9.87723473e-01 -4.85161856e-03 -3.15851046e+01] [-3.06397264e-02 6.61539077e-05 9.99530491e-01 -8.68528673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.69264000000004 meters 0.025392524839111714 Centerline is valid? [True, True] Translation: X:199.63, Y:-31.59, Z:-8.69 [[ 9.87120068e-01 1.57094603e-01 3.02532059e-02 1.99634965e+02] [-1.57019677e-01 9.87583558e-01 -4.85144602e-03 -3.15907045e+01] [-3.06397047e-02 3.86110986e-05 9.99530493e-01 -8.68693598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.72264000000004 meters 0.01750103412627335 Centerline is valid? [True, True] Translation: X:199.67, Y:-31.60, Z:-8.69 [[ 9.86966414e-01 1.58059875e-01 3.02386092e-02 1.99665914e+02] [-1.57985468e-01 9.87429530e-01 -4.84931469e-03 -3.15968378e+01] [-3.06249777e-02 8.84990376e-06 9.99530945e-01 -8.68715669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.75264000000004 meters 0.013497894435193602 Centerline is valid? [True, True] Translation: X:199.69, Y:-31.60, Z:-8.69 [[ 9.86686220e-01 1.59780741e-01 3.03383875e-02 1.99694956e+02] [-1.59706627e-01 9.87152528e-01 -4.86624801e-03 -3.16044250e+01] [-3.07261486e-02 -4.37816673e-05 9.99527839e-01 -8.68950481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.78264000000004 meters 0.013539524524766795 Centerline is valid? [True, True] Translation: X:199.73, Y:-31.61, Z:-8.69 [[ 9.86539412e-01 1.60671179e-01 3.04098786e-02 1.99726136e+02] [-1.60597131e-01 9.87007987e-01 -4.87793421e-03 -3.16106196e+01] [-3.07985365e-02 -7.14649157e-05 9.99525610e-01 -8.69071681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.81264000000002 meters 0.014441033527487445 Centerline is valid? [True, True] Translation: X:199.76, Y:-31.62, Z:-8.69 [[ 9.86315145e-01 1.62142122e-01 2.98725063e-02 1.99755557e+02] [-1.62071316e-01 9.86767409e-01 -4.79263172e-03 -3.16169993e+01] [-3.02543031e-02 -1.14431152e-04 9.99542227e-01 -8.69432795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.84264000000002 meters 0.014977934600063948 Centerline is valid? [True, True] Translation: X:199.79, Y:-31.62, Z:-8.70 [[ 9.86213407e-01 1.62853243e-01 2.93587628e-02 1.99785528e+02] [-1.62785152e-01 9.86650294e-01 -4.71073832e-03 -3.16222747e+01] [-2.97339910e-02 -1.33377376e-04 9.99557838e-01 -8.69678398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.87264000000002 meters 0.015147375497692584 Centerline is valid? [True, True] Translation: X:199.82, Y:-31.63, Z:-8.70 [[ 9.86031708e-01 1.64159089e-01 2.81649527e-02 1.99816299e+02] [-1.64096967e-01 9.86433863e-01 -4.51879684e-03 -3.16294157e+01] [-2.85246647e-02 -1.66106344e-04 9.99593075e-01 -8.69814338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.90264000000002 meters 0.016302825876083542 Centerline is valid? [True, True] Translation: X:199.85, Y:-31.63, Z:-8.70 [[ 9.85865986e-01 1.65184329e-01 2.79713409e-02 1.99845094e+02] [-1.65123434e-01 9.86262693e-01 -4.48902668e-03 -3.16344102e+01] [-2.83286069e-02 -1.93145148e-04 9.99598646e-01 -8.70189381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93264000000002 meters 0.01670640155646767 Centerline is valid? [True, True] Translation: X:199.87, Y:-31.64, Z:-8.70 [[ 9.85719772e-01 1.66020842e-01 2.81710933e-02 1.99874512e+02] [-1.65959421e-01 9.86122220e-01 -4.52090530e-03 -3.16401468e+01] [-2.85307055e-02 -2.18912589e-04 9.99592893e-01 -8.70235572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96264000000002 meters 0.018364371433536305 Centerline is valid? [True, True] Translation: X:199.90, Y:-31.64, Z:-8.70 [[ 9.85289000e-01 1.68286581e-01 2.97525184e-02 1.99902608e+02] [-1.68219125e-01 9.85738067e-01 -4.77389877e-03 -3.16441700e+01] [-3.01315731e-02 -3.01272671e-04 9.99545896e-01 -8.70111721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99264000000002 meters 0.019792231116738848 Centerline is valid? [True, True] Translation: X:199.93, Y:-31.65, Z:-8.70 [[ 9.84837715e-01 1.70746582e-01 3.06639852e-02 1.99932439e+02] [-1.70676144e-01 9.85314901e-01 -4.91938186e-03 -3.16482863e+01] [-3.10536492e-02 -3.88817955e-04 9.99517644e-01 -8.69962534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02264000000002 meters 0.02007309892046718 Centerline is valid? [True, True] Translation: X:199.96, Y:-31.65, Z:-8.70 [[ 9.84604623e-01 1.71984807e-01 3.12244025e-02 1.99962891e+02] [-1.71912426e-01 9.85099505e-01 -5.00821367e-03 -3.16525178e+01] [-3.16204801e-02 -4.36752473e-04 9.99499852e-01 -8.69926485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.05264000000003 meters 0.022525031530363795 Centerline is valid? [True, True] Translation: X:199.99, Y:-31.65, Z:-8.70 [[ 9.84027563e-01 1.75210078e-01 3.14830688e-02 1.99993745e+02] [-1.75138142e-01 9.84530920e-01 -5.04970225e-03 -3.16539260e+01] [-3.18808134e-02 -5.44839973e-04 9.99491529e-01 -8.69988530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08264000000003 meters 0.036413860492941555 Centerline is valid? [True, True] Translation: X:200.02, Y:-31.65, Z:-8.70 [[ 9.83797498e-01 1.76553038e-01 3.11690331e-02 2.00022211e+02] [-1.76483189e-01 9.84290956e-01 -4.99979547e-03 -3.16543484e+01] [-3.15621265e-02 -5.82024086e-04 9.99501623e-01 -8.70282295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.11264000000003 meters 0.02885867951329573 Centerline is valid? [True, True] Translation: X:200.05, Y:-31.65, Z:-8.70 [[ 9.83119812e-01 1.80191846e-01 3.17227737e-02 2.00051828e+02] [-1.80121425e-01 9.83631227e-01 -5.08738897e-03 -3.16549143e+01] [-3.21202168e-02 -7.12438305e-04 9.99483759e-01 -8.70357953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14264000000003 meters 0.028971774060804863 Centerline is valid? [True, True] Translation: X:200.08, Y:-31.66, Z:-8.70 [[ 9.82912283e-01 1.81336967e-01 3.16282747e-02 2.00080298e+02] [-1.81267588e-01 9.83420736e-01 -5.07124988e-03 -3.16576426e+01] [-3.20235062e-02 -7.48587268e-04 9.99486836e-01 -8.70410938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.17264000000003 meters 0.03123928183925919 Centerline is valid? [True, True] Translation: X:200.11, Y:-31.66, Z:-8.71 [[ 9.82739129e-01 1.82261400e-01 3.16952017e-02 2.00109706e+02] [-1.82192257e-01 9.83249801e-01 -5.08041573e-03 -3.16578013e+01] [-3.20902644e-02 -7.81897013e-04 9.99484669e-01 -8.70548977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20264000000003 meters 0.02906662950377081 Centerline is valid? [True, True] Translation: X:200.14, Y:-31.66, Z:-8.71 [[ 9.82698493e-01 1.82429941e-01 3.19841903e-02 2.00138073e+02] [-1.82359672e-01 9.83218533e-01 -5.12517323e-03 -3.16629461e+01] [-3.23824337e-02 -7.96126433e-04 9.99475234e-01 -8.70612807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.23264000000003 meters 0.030945174206614807 Centerline is valid? [True, True] Translation: X:200.17, Y:-31.66, Z:-8.71 [[ 9.82764046e-01 1.81972477e-01 3.25706381e-02 2.00166184e+02] [-1.81899406e-01 9.83303301e-01 -5.21761419e-03 -3.16616545e+01] [-3.29762781e-02 -7.96896102e-04 9.99455817e-01 -8.70699620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26264000000003 meters 0.030177291745953603 Centerline is valid? [True, True] Translation: X:200.19, Y:-31.66, Z:-8.71 [[ 9.82766858e-01 1.81870384e-01 3.30524716e-02 2.00194770e+02] [-1.81795152e-01 9.83322181e-01 -5.29256464e-03 -3.16648525e+01] [-3.34637892e-02 -8.07421981e-04 9.99439604e-01 -8.70724474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.29264000000003 meters 0.030382046285390908 Centerline is valid? [True, True] Translation: X:200.22, Y:-31.67, Z:-8.71 [[ 9.82745665e-01 1.81906458e-01 3.34813313e-02 2.00223429e+02] [-1.81829337e-01 9.83315497e-01 -5.35959414e-03 -3.16666358e+01] [-3.38976567e-02 -8.20770357e-04 9.99424972e-01 -8.70766672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32264000000004 meters 0.030738093891056913 Centerline is valid? [True, True] Translation: X:200.25, Y:-31.67, Z:-8.71 [[ 9.82688153e-01 1.82153821e-01 3.38227748e-02 2.00252367e+02] [-1.82075322e-01 9.83269689e-01 -5.41260460e-03 -3.16655224e+01] [-3.42428358e-02 -8.39390187e-04 9.99413190e-01 -8.70890255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.35264000000004 meters 0.029492000674020517 Centerline is valid? [True, True] Translation: X:200.28, Y:-31.67, Z:-8.71 [[ 9.82707298e-01 1.82143267e-01 3.33196036e-02 2.00280622e+02] [-1.82067133e-01 9.83271654e-01 -5.33052078e-03 -3.16690299e+01] [-3.37331402e-02 -8.28063014e-04 9.99430533e-01 -8.71038637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38264000000004 meters 0.031588891797343324 Centerline is valid? [True, True] Translation: X:200.31, Y:-31.67, Z:-8.71 [[ 9.82804543e-01 1.81776961e-01 3.24401903e-02 2.00308881e+02] [-1.81704641e-01 9.83339465e-01 -5.18841020e-03 -3.16650777e+01] [-3.28428528e-02 -7.95340018e-04 9.99460212e-01 -8.71461782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.41264000000004 meters 0.02831167349730126 Centerline is valid? [True, True] Translation: X:200.34, Y:-31.67, Z:-8.72 [[ 9.82958567e-01 1.81002382e-01 3.21028472e-02 2.00337556e+02] [-1.80931214e-01 9.83482361e-01 -5.13236590e-03 -3.16709778e+01] [-3.25015544e-02 -7.63504092e-04 9.99471393e-01 -8.71558958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.44264000000004 meters 0.030242278679698965 Centerline is valid? [True, True] Translation: X:200.37, Y:-31.67, Z:-8.72 [[ 9.83411717e-01 1.78668419e-01 3.12888260e-02 2.00366099e+02] [-1.78599682e-01 9.83909115e-01 -5.00071650e-03 -3.16704283e+01] [-3.16788312e-02 -6.70411149e-04 9.99497875e-01 -8.71978637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.47264000000004 meters 0.025271022823646 Centerline is valid? [True, True] Translation: X:200.39, Y:-31.68, Z:-8.72 [[ 9.83648653e-01 1.77409050e-01 3.10057629e-02 2.00394697e+02] [-1.77340973e-01 9.84137001e-01 -4.95396025e-03 -3.16754801e+01] [-3.13927959e-02 -6.25635846e-04 9.99506929e-01 -8.72072469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.50264000000004 meters 0.02612108761037462 Centerline is valid? [True, True] Translation: X:200.42, Y:-31.68, Z:-8.72 [[ 9.83916863e-01 1.75957772e-01 3.07647449e-02 2.00422635e+02] [-1.75890083e-01 9.84397547e-01 -4.91408445e-03 -3.16757079e+01] [-3.11494108e-02 -5.76162987e-04 9.99514573e-01 -8.72435536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.53264000000004 meters 0.029170678450445936 Centerline is valid? [True, True] Translation: X:200.45, Y:-31.68, Z:-8.73 [[ 9.84484903e-01 1.72715110e-01 3.09672008e-02 2.00451260e+02] [-1.72644989e-01 9.84971706e-01 -4.94429696e-03 -3.16801684e+01] [-3.13557714e-02 -4.78746337e-04 9.99508172e-01 -8.72619233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.56264000000002 meters 0.02049920774874648 Centerline is valid? [True, True] Translation: X:200.48, Y:-31.69, Z:-8.73 [[ 9.84835846e-01 1.70791588e-01 3.04727759e-02 2.00479289e+02] [-1.70722812e-01 9.85307091e-01 -4.86395253e-03 -3.16863518e+01] [-3.08557643e-02 -4.12203172e-04 9.99523763e-01 -8.72757125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.59264000000002 meters 0.02049920774874648 Centerline is valid? [True, True] Translation: X:200.51, Y:-31.69, Z:-8.73 [[ 9.84844025e-01 1.70744377e-01 3.04730082e-02 2.00507254e+02] [-1.70675623e-01 9.85315273e-01 -4.86249621e-03 -3.16907219e+01] [-3.08557643e-02 -4.12199319e-04 9.99523763e-01 -8.72882055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.62264000000002 meters 0.016853335950165093 Centerline is valid? [True, True] Translation: X:200.54, Y:-31.70, Z:-8.73 [[ 9.85544170e-01 1.66704764e-01 3.02028139e-02 2.00535421e+02] [-1.66635371e-01 9.86006816e-01 -4.81793150e-03 -3.16972818e+01] [-3.05833525e-02 -2.84572791e-04 9.99532179e-01 -8.73019469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.65264000000002 meters 0.015275968131927076 Centerline is valid? [True, True] Translation: X:200.56, Y:-31.70, Z:-8.73 [[ 9.85911972e-01 1.64464180e-01 3.04814088e-02 2.00563918e+02] [-1.64392478e-01 9.86383032e-01 -4.86082220e-03 -3.17028733e+01] [-3.08657755e-02 -2.18571509e-04 9.99523515e-01 -8.73093745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68264000000002 meters 0.014145564466184138 Centerline is valid? [True, True] Translation: X:200.59, Y:-31.71, Z:-8.73 [[ 9.86229303e-01 1.62459571e-01 3.09620738e-02 2.00592424e+02] [-1.62384651e-01 9.86715188e-01 -4.93588203e-03 -3.17085296e+01] [-3.13526297e-02 -1.59854062e-04 9.99508373e-01 -8.73154299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.71264000000002 meters 0.01289667092495861 Centerline is valid? [True, True] Translation: X:200.62, Y:-31.72, Z:-8.73 [[ 9.86889510e-01 1.58162188e-01 3.21530407e-02 2.00620471e+02] [-1.58079176e-01 9.87413146e-01 -5.12369776e-03 -3.17159496e+01] [-3.25587104e-02 -2.62026347e-05 9.99469824e-01 -8.73184594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74264000000002 meters 0.012663672812854517 Centerline is valid? [True, True] Translation: X:200.65, Y:-31.72, Z:-8.73 [[ 9.87228770e-01 1.55975499e-01 3.24191187e-02 2.00649689e+02] [-1.55889948e-01 9.87760923e-01 -5.16550724e-03 -3.17224973e+01] [-3.28280312e-02 4.57226353e-05 9.99461014e-01 -8.73220793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.77264000000002 meters 0.014852452161932686 Centerline is valid? [True, True] Translation: X:200.68, Y:-31.73, Z:-8.74 [[ 9.87858153e-01 1.52013666e-01 3.20642360e-02 2.00678145e+02] [-1.51927928e-01 9.88378376e-01 -5.10779243e-03 -3.17313912e+01] [-3.24680517e-02 1.74321445e-04 9.99472759e-01 -8.73683188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80264000000003 meters 0.014452929169922791 Centerline is valid? [True, True] Translation: X:200.71, Y:-31.74, Z:-8.74 [[ 9.88073081e-01 1.50697675e-01 3.16511994e-02 2.00708579e+02] [-1.50613446e-01 9.88579873e-01 -5.04236076e-03 -3.17355972e+01] [-3.20496107e-02 2.15124729e-04 9.99486256e-01 -8.73572558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.83264000000003 meters 0.015298098872964407 Centerline is valid? [True, True] Translation: X:200.74, Y:-31.74, Z:-8.74 [[ 9.88265805e-01 1.49503019e-01 3.12976977e-02 2.00738698e+02] [-1.49420063e-01 9.88761237e-01 -4.98604431e-03 -3.17414350e+01] [-3.16913790e-02 2.51033147e-04 9.99497671e-01 -8.73772198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86264000000003 meters 0.017156670496475655 Centerline is valid? [True, True] Translation: X:200.77, Y:-31.75, Z:-8.74 [[ 9.88334698e-01 1.49030161e-01 3.13772979e-02 2.00767550e+02] [-1.48946539e-01 9.88832615e-01 -4.99887701e-03 -3.17486784e+01] [-3.17718790e-02 2.67023664e-04 9.99495111e-01 -8.74206384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.89264000000003 meters 0.01615305508838918 Centerline is valid? [True, True] Translation: X:200.80, Y:-31.75, Z:-8.74 [[ 9.88328436e-01 1.49066065e-01 3.14039871e-02 2.00797407e+02] [-1.48982336e-01 9.88827203e-01 -5.00258595e-03 -3.17533628e+01] [-3.17988325e-02 2.65558594e-04 9.99494254e-01 -8.74147156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92264000000003 meters 0.025115070000642944 Centerline is valid? [True, True] Translation: X:200.83, Y:-31.76, Z:-8.74 [[ 9.88275262e-01 1.49451610e-01 3.12445675e-02 2.00827442e+02] [-1.49368922e-01 9.88769009e-01 -4.97719076e-03 -3.17571434e+01] [-3.16375092e-02 2.51867141e-04 9.99499377e-01 -8.74066600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.95264000000003 meters 0.01496058742266519 Centerline is valid? [True, True] Translation: X:200.86, Y:-31.76, Z:-8.74 [[ 9.88158697e-01 1.50012150e-01 3.22295705e-02 2.00857952e+02] [-1.49924463e-01 9.88684124e-01 -5.13409957e-03 -3.17607284e+01] [-3.26350420e-02 2.41304095e-04 9.99467306e-01 -8.74134980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98264000000003 meters 0.014639075100205776 Centerline is valid? [True, True] Translation: X:200.89, Y:-31.76, Z:-8.74 [[ 9.87962373e-01 1.51119383e-01 3.30647976e-02 2.00887463e+02] [-1.51027706e-01 9.88515497e-01 -5.26727768e-03 -3.17630421e+01] [-3.34810526e-02 2.10171633e-04 9.99439330e-01 -8.74221616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.01264000000003 meters 0.014542930748412149 Centerline is valid? [True, True] Translation: X:200.92, Y:-31.77, Z:-8.74 [[ 9.88000280e-01 1.50897447e-01 3.29455111e-02 2.00917549e+02] [-1.50806324e-01 9.88549399e-01 -5.24774388e-03 -3.17701437e+01] [-3.33601364e-02 2.16380989e-04 9.99443372e-01 -8.74340296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04264000000003 meters 0.015417017564554845 Centerline is valid? [True, True] Translation: X:200.95, Y:-31.78, Z:-8.75 [[ 9.88146162e-01 1.50095981e-01 3.22235708e-02 2.00946716e+02] [-1.50008388e-01 9.88671401e-01 -5.13261350e-03 -3.17784606e+01] [-3.26289075e-02 2.37966415e-04 9.99467507e-01 -8.74673125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.07264000000004 meters 0.02530715055221559 Centerline is valid? [True, True] Translation: X:200.98, Y:-31.79, Z:-8.75 [[ 9.88336574e-01 1.49047850e-01 3.12338766e-02 2.00976430e+02] [-1.48965017e-01 9.88829949e-01 -4.97547983e-03 -3.17856199e+01] [-3.16265772e-02 2.64693741e-04 9.99499720e-01 -8.74732545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10264000000004 meters 0.016309255019652854 Centerline is valid? [True, True] Translation: X:201.01, Y:-31.79, Z:-8.75 [[ 9.88540875e-01 1.47668987e-01 3.13178751e-02 2.01006410e+02] [-1.47585020e-01 9.89036791e-01 -4.98870740e-03 -3.17928873e+01] [-3.17112080e-02 3.09491948e-04 9.99497025e-01 -8.74944994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.13264000000004 meters 0.018400537536257075 Centerline is valid? [True, True] Translation: X:201.04, Y:-31.80, Z:-8.75 [[ 9.88890984e-01 1.45436359e-01 3.07064679e-02 2.01035818e+02] [-1.45354584e-01 9.89367539e-01 -4.89066210e-03 -3.18033864e+01] [-3.10912626e-02 3.73005780e-04 9.99516480e-01 -8.75276941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16264000000004 meters 0.01925774357154207 Centerline is valid? [True, True] Translation: X:201.07, Y:-31.81, Z:-8.75 [[ 9.89045445e-01 1.44428203e-01 3.04893877e-02 2.01067476e+02] [-1.44347048e-01 9.89515200e-01 -4.85781501e-03 -3.18117662e+01] [-3.08713181e-02 4.03546688e-04 9.99523286e-01 -8.75452029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.19264000000004 meters 0.020638886203898626 Centerline is valid? [True, True] Translation: X:201.10, Y:-31.82, Z:-8.76 [[ 9.89283303e-01 1.42840967e-01 3.02490506e-02 2.01098398e+02] [-1.42760185e-01 9.89745549e-01 -4.82473370e-03 -3.18218661e+01] [-3.06280328e-02 4.54668428e-04 9.99530748e-01 -8.75585534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.22264000000004 meters 0.022082349290717573 Centerline is valid? [True, True] Translation: X:201.13, Y:-31.83, Z:-8.76 [[ 9.89344124e-01 1.42352277e-01 3.05619590e-02 2.01129115e+02] [-1.42269394e-01 9.89815942e-01 -4.88070216e-03 -3.18307789e+01] [-3.09454933e-02 4.80662614e-04 9.99520958e-01 -8.75832520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.25264000000004 meters 0.02218058101403768 Centerline is valid? [True, True] Translation: X:201.16, Y:-31.84, Z:-8.76 [[ 9.89394282e-01 1.42008614e-01 3.05370033e-02 2.01160585e+02] [-1.41925605e-01 9.89865299e-01 -4.87988770e-03 -3.18386487e+01] [-3.09205059e-02 4.94150321e-04 9.99521725e-01 -8.75943190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.28264000000004 meters 0.024028800138418467 Centerline is valid? [True, True] Translation: X:201.19, Y:-31.85, Z:-8.76 [[ 9.89539418e-01 1.40923694e-01 3.08586078e-02 2.01189809e+02] [-1.40838227e-01 9.90020314e-01 -4.93677049e-03 -3.18514275e+01] [-3.12463565e-02 5.39057374e-04 9.99511568e-01 -8.76086231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.31264000000002 meters 0.02414888817247798 Centerline is valid? [True, True] Translation: X:201.22, Y:-31.86, Z:-8.76 [[ 9.89617423e-01 1.40183929e-01 3.17146991e-02 2.01222057e+02] [-1.40093121e-01 9.90125308e-01 -5.07848056e-03 -3.18616350e+01] [-3.21134475e-02 5.82741675e-04 9.99484060e-01 -8.75950620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.34264000000002 meters 0.028454833585028292 Centerline is valid? [True, True] Translation: X:201.25, Y:-31.87, Z:-8.76 [[ 9.89623372e-01 1.40154162e-01 3.16605905e-02 2.01252760e+02] [-1.40063446e-01 9.90129519e-01 -5.07613380e-03 -3.18703614e+01] [-3.20595265e-02 5.88969231e-04 9.99485788e-01 -8.76003549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.37264000000002 meters 0.023013036883710862 Centerline is valid? [True, True] Translation: X:201.29, Y:-31.88, Z:-8.76 [[ 9.89669360e-01 1.39728036e-01 3.21034905e-02 2.01285115e+02] [-1.39634354e-01 9.90189727e-01 -5.15284088e-03 -3.18761797e+01] [-3.25085429e-02 6.16858564e-04 9.99471267e-01 -8.75987604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.40264000000002 meters 0.024362401318932393 Centerline is valid? [True, True] Translation: X:201.32, Y:-31.89, Z:-8.76 [[ 9.89666677e-01 1.39756660e-01 3.20615623e-02 2.01316128e+02] [-1.39663021e-01 9.90185684e-01 -5.15276830e-03 -3.18861628e+01] [-3.24670337e-02 6.21708423e-04 9.99472614e-01 -8.76216673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43264000000002 meters 0.025464888974849754 Centerline is valid? [True, True] Translation: X:201.35, Y:-31.90, Z:-8.77 [[ 9.89614019e-01 1.40159300e-01 3.19290464e-02 2.01346030e+02] [-1.40066423e-01 9.90128777e-01 -5.13828155e-03 -3.18982169e+01] [-3.23340456e-02 6.12728148e-04 9.99476930e-01 -8.76511806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46264000000002 meters 0.02487211726132666 Centerline is valid? [True, True] Translation: X:201.38, Y:-31.91, Z:-8.77 [[ 9.89430252e-01 1.41615906e-01 3.11883116e-02 2.01376183e+02] [-1.41527908e-01 9.89921526e-01 -5.02241883e-03 -3.19075270e+01] [-3.15852354e-02 5.55316650e-04 9.99500908e-01 -8.76714831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.49264000000002 meters 0.021427088725870572 Centerline is valid? [True, True] Translation: X:201.41, Y:-31.91, Z:-8.77 [[ 9.89240857e-01 1.43048640e-01 3.06531154e-02 2.01408069e+02] [-1.42964189e-01 9.89715531e-01 -4.94057343e-03 -3.19096118e+01] [-3.10446066e-02 5.05119333e-04 9.99517872e-01 -8.76695249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52264000000002 meters 0.020264766997570603 Centerline is valid? [True, True] Translation: X:201.44, Y:-31.91, Z:-8.77 [[ 9.88933223e-01 1.45184232e-01 3.05388282e-02 2.01439359e+02] [-1.45101260e-01 9.89404540e-01 -4.92752828e-03 -3.19142056e+01] [-3.09306546e-02 4.41773968e-04 9.99521435e-01 -8.76900456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.55264000000003 meters 0.01619768683570361 Centerline is valid? [True, True] Translation: X:201.47, Y:-31.92, Z:-8.77 [[ 9.88086026e-01 1.50748056e-01 3.10004617e-02 2.01470727e+02] [-1.50665058e-01 9.88572175e-01 -5.00945802e-03 -3.19152685e+01] [-3.14013599e-02 2.79089121e-04 9.99506817e-01 -8.76986807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58264000000003 meters 0.014406831811976457 Centerline is valid? [True, True] Translation: X:201.50, Y:-31.92, Z:-8.77 [[ 9.87585213e-01 1.53994499e-01 3.10022753e-02 2.01503245e+02] [-1.53913124e-01 9.88071690e-01 -5.00865026e-03 -3.19175218e+01] [-3.14037751e-02 1.74811877e-04 9.99506765e-01 -8.77123403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.61264000000003 meters 0.012934862860150062 Centerline is valid? [True, True] Translation: X:201.54, Y:-31.91, Z:-8.77 [[ 9.86520157e-01 1.60622752e-01 3.12779841e-02 2.01536126e+02] [-1.60543031e-01 9.87015872e-01 -5.06009363e-03 -3.19128931e+01] [-3.16846329e-02 -2.95780012e-05 9.99497916e-01 -8.77288390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64264000000003 meters 0.013560181709649505 Centerline is valid? [True, True] Translation: X:201.57, Y:-31.91, Z:-8.77 [[ 9.86051134e-01 1.63459367e-01 3.13719106e-02 2.01567075e+02] [-1.63380567e-01 9.86550060e-01 -5.07634458e-03 -3.19134540e+01] [-3.17797363e-02 -1.20025227e-04 9.99494889e-01 -8.77478408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.67264000000003 meters 0.014684853452788593 Centerline is valid? [True, True] Translation: X:201.60, Y:-31.91, Z:-8.78 [[ 9.85722144e-01 1.65437013e-01 3.13440436e-02 2.01597602e+02] [-1.65359183e-01 9.86220342e-01 -5.07717159e-03 -3.19149540e+01] [-3.17520855e-02 -1.78344978e-04 9.99495760e-01 -8.77753633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70264000000003 meters 0.015538866443047963 Centerline is valid? [True, True] Translation: X:201.63, Y:-31.92, Z:-8.78 [[ 9.85426291e-01 1.67345258e-01 3.05055537e-02 2.01627719e+02] [-1.67272378e-01 9.85898327e-01 -4.94372874e-03 -3.19174016e+01] [-3.09026839e-02 -2.31056211e-04 9.99522371e-01 -8.77963353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.73264000000003 meters 0.015605324697356458 Centerline is valid? [True, True] Translation: X:201.66, Y:-31.92, Z:-8.78 [[ 9.85438136e-01 1.67305408e-01 3.03410648e-02 2.01657743e+02] [-1.67233293e-01 9.85905091e-01 -4.91707168e-03 -3.19220592e+01] [-3.07360629e-02 -2.28566225e-04 9.99527509e-01 -8.78180436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76264000000003 meters 0.015261518409858945 Centerline is valid? [True, True] Translation: X:201.69, Y:-31.93, Z:-8.78 [[ 9.85556883e-01 1.66642745e-01 3.01301371e-02 2.01687338e+02] [-1.66571319e-01 9.86017319e-01 -4.88288876e-03 -3.19272610e+01] [-3.05225350e-02 -2.06452067e-04 9.99534058e-01 -8.78301134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.79264000000003 meters 0.014132603491255964 Centerline is valid? [True, True] Translation: X:201.72, Y:-31.93, Z:-8.78 [[ 9.85856526e-01 1.64820978e-01 3.03472440e-02 2.01718355e+02] [-1.64747667e-01 9.86323488e-01 -4.91773914e-03 -3.19343115e+01] [-3.07427462e-02 -1.51452415e-04 9.99527319e-01 -8.78351691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82264000000004 meters 0.02705963691432485 Centerline is valid? [True, True] Translation: X:201.75, Y:-31.94, Z:-8.79 [[ 9.86046765e-01 1.63616125e-01 3.06845471e-02 2.01748305e+02] [-1.63540582e-01 9.86524075e-01 -4.97266476e-03 -3.19403835e+01] [-3.10846526e-02 -1.14888705e-04 9.99516749e-01 -8.78512606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.85264000000004 meters 0.013302870750802855 Centerline is valid? [True, True] Translation: X:201.78, Y:-31.95, Z:-8.79 [[ 9.86344606e-01 1.61820357e-01 3.06347916e-02 2.01778848e+02] [-1.61744114e-01 9.86820231e-01 -4.96715596e-03 -3.19478907e+01] [-3.10348191e-02 -5.56697514e-05 9.99518302e-01 -8.78628128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88264000000004 meters 0.013870554159424753 Centerline is valid? [True, True] Translation: X:201.81, Y:-31.96, Z:-8.79 [[ 9.87009723e-01 1.57886466e-01 2.97266065e-02 2.01808667e+02] [-1.57812928e-01 9.87457270e-01 -4.81872826e-03 -3.19594527e+01] [-3.01145657e-02 6.48888337e-05 9.99546452e-01 -8.78996457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.91264000000004 meters 0.014744383158396412 Centerline is valid? [True, True] Translation: X:201.84, Y:-31.97, Z:-8.79 [[ 9.87426780e-01 1.55236556e-01 2.98322951e-02 2.01839691e+02] [-1.55161142e-01 9.87877315e-01 -4.84054925e-03 -3.19690233e+01] [-3.02220778e-02 1.50874971e-04 9.99543197e-01 -8.79128508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.94264000000004 meters 0.018750814987597092 Centerline is valid? [True, True] Translation: X:201.87, Y:-31.99, Z:-8.79 [[ 9.88305985e-01 1.49493339e-01 3.00503268e-02 2.01868228e+02] [-1.49413997e-01 9.88762676e-01 -4.88135516e-03 -3.19857693e+01] [-3.04423716e-02 3.34333084e-04 9.99536468e-01 -8.79318859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.97264000000004 meters 0.019823447028558604 Centerline is valid? [True, True] Translation: X:201.90, Y:-32.00, Z:-8.79 [[ 9.88708828e-01 1.46819599e-01 2.99809861e-02 2.01899500e+02] [-1.46739256e-01 9.89163196e-01 -4.87462030e-03 -3.19953262e+01] [-3.03717779e-02 4.20192525e-04 9.99538583e-01 -8.79283582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.00264000000004 meters 0.023228818532570382 Centerline is valid? [True, True] Translation: X:201.93, Y:-32.01, Z:-8.80 [[ 9.89013982e-01 1.44687961e-01 3.02776784e-02 2.01929232e+02] [-1.44604849e-01 9.89477209e-01 -4.92845448e-03 -3.20070480e+01] [-3.06721607e-02 4.96011287e-04 9.99529376e-01 -8.79538233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.03264000000004 meters 0.024728557132290465 Centerline is valid? [True, True] Translation: X:201.96, Y:-32.02, Z:-8.80 [[ 9.89304444e-01 1.42604427e-01 3.06707360e-02 2.01960511e+02] [-1.42517986e-01 9.89779596e-01 -4.99744096e-03 -3.20170869e+01] [-3.10699259e-02 5.72859028e-04 9.99517049e-01 -8.79519784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.06264000000004 meters 0.025165684768117574 Centerline is valid? [True, True] Translation: X:201.99, Y:-32.02, Z:-8.79 [[ 9.89246145e-01 1.42979836e-01 3.08031133e-02 2.01992708e+02] [-1.42892675e-01 9.89725438e-01 -5.02392936e-03 -3.20227595e+01] [-3.12049454e-02 5.68363487e-04 9.99512846e-01 -8.79483786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.09264000000002 meters 0.021904035136560474 Centerline is valid? [True, True] Translation: X:202.02, Y:-32.03, Z:-8.80 [[ 9.88854162e-01 1.45495004e-01 3.16014236e-02 2.02023032e+02] [-1.45404325e-01 9.89358856e-01 -5.16112710e-03 -3.20290900e+01] [-3.20160665e-02 5.08618349e-04 9.99487225e-01 -8.79539169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.12264000000002 meters 0.02406550024919138 Centerline is valid? [True, True] Translation: X:202.05, Y:-32.03, Z:-8.80 [[ 9.88523607e-01 1.47725779e-01 3.15938641e-02 2.02053598e+02] [-1.47636118e-01 9.89028260e-01 -5.16499563e-03 -3.20340573e+01] [-3.20102275e-02 4.41324652e-04 9.99487444e-01 -8.79732099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.15264000000002 meters 0.01859339634574238 Centerline is valid? [True, True] Translation: X:202.09, Y:-32.04, Z:-8.80 [[ 9.88221189e-01 1.49751144e-01 3.15194638e-02 2.02086217e+02] [-1.49662778e-01 9.88723647e-01 -5.15773363e-03 -3.20359545e+01] [-3.19364157e-02 3.79691165e-04 9.99489830e-01 -8.79778930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18264000000002 meters 0.01751322488373332 Centerline is valid? [True, True] Translation: X:202.12, Y:-32.04, Z:-8.80 [[ 9.87931263e-01 1.51671505e-01 3.14256991e-02 2.02118052e+02] [-1.51584461e-01 9.88430904e-01 -5.14783066e-03 -3.20401342e+01] [-3.18429114e-02 3.22055188e-04 9.99492834e-01 -8.80002382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21264000000002 meters 0.01612067551307194 Centerline is valid? [True, True] Translation: X:202.15, Y:-32.04, Z:-8.80 [[ 9.87514209e-01 1.54283227e-01 3.18178167e-02 2.02148633e+02] [-1.54195167e-01 9.88026632e-01 -5.21779608e-03 -3.20445490e+01] [-3.22418687e-02 2.46494205e-04 9.99480065e-01 -8.80145002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24264000000002 meters 0.015497095922522451 Centerline is valid? [True, True] Translation: X:202.18, Y:-32.05, Z:-8.80 [[ 9.87323709e-01 1.55382879e-01 3.23736793e-02 2.02178958e+02] [-1.55292130e-01 9.87854297e-01 -5.31429443e-03 -3.20511504e+01] [-3.28062286e-02 2.19551284e-04 9.99461707e-01 -8.80207146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.27264000000002 meters 0.020500684629089 Centerline is valid? [True, True] Translation: X:202.21, Y:-32.06, Z:-8.80 [[ 9.87261113e-01 1.55917934e-01 3.17031850e-02 2.02211830e+02] [-1.55831044e-01 9.87769992e-01 -5.20851094e-03 -3.20569737e+01] [-3.21275551e-02 2.01819904e-04 9.99483756e-01 -8.80209942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30264000000003 meters 0.015169800588780522 Centerline is valid? [True, True] Translation: X:202.24, Y:-32.06, Z:-8.81 [[ 9.87200913e-01 1.56304039e-01 3.16765690e-02 2.02242653e+02] [-1.56217282e-01 9.87708970e-01 -5.21073219e-03 -3.20642023e+01] [-3.21016898e-02 1.95612062e-04 9.99484589e-01 -8.80556598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.33264000000003 meters 0.014911366467099146 Centerline is valid? [True, True] Translation: X:202.27, Y:-32.07, Z:-8.81 [[ 9.86995816e-01 1.57739996e-01 3.09411084e-02 2.02273183e+02] [-1.57657746e-01 9.87480669e-01 -5.09551883e-03 -3.20721706e+01] [-3.13575136e-02 1.51150347e-04 9.99508221e-01 -8.80919481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36264000000003 meters 0.014470831307947041 Centerline is valid? [True, True] Translation: X:202.31, Y:-32.08, Z:-8.81 [[ 9.86808773e-01 1.58925462e-01 3.08405919e-02 2.02305504e+02] [-1.58844155e-01 9.87290577e-01 -5.08437611e-03 -3.20772268e+01] [-3.12566626e-02 1.18459174e-04 9.99511384e-01 -8.81053391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.39264000000003 meters 0.014030979965255755 Centerline is valid? [True, True] Translation: X:202.34, Y:-32.08, Z:-8.81 [[ 9.86272578e-01 1.62367422e-01 3.00536564e-02 2.02337444e+02] [-1.62291608e-01 9.86730368e-01 -4.96124212e-03 -3.20778208e+01] [-3.04603996e-02 1.56808360e-05 9.99535974e-01 -8.81382451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42264000000003 meters 0.014188903796391013 Centerline is valid? [True, True] Translation: X:202.37, Y:-32.08, Z:-8.82 [[ 9.85903773e-01 1.64604845e-01 2.99832661e-02 2.02369914e+02] [-1.64530340e-01 9.86359591e-01 -4.95223917e-03 -3.20805606e+01] [-3.03894446e-02 -5.07256887e-05 9.99538133e-01 -8.81568466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.45264000000003 meters 0.014555908806985261 Centerline is valid? [True, True] Translation: X:202.40, Y:-32.08, Z:-8.82 [[ 9.85556389e-01 1.66720246e-01 2.97147133e-02 2.02401809e+02] [-1.66647852e-01 9.86004233e-01 -4.91381703e-03 -3.20836467e+01] [-3.01180659e-02 -1.09049391e-04 9.99546342e-01 -8.81646956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48264000000003 meters 0.014555908806985261 Centerline is valid? [True, True] Translation: X:202.43, Y:-32.09, Z:-8.82 [[ 9.85524633e-01 1.66907994e-01 2.97139487e-02 2.02433826e+02] [-1.66835546e-01 9.85972469e-01 -4.91843552e-03 -3.20891498e+01] [-3.01180615e-02 -1.10103486e-04 9.99546342e-01 -8.81790345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.51264000000003 meters 0.016341504950737846 Centerline is valid? [True, True] Translation: X:202.47, Y:-32.09, Z:-8.82 [[ 9.84993690e-01 1.70026455e-01 2.96384177e-02 2.02465225e+02] [-1.69955596e-01 9.85439478e-01 -4.91223352e-03 -3.20892274e+01] [-3.00420765e-02 -1.98695928e-04 9.99548615e-01 -8.82075761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54264000000003 meters 0.01703374247523727 Centerline is valid? [True, True] Translation: X:202.50, Y:-32.09, Z:-8.82 [[ 9.84805805e-01 1.71097108e-01 2.97204727e-02 2.02495671e+02] [-1.71026137e-01 9.85254144e-01 -4.93272582e-03 -3.20916360e+01] [-3.01261940e-02 -2.25200614e-04 9.99546078e-01 -8.82194975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.57264000000004 meters 0.016544949438578625 Centerline is valid? [True, True] Translation: X:202.53, Y:-32.10, Z:-8.82 [[ 9.84661479e-01 1.71868677e-01 3.00487951e-02 2.02526477e+02] [-1.71796497e-01 9.85119838e-01 -4.98688286e-03 -3.20961476e+01] [-3.04587532e-02 -2.51886295e-04 9.99535993e-01 -8.82084298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60264000000004 meters 0.019373626120070743 Centerline is valid? [True, True] Translation: X:202.56, Y:-32.10, Z:-8.82 [[ 9.84629127e-01 1.71998503e-01 3.03644053e-02 2.02557419e+02] [-1.71924866e-01 9.85097177e-01 -5.03907428e-03 -3.21000091e+01] [-3.07786032e-02 -2.58777013e-04 9.99526193e-01 -8.82355337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.63264000000004 meters 0.0162500456387947 Centerline is valid? [True, True] Translation: X:202.59, Y:-32.11, Z:-8.82 [[ 9.84685655e-01 1.71658603e-01 3.04546208e-02 2.02588678e+02] [-1.71584304e-01 9.85156466e-01 -5.05605639e-03 -3.21080592e+01] [-3.08704822e-02 -2.46908706e-04 9.99523363e-01 -8.82306410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66264000000004 meters 0.015178300342413156 Centerline is valid? [True, True] Translation: X:202.62, Y:-32.12, Z:-8.83 [[ 9.85130196e-01 1.69209057e-01 2.97790596e-02 2.02619221e+02] [-1.69136748e-01 9.85580169e-01 -4.94887579e-03 -3.21176810e+01] [-3.01870452e-02 -1.61446321e-04 9.99544254e-01 -8.82556671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.69264000000004 meters 0.014449232307676635 Centerline is valid? [True, True] Translation: X:202.65, Y:-32.13, Z:-8.83 [[ 9.85446866e-01 1.67522200e-01 2.88233687e-02 2.02651478e+02] [-1.67453612e-01 9.85868299e-01 -4.79433317e-03 -3.21261617e+01] [-2.92192027e-02 -1.02016620e-04 9.99573023e-01 -8.82719323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.72264000000004 meters 0.024846577083014625 Centerline is valid? [True, True] Translation: X:202.68, Y:-32.13, Z:-8.83 [[ 9.85792902e-01 1.65611933e-01 2.80186074e-02 2.02681527e+02] [-1.65546151e-01 9.86190999e-01 -4.66750759e-03 -3.21338008e+01] [-2.84046933e-02 -3.71767503e-05 9.99596505e-01 -8.83108157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.75264000000004 meters 0.014410771335102624 Centerline is valid? [True, True] Translation: X:202.71, Y:-32.14, Z:-8.83 [[ 9.86073316e-01 1.64010745e-01 2.75661094e-02 2.02713170e+02] [-1.63946420e-01 9.86458552e-01 -4.59305947e-03 -3.21423794e+01] [-2.79461355e-02 9.72844195e-06 9.99609430e-01 -8.83201943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.78264000000004 meters 0.015353951737316624 Centerline is valid? [True, True] Translation: X:202.74, Y:-32.16, Z:-8.83 [[ 9.86720822e-01 1.60054689e-01 2.76498844e-02 2.02744030e+02] [-1.59988249e-01 9.87108140e-01 -4.61305025e-03 -3.21553441e+01] [-2.80317663e-02 1.28136144e-04 9.99607025e-01 -8.83279782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.81264000000004 meters 0.016577416917892048 Centerline is valid? [True, True] Translation: X:202.77, Y:-32.16, Z:-8.83 [[ 9.86965830e-01 1.58451915e-01 2.81325581e-02 2.02774518e+02] [-1.58382343e-01 9.87366678e-01 -4.69849175e-03 -3.21646598e+01] [-2.85216355e-02 1.81550350e-04 9.99593159e-01 -8.83427786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.84264000000002 meters 0.016646167898395004 Centerline is valid? [True, True] Translation: X:202.81, Y:-32.17, Z:-8.83 [[ 9.87138094e-01 1.57325361e-01 2.84097616e-02 2.02806468e+02] [-1.57253793e-01 9.87546800e-01 -4.75004292e-03 -3.21726305e+01] [-2.88032713e-02 2.21405560e-04 9.99585075e-01 -8.83297150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.87264000000002 meters 0.03151136964067136 Centerline is valid? [True, True] Translation: X:202.84, Y:-32.18, Z:-8.83 [[ 9.87462390e-01 1.55287122e-01 2.83537959e-02 2.02836012e+02] [-1.55214815e-01 9.87869337e-01 -4.74693623e-03 -3.21848398e+01] [-2.87469837e-02 2.86491790e-04 9.99586679e-01 -8.83233321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.90264000000002 meters 0.01807522181090347 Centerline is valid? [True, True] Translation: X:202.87, Y:-32.19, Z:-8.83 [[ 9.87424082e-01 1.55439894e-01 2.88465257e-02 2.02867230e+02] [-1.55364982e-01 9.87845309e-01 -4.83405423e-03 -3.21919246e+01] [-2.92473099e-02 2.91521615e-04 9.99572163e-01 -8.83376627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.93264000000002 meters 0.018378945301388463 Centerline is valid? [True, True] Translation: X:202.90, Y:-32.20, Z:-8.84 [[ 9.87335059e-01 1.55988446e-01 2.89324434e-02 2.02898839e+02] [-1.55913179e-01 9.87758840e-01 -4.85330652e-03 -3.21984626e+01] [-2.93353364e-02 2.80890449e-04 9.99569587e-01 -8.83567336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96264000000002 meters 0.01649382153740591 Centerline is valid? [True, True] Translation: X:202.93, Y:-32.20, Z:-8.84 [[ 9.86980782e-01 1.58257619e-01 2.86960363e-02 2.02930559e+02] [-1.58184380e-01 9.87397832e-01 -4.81902767e-03 -3.22020249e+01] [-2.90970518e-02 2.17022995e-04 9.99576568e-01 -8.83557734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.99264000000002 meters 0.01629525413586299 Centerline is valid? [True, True] Translation: X:202.96, Y:-32.21, Z:-8.84 [[ 9.86762489e-01 1.59688180e-01 2.82749834e-02 2.02962378e+02] [-1.59617529e-01 9.87167490e-01 -4.75295626e-03 -3.22069419e+01] [-2.86711353e-02 1.76855964e-04 9.99588883e-01 -8.83830346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02264000000002 meters 0.01580357739530156 Centerline is valid? [True, True] Translation: X:202.99, Y:-32.21, Z:-8.84 [[ 9.86542968e-01 1.61159051e-01 2.75813674e-02 2.02994960e+02] [-1.61092265e-01 9.86928438e-01 -4.64115683e-03 -3.22112273e+01] [-2.79688003e-02 1.35555695e-04 9.99608787e-01 -8.84063793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.05264000000003 meters 0.015468667231221788 Centerline is valid? [True, True] Translation: X:203.03, Y:-32.21, Z:-8.84 [[ 9.86189366e-01 1.63430247e-01 2.68531002e-02 2.03026945e+02] [-1.63367641e-01 9.86554889e-01 -4.52383898e-03 -3.22135204e+01] [-2.72313894e-02 7.44342825e-05 9.99629154e-01 -8.84355976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08264000000003 meters 0.014625564439360575 Centerline is valid? [True, True] Translation: X:203.06, Y:-32.22, Z:-8.84 [[ 9.86026826e-01 1.64387126e-01 2.69809481e-02 2.03060009e+02] [-1.64324153e-01 9.86395899e-01 -4.55000289e-03 -3.22177658e+01] [-2.73618584e-02 5.28034660e-05 9.99625593e-01 -8.84233581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.11264000000003 meters 0.014399934461800093 Centerline is valid? [True, True] Translation: X:203.09, Y:-32.22, Z:-8.84 [[ 9.85837333e-01 1.65440270e-01 2.74639900e-02 2.03091647e+02] [-1.65375260e-01 9.86219811e-01 -4.63759107e-03 -3.22228441e+01] [-2.78527753e-02 3.00459191e-05 9.99612036e-01 -8.84308021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14264000000003 meters 0.014696794505193867 Centerline is valid? [True, True] Translation: X:203.12, Y:-32.23, Z:-8.84 [[ 9.85499838e-01 1.67306168e-01 2.82615531e-02 2.03122693e+02] [-1.67237938e-01 9.85904988e-01 -4.77769494e-03 -3.22267748e+01] [-2.86625440e-02 -1.79862663e-05 9.99589145e-01 -8.84482392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.17264000000003 meters 0.01419532480530648 Centerline is valid? [True, True] Translation: X:203.16, Y:-32.23, Z:-8.84 [[ 9.85252978e-01 1.68771490e-01 2.81558742e-02 2.03155303e+02] [-1.68704254e-01 9.85655204e-01 -4.76379307e-03 -3.22307770e+01] [-2.85559764e-02 -5.64744454e-05 9.99592193e-01 -8.84289190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20264000000003 meters 0.015095045855652378 Centerline is valid? [True, True] Translation: X:203.19, Y:-32.23, Z:-8.85 [[ 9.84949882e-01 1.70527396e-01 2.81804512e-02 2.03186787e+02] [-1.70460592e-01 9.85352930e-01 -4.77386705e-03 -3.22332507e+01] [-2.85817653e-02 -1.01636595e-04 9.99591453e-01 -8.84559127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.23264000000003 meters 0.016375349640728145 Centerline is valid? [True, True] Translation: X:203.22, Y:-32.23, Z:-8.85 [[ 9.84616781e-01 1.72436443e-01 2.82040551e-02 2.03218549e+02] [-1.72370115e-01 9.85020635e-01 -4.78466064e-03 -3.22345132e+01] [-2.86066262e-02 -1.50479072e-04 9.99590735e-01 -8.84886240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26264000000003 meters 0.017967636209452346 Centerline is valid? [True, True] Translation: X:203.25, Y:-32.23, Z:-8.85 [[ 9.83937553e-01 1.76510693e-01 2.66621111e-02 2.03250874e+02] [-1.76452884e-01 9.84298690e-01 -4.52418652e-03 -3.22332008e+01] [-2.70420484e-02 -2.53089399e-04 9.99634265e-01 -8.84918212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.29264000000003 meters 0.019370717924105135 Centerline is valid? [True, True] Translation: X:203.28, Y:-32.23, Z:-8.85 [[ 9.83619830e-01 1.78242141e-01 2.68657685e-02 2.03280984e+02] [-1.78183924e-01 9.83986611e-01 -4.56488981e-03 -3.22344033e+01] [-2.72492122e-02 -2.96931913e-04 9.99628627e-01 -8.85108445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32264000000004 meters 0.02032746919186239 Centerline is valid? [True, True] Translation: X:203.31, Y:-32.24, Z:-8.85 [[ 9.83439281e-01 1.79293968e-01 2.64736366e-02 2.03311081e+02] [-1.79237756e-01 9.83795493e-01 -4.50059556e-03 -3.22363859e+01] [-2.68515740e-02 -3.19012756e-04 9.99639381e-01 -8.85334659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.35264000000004 meters 0.01993719379818032 Centerline is valid? [True, True] Translation: X:203.34, Y:-32.24, Z:-8.85 [[ 9.83365769e-01 1.79676500e-01 2.66105074e-02 2.03341741e+02] [-1.79619846e-01 9.83725696e-01 -4.52386400e-03 -3.22408722e+01] [-2.69902720e-02 -3.31162232e-04 9.99635641e-01 -8.85354950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38264000000004 meters 0.01894113119559793 Centerline is valid? [True, True] Translation: X:203.37, Y:-32.25, Z:-8.85 [[ 9.83532333e-01 1.78652535e-01 2.73390012e-02 2.03371635e+02] [-1.78592341e-01 9.83912178e-01 -4.64771007e-03 -3.22464740e+01] [-2.77295014e-02 -3.11363084e-04 9.99615415e-01 -8.85341930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.41264000000004 meters 0.026877767704359793 Centerline is valid? [True, True] Translation: X:203.40, Y:-32.25, Z:-8.85 [[ 9.83763629e-01 1.77366106e-01 2.73931761e-02 2.03401518e+02] [-1.77305179e-01 9.84144902e-01 -4.65671905e-03 -3.22520435e+01] [-2.77847987e-02 -2.75841166e-04 9.99613890e-01 -8.85450544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.44264000000004 meters 0.018255083085641687 Centerline is valid? [True, True] Translation: X:203.43, Y:-32.26, Z:-8.86 [[ 9.83943058e-01 1.76409122e-01 2.71271177e-02 2.03430936e+02] [-1.76349000e-01 9.84316901e-01 -4.61182477e-03 -3.22566641e+01] [-2.75152484e-02 -2.46067126e-04 9.99621354e-01 -8.85794971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.47264000000004 meters 0.018072820332844724 Centerline is valid? [True, True] Translation: X:203.46, Y:-32.26, Z:-8.86 [[ 9.84120198e-01 1.75501459e-01 2.65833327e-02 2.03459766e+02] [-1.75443373e-01 9.84479147e-01 -4.52011222e-03 -3.22614005e+01] [-2.69640230e-02 -2.15535827e-04 9.99636381e-01 -8.86084362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.50264000000004 meters 0.023821213182106532 Centerline is valid? [True, True] Translation: X:203.49, Y:-32.27, Z:-8.86 [[ 9.84342272e-01 1.74455834e-01 2.52082132e-02 2.03489596e+02] [-1.74403273e-01 9.84664984e-01 -4.28579445e-03 -3.22657816e+01] [-2.55693267e-02 -1.77706242e-04 9.99673036e-01 -8.86271691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.53264000000004 meters 0.017602882491255578 Centerline is valid? [True, True] Translation: X:203.52, Y:-32.27, Z:-8.86 [[ 9.84292837e-01 1.74672057e-01 2.56375588e-02 2.03520240e+02] [-1.74617763e-01 9.84626649e-01 -4.35878998e-03 -3.22699744e+01] [-2.60047824e-02 -1.86447410e-04 9.99661801e-01 -8.86450233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.56264000000004 meters 0.0173823930358035 Centerline is valid? [True, True] Translation: X:203.55, Y:-32.27, Z:-8.87 [[ 9.84268871e-01 1.74864533e-01 2.52425293e-02 2.03550117e+02] [-1.74811963e-01 9.84592484e-01 -4.29162874e-03 -3.22745287e+01] [-2.56040583e-02 -1.88579523e-04 9.99672145e-01 -8.86520192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.59264000000002 meters 0.01852636417176918 Centerline is valid? [True, True] Translation: X:203.58, Y:-32.28, Z:-8.87 [[ 9.84244303e-01 1.75046118e-01 2.49400996e-02 2.03578811e+02] [-1.74994863e-01 9.84560217e-01 -4.24000848e-03 -3.22781723e+01] [-2.52972269e-02 -1.91185129e-04 9.99679956e-01 -8.86960727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.62264000000002 meters 0.024028811545703906 Centerline is valid? [True, True] Translation: X:203.60, Y:-32.29, Z:-8.87 [[ 9.83582911e-01 1.77480995e-01 3.26366856e-02 2.03602293e+02] [-1.77782284e-01 9.84048042e-01 6.55062472e-03 -3.22911514e+01] [-3.09534551e-02 -1.22453070e-02 9.99445814e-01 -8.86984384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.65264000000002 meters 0.01857227630445266 Centerline is valid? [True, True] Translation: X:203.64, Y:-32.28, Z:-8.87 [[ 9.84003894e-01 1.76670606e-01 2.28874047e-02 2.03640774e+02] [-1.76344862e-01 9.84205445e-01 -1.55605800e-02 -3.22784952e+01] [-2.52750054e-02 1.12755951e-02 9.99616944e-01 -8.87052680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68264000000002 meters 0.020183243189841382 Centerline is valid? [True, True] Translation: X:203.67, Y:-32.29, Z:-8.87 [[ 9.83958412e-01 1.76567456e-01 2.54907264e-02 2.03669127e+02] [-1.76514394e-01 9.84288514e-01 -4.33476605e-03 -3.22862199e+01] [-2.58556079e-02 -2.34250609e-04 9.99665660e-01 -8.87481822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71264000000002 meters 0.01821930033916146 Centerline is valid? [True, True] Translation: X:203.70, Y:-32.29, Z:-8.87 [[ 9.83981223e-01 1.76404925e-01 2.57343108e-02 2.03699546e+02] [-1.76350802e-01 9.84317656e-01 -4.37564461e-03 -3.22926652e+01] [-2.61026217e-02 -2.32714206e-04 9.99659241e-01 -8.87152596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74264000000002 meters 0.017501708849872052 Centerline is valid? [True, True] Translation: X:203.72, Y:-32.30, Z:-8.87 [[ 9.83640011e-01 1.77086176e-01 3.30577694e-02 2.03724832e+02] [-1.77280852e-01 9.84155636e-01 3.03050222e-03 -3.23025560e+01] [-3.19973300e-02 -8.84143278e-03 9.99448848e-01 -8.87342682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.77264000000002 meters 0.017913392893088687 Centerline is valid? [True, True] Translation: X:203.76, Y:-32.30, Z:-8.88 [[ 9.84196309e-01 1.75318291e-01 2.49223148e-02 2.03760810e+02] [-1.75051268e-01 9.84479496e-01 -1.25369719e-02 -3.22974396e+01] [-2.67334684e-02 7.97615869e-03 9.99610776e-01 -8.87536536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80264000000003 meters 0.02626836552530889 Centerline is valid? [True, True] Translation: X:203.79, Y:-32.31, Z:-8.87 [[ 9.84334074e-01 1.74469982e-01 2.54294408e-02 2.03790030e+02] [-1.74416421e-01 9.84662477e-01 -4.32642311e-03 -3.23083958e+01] [-2.57942471e-02 -1.76666368e-04 9.99667257e-01 -8.87433957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.83264000000003 meters 0.0167970781938366 Centerline is valid? [True, True] Translation: X:203.82, Y:-32.32, Z:-8.88 [[ 9.83940123e-01 1.75901345e-01 3.03406002e-02 2.03816679e+02] [-1.75951383e-01 9.84398315e-01 -1.03368195e-03 -3.23161600e+01] [-3.00490617e-02 -4.32138941e-03 9.99539084e-01 -8.87703291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86264000000003 meters 0.018458410263288014 Centerline is valid? [True, True] Translation: X:203.85, Y:-32.32, Z:-8.88 [[ 9.83630987e-01 1.77432704e-01 3.14279813e-02 2.03846427e+02] [-1.77472642e-01 9.84124535e-01 -1.53644205e-03 -3.23185389e+01] [-3.12016626e-02 -4.06631487e-03 9.99504838e-01 -8.88263300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.89264000000003 meters 0.01818985656121343 Centerline is valid? [True, True] Translation: X:203.88, Y:-32.32, Z:-8.88 [[ 9.84081698e-01 1.76156317e-01 2.34981592e-02 2.03883293e+02] [-1.75932991e-01 9.84337616e-01 -1.12712208e-02 -3.23163131e+01] [-2.51156187e-02 6.95770065e-03 9.99660340e-01 -8.88114010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92264000000003 meters 0.018296683758939093 Centerline is valid? [True, True] Translation: X:203.91, Y:-32.32, Z:-8.88 [[ 9.84001459e-01 1.76477298e-01 2.44313836e-02 2.03911616e+02] [-1.76428465e-01 9.84304686e-01 -4.15709551e-03 -3.23241835e+01] [-2.47815584e-02 -2.19803473e-04 9.99692866e-01 -8.88143940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.95264000000003 meters 0.026855457737019646 Centerline is valid? [True, True] Translation: X:203.94, Y:-32.33, Z:-8.88 [[ 9.83440800e-01 1.78847896e-01 2.92852139e-02 2.03938356e+02] [-1.78841395e-01 9.83873753e-01 -2.86239556e-03 -3.23287142e+01] [-2.93248867e-02 -2.42241194e-03 9.99566998e-01 -8.88071885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98264000000003 meters 0.02810271177788628 Centerline is valid? [True, True] Translation: X:203.97, Y:-32.33, Z:-8.88 [[ 9.83589813e-01 1.78704759e-01 2.48130948e-02 2.03971557e+02] [-1.78607421e-01 9.83901489e-01 -6.10321306e-03 -3.23288067e+01] [-2.55043141e-02 1.57125533e-03 9.99673477e-01 -8.88186908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.01264000000003 meters 0.020962133855841773 Centerline is valid? [True, True] Translation: X:204.00, Y:-32.33, Z:-8.89 [[ 9.83400313e-01 1.79639196e-01 2.55652701e-02 2.04000561e+02] [-1.79586806e-01 9.83732515e-01 -4.34952357e-03 -3.23313509e+01] [-2.59307324e-02 -3.13862357e-04 9.99663693e-01 -8.88537265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04264000000003 meters 0.02234834241521045 Centerline is valid? [True, True] Translation: X:204.03, Y:-32.33, Z:-8.89 [[ 9.83198022e-01 1.80830532e-01 2.49392752e-02 2.04028703e+02] [-1.80781071e-01 9.83514212e-01 -4.24256858e-03 -3.23316647e+01] [-2.52953175e-02 -3.37263855e-04 9.99679965e-01 -8.88817957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.07264000000004 meters 0.022985380798031054 Centerline is valid? [True, True] Translation: X:204.06, Y:-32.34, Z:-8.89 [[ 9.83198038e-01 1.80879651e-01 2.45798570e-02 2.04055935e+02] [-1.80831658e-01 9.83505180e-01 -4.17994244e-03 -3.23354717e+01] [-2.49304832e-02 -3.35105105e-04 9.99689131e-01 -8.89117469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.10264000000004 meters 0.020616505875299798 Centerline is valid? [True, True] Translation: X:204.08, Y:-32.34, Z:-8.89 [[ 9.83035393e-01 1.81649703e-01 2.53929364e-02 2.04083528e+02] [-1.81512332e-01 9.83359042e-01 -7.63327728e-03 -3.23408604e+01] [-2.63569562e-02 2.89465063e-03 9.99648404e-01 -8.88814192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.13264000000004 meters 0.021408856967177075 Centerline is valid? [True, True] Translation: X:204.11, Y:-32.35, Z:-8.89 [[ 9.83231662e-01 1.80660058e-01 2.48483643e-02 2.04113874e+02] [-1.80696635e-01 9.83538566e-01 -7.84044968e-04 -3.23477407e+01] [-2.45809703e-02 -3.71911798e-03 9.99690924e-01 -8.89077613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.16264000000004 meters 0.022283598247891136 Centerline is valid? [True, True] Translation: X:204.14, Y:-32.35, Z:-8.89 [[ 9.83233471e-01 1.80655288e-01 2.48114385e-02 2.04141583e+02] [-1.80606312e-01 9.83546418e-01 -4.21943066e-03 -3.23477374e+01] [-2.51654639e-02 -3.32416955e-04 9.99683244e-01 -8.89340881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.19264000000004 meters 0.020955496893057875 Centerline is valid? [True, True] Translation: X:204.17, Y:-32.35, Z:-8.89 [[ 9.83374934e-01 1.79839577e-01 2.51289880e-02 2.04170186e+02] [-1.79789120e-01 9.83695901e-01 -4.27156764e-03 -3.23534506e+01] [-2.54874794e-02 -3.17366114e-04 9.99675091e-01 -8.89233697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.22264000000004 meters 0.020214274040742015 Centerline is valid? [True, True] Translation: X:204.20, Y:-32.36, Z:-8.89 [[ 9.83442923e-01 1.79318564e-01 2.61700286e-02 2.04198959e+02] [-1.79263693e-01 9.83791010e-01 -4.44713378e-03 -3.23587705e+01] [-2.65432925e-02 -3.17833719e-04 9.99647614e-01 -8.89134846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.25264000000004 meters 0.01945879155524518 Centerline is valid? [True, True] Translation: X:204.23, Y:-32.36, Z:-8.89 [[ 9.83520194e-01 1.78701529e-01 2.74552639e-02 2.04227025e+02] [-1.78640936e-01 9.83903279e-01 -4.66404706e-03 -3.23641861e+01] [-2.78467966e-02 -3.17449572e-04 9.99612152e-01 -8.89028704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.28264000000004 meters 0.017680033964333874 Centerline is valid? [True, True] Translation: X:204.26, Y:-32.37, Z:-8.89 [[ 9.83875805e-01 1.76455999e-01 2.91835682e-02 2.04255322e+02] [-1.76386606e-01 9.84308491e-01 -4.95567608e-03 -3.23714298e+01] [-2.96000927e-02 -2.71820757e-04 9.99561784e-01 -8.88868894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.31264000000004 meters 0.01595086414291798 Centerline is valid? [True, True] Translation: X:204.28, Y:-32.39, Z:-8.89 [[ 9.83777189e-01 1.75271376e-01 3.82411648e-02 2.04280681e+02] [-1.75723303e-01 9.84400540e-01 8.76908200e-03 -3.23880702e+01] [-3.61076542e-02 -1.53466866e-02 9.99230062e-01 -8.88923762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.34264000000002 meters 0.014188162032578475 Centerline is valid? [True, True] Translation: X:204.31, Y:-32.39, Z:-8.89 [[ 9.84083081e-01 1.74278022e-01 3.47514178e-02 2.04314286e+02] [-1.74120432e-01 9.84695543e-01 -7.53409217e-03 -3.23875206e+01] [-3.55325929e-02 1.36324076e-03 9.99367588e-01 -8.88761465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.37264000000002 meters 0.013527873095276359 Centerline is valid? [True, True] Translation: X:204.34, Y:-32.40, Z:-8.89 [[ 9.84601849e-01 1.70879391e-01 3.68704966e-02 2.04343708e+02] [-1.70969357e-01 9.85276082e-01 -7.22314726e-04 -3.24007115e+01] [-3.64510471e-02 -5.59253267e-03 9.99319791e-01 -8.89087194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.40264000000002 meters 0.013527873095276359 Centerline is valid? [True, True] Translation: X:204.38, Y:-32.40, Z:-8.89 [[ 9.84554302e-01 1.71296688e-01 3.61976773e-02 2.04377056e+02] [-1.71198680e-01 9.85219377e-01 -5.81305941e-03 -3.24035899e+01] [-3.66584109e-02 -4.73721930e-04 9.99327742e-01 -8.89261475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.43264000000002 meters 0.013432496927206139 Centerline is valid? [True, True] Translation: X:204.41, Y:-32.41, Z:-8.90 [[ 9.84874249e-01 1.69627253e-01 3.53455582e-02 2.04408139e+02] [-1.69545375e-01 9.85508007e-01 -5.32294033e-03 -3.24121359e+01] [-3.57362463e-02 -7.50249051e-04 9.99360975e-01 -8.89570042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46264000000002 meters 0.015087584665665442 Centerline is valid? [True, True] Translation: X:204.44, Y:-32.41, Z:-8.90 [[ 9.85381139e-01 1.68300150e-01 2.64399315e-02 2.04443276e+02] [-1.67746261e-01 9.85585898e-01 -2.19460611e-02 -3.24108633e+01] [-2.97523491e-02 1.71900351e-02 9.99409476e-01 -8.90191277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.49264000000002 meters 0.02230536292184301 Centerline is valid? [True, True] Translation: X:204.47, Y:-32.43, Z:-8.90 [[ 9.85680242e-01 1.66234545e-01 2.82937664e-02 2.04472547e+02] [-1.66164123e-01 9.86086239e-01 -4.83865306e-03 -3.24286310e+01] [-2.87044450e-02 6.79558301e-05 9.99587940e-01 -8.90199394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52264000000002 meters 0.015773999804688847 Centerline is valid? [True, True] Translation: X:204.50, Y:-32.44, Z:-8.91 [[ 9.85768314e-01 1.65587152e-01 2.90125303e-02 2.04503151e+02] [-1.65512663e-01 9.86195156e-01 -4.96712460e-03 -3.24354070e+01] [-2.94345089e-02 9.44928928e-05 9.99566707e-01 -8.90602155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.55264000000003 meters 0.025672071384702167 Centerline is valid? [True, True] Translation: X:204.53, Y:-32.44, Z:-8.91 [[ 9.85852881e-01 1.65200892e-01 2.83330481e-02 2.04533765e+02] [-1.65129560e-01 9.86259932e-01 -4.85539256e-03 -3.24435429e+01] [-2.87458653e-02 1.08078990e-04 9.99586746e-01 -8.90752118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58264000000003 meters 0.03253246810796207 Centerline is valid? [True, True] Translation: X:204.57, Y:-32.45, Z:-8.91 [[ 9.85787578e-01 1.65585249e-01 2.83615175e-02 2.04566244e+02] [-1.65513828e-01 9.86195475e-01 -4.86387211e-03 -3.24496070e+01] [-2.87753857e-02 1.00521381e-04 9.99585898e-01 -8.90541216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.61264000000003 meters 0.013956391658563185 Centerline is valid? [True, True] Translation: X:204.59, Y:-32.47, Z:-8.91 [[ 9.85167229e-01 1.66897270e-01 3.98852409e-02 2.04590642e+02] [-1.67587025e-01 9.85749142e-01 1.46020029e-02 -3.24664042e+01] [-3.68798076e-02 -2.10696636e-02 9.99097567e-01 -8.90612775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64264000000003 meters 0.015223748961962187 Centerline is valid? [True, True] Translation: X:204.63, Y:-32.45, Z:-8.91 [[ 9.85511442e-01 1.67570128e-01 2.62192859e-02 2.04630288e+02] [-1.66908585e-01 9.85638035e-01 -2.56746747e-02 -3.24491888e+01] [-3.01450339e-02 2.09264618e-02 9.99326453e-01 -8.91038026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.67264000000003 meters 0.014928383765321096 Centerline is valid? [True, True] Translation: X:204.66, Y:-32.47, Z:-8.91 [[ 9.85514643e-01 1.66950075e-01 2.98087513e-02 2.04660410e+02] [-1.66871416e-01 9.85965348e-01 -5.12482818e-03 -3.24673855e+01] [-3.02459863e-02 7.63646736e-05 9.99542483e-01 -8.91059473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70264000000003 meters 0.015216798824945303 Centerline is valid? [True, True] Translation: X:204.69, Y:-32.47, Z:-8.91 [[ 9.85454578e-01 1.67282297e-01 2.99317172e-02 2.04691178e+02] [-1.67202951e-01 9.85909036e-01 -5.15223391e-03 -3.24738556e+01] [-3.03718279e-02 7.26210619e-05 9.99538667e-01 -8.91380962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.73264000000003 meters 0.013748599116094131 Centerline is valid? [True, True] Translation: X:204.72, Y:-32.49, Z:-8.91 [[ 9.85382875e-01 1.66289603e-01 3.69913196e-02 2.04721307e+02] [-1.66736739e-01 9.85957321e-01 9.32854458e-03 -3.24896069e+01] [-3.49206224e-02 -1.53600001e-02 9.99272045e-01 -8.91091813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76264000000003 meters 0.014746446875392632 Centerline is valid? [True, True] Translation: X:204.75, Y:-32.48, Z:-8.91 [[ 9.85424619e-01 1.67843405e-01 2.76931760e-02 2.04754913e+02] [-1.67312392e-01 9.85690622e-01 -2.05075887e-02 -3.24799472e+01] [-3.07389674e-02 1.55752713e-02 9.99406087e-01 -8.91479569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.79264000000003 meters 0.014840824651912195 Centerline is valid? [True, True] Translation: X:204.78, Y:-32.50, Z:-8.92 [[ 9.85455504e-01 1.67111794e-01 3.08398718e-02 2.04783408e+02] [-1.67027059e-01 9.85937949e-01 -5.32184813e-03 -3.24965259e+01] [-3.12955436e-02 9.33514341e-05 9.99510170e-01 -8.91588107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82264000000004 meters 0.02885892817616416 Centerline is valid? [True, True] Translation: X:204.82, Y:-32.50, Z:-8.92 [[ 9.85482373e-01 1.67030862e-01 3.04168366e-02 2.04815917e+02] [-1.66948265e-01 9.85951663e-01 -5.25312903e-03 -3.25045311e+01] [-3.08669653e-02 9.88279643e-05 9.99523497e-01 -8.91517139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.85264000000004 meters 0.015037088806092608 Centerline is valid? [True, True] Translation: X:204.85, Y:-32.51, Z:-8.92 [[ 9.85407684e-01 1.67335345e-01 3.11541013e-02 2.04846170e+02] [-1.67248619e-01 9.85900032e-01 -5.38767046e-03 -3.25116366e+01] [-3.16163772e-02 9.85714593e-05 9.99500073e-01 -8.91916434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88264000000004 meters 0.024946942491828085 Centerline is valid? [True, True] Translation: X:204.88, Y:-32.52, Z:-8.92 [[ 9.85297525e-01 1.68017147e-01 3.09681231e-02 2.04878898e+02] [-1.67931640e-01 9.85784070e-01 -5.36028737e-03 -3.25184820e+01] [-3.14285026e-02 8.09501864e-05 9.99505999e-01 -8.92000866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.91264000000004 meters 0.014284194372641045 Centerline is valid? [True, True] Translation: X:204.91, Y:-32.52, Z:-8.92 [[ 9.85120206e-01 1.68959193e-01 3.14796922e-02 2.04910149e+02] [-1.68871110e-01 9.85623045e-01 -5.45530754e-03 -3.25239354e+01] [-3.19488345e-02 5.81231166e-05 9.99489504e-01 -8.92064111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.94264000000004 meters 0.01431569516956351 Centerline is valid? [True, True] Translation: X:204.94, Y:-32.53, Z:-8.92 [[ 9.84931782e-01 1.70113655e-01 3.11565342e-02 2.04942027e+02] [-1.70027757e-01 9.85424449e-01 -5.40538635e-03 -3.25300559e+01] [-3.16219406e-02 2.64611855e-05 9.99499901e-01 -8.92273103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.97264000000004 meters 0.014816291541265519 Centerline is valid? [True, True] Translation: X:204.97, Y:-32.54, Z:-8.93 [[ 9.84688502e-01 1.71618904e-01 3.05860509e-02 2.04973241e+02] [-1.71536760e-01 9.85163414e-01 -5.30927191e-03 -3.25356026e+01] [-3.10434298e-02 -1.86530905e-05 9.99518036e-01 -8.92681052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.00264000000004 meters 0.014871000003377939 Centerline is valid? [True, True] Translation: X:205.01, Y:-32.54, Z:-8.93 [[ 9.84410629e-01 1.73335529e-01 2.98413744e-02 2.05005287e+02] [-1.73257957e-01 9.84862828e-01 -5.18559539e-03 -3.25398993e+01] [-3.02885083e-02 -6.55003475e-05 9.99541196e-01 -8.92821147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.03264000000004 meters 0.015896755082829315 Centerline is valid? [True, True] Translation: X:205.04, Y:-32.54, Z:-8.93 [[ 9.83770583e-01 1.76966538e-01 2.96358496e-02 2.05037889e+02] [-1.76891521e-01 9.84216854e-01 -5.15504329e-03 -3.25411795e+01] [-3.00803729e-02 -1.70950576e-04 9.99547469e-01 -8.93034016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.06264000000004 meters 0.01649382966763734 Centerline is valid? [True, True] Translation: X:205.07, Y:-32.55, Z:-8.93 [[ 9.83484193e-01 1.78499692e-01 2.99449890e-02 2.05069941e+02] [-1.78423649e-01 9.83939944e-01 -5.21418827e-03 -3.25450467e+01] [-3.03948018e-02 -2.14822452e-04 9.99537948e-01 -8.93110764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.09264000000002 meters 0.0168882085549908 Centerline is valid? [True, True] Translation: X:205.10, Y:-32.55, Z:-8.93 [[ 9.83247163e-01 1.79790329e-01 3.00075636e-02 2.05101503e+02] [-1.79714408e-01 9.83704923e-01 -5.23035859e-03 -3.25499164e+01] [-3.04589559e-02 -2.50056275e-04 9.99535987e-01 -8.93190112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.12264000000002 meters 0.01794009535336728 Centerline is valid? [True, True] Translation: X:205.13, Y:-32.55, Z:-8.93 [[ 9.83017084e-01 1.80861445e-01 3.10893791e-02 2.05132187e+02] [-1.80780268e-01 9.83508544e-01 -5.42578836e-03 -3.25532672e+01] [-3.15579859e-02 -2.86703642e-04 9.99501882e-01 -8.93354785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.15264000000002 meters 0.017859344638690915 Centerline is valid? [True, True] Translation: X:205.16, Y:-32.56, Z:-8.94 [[ 9.83054758e-01 1.80644837e-01 3.11574388e-02 2.05162451e+02] [-1.80563064e-01 9.83548355e-01 -5.44181807e-03 -3.25588801e+01] [-3.16278840e-02 -2.76277480e-04 9.99499675e-01 -8.93528584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18264000000002 meters 0.016952684943197543 Centerline is valid? [True, True] Translation: X:205.19, Y:-32.57, Z:-8.94 [[ 9.83190896e-01 1.79865142e-01 3.13718404e-02 2.05194082e+02] [-1.79781882e-01 9.83691245e-01 -5.47804047e-03 -3.25663665e+01] [-3.18455133e-02 -2.54129002e-04 9.99492771e-01 -8.93598266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21264000000002 meters 0.01493312545574381 Centerline is valid? [True, True] Translation: X:205.23, Y:-32.58, Z:-8.93 [[ 9.83578317e-01 1.77475926e-01 3.28022832e-02 2.05225672e+02] [-1.77383327e-01 9.84125126e-01 -5.73510340e-03 -3.25758311e+01] [-3.32993939e-02 -1.77654767e-04 9.99445406e-01 -8.93438249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24264000000002 meters 0.013959146842219449 Centerline is valid? [True, True] Translation: X:205.26, Y:-32.58, Z:-8.93 [[ 9.83813279e-01 1.76117058e-01 3.30789105e-02 2.05256826e+02] [-1.76022100e-01 9.84369222e-01 -5.78412664e-03 -3.25840126e+01] [-3.35805447e-02 -1.32118687e-04 9.99436006e-01 -8.93372292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.27264000000002 meters 0.01438904850381185 Centerline is valid? [True, True] Translation: X:205.29, Y:-32.59, Z:-8.94 [[ 9.84056819e-01 1.74840538e-01 3.26031071e-02 2.05288142e+02] [-1.74747399e-01 9.84596760e-01 -5.70673390e-03 -3.25912161e+01] [-3.30986821e-02 -8.15577590e-05 9.99452085e-01 -8.93826548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30264000000003 meters 0.013831503694496745 Centerline is valid? [True, True] Translation: X:205.32, Y:-32.60, Z:-8.94 [[ 9.84321538e-01 1.73364129e-01 3.24959712e-02 2.05320203e+02] [-1.73270588e-01 9.84857796e-01 -5.69432922e-03 -3.25996764e+01] [-3.29911030e-02 -2.55451281e-05 9.99455645e-01 -8.93825050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.33264000000003 meters 0.013767234460362196 Centerline is valid? [True, True] Translation: X:205.35, Y:-32.61, Z:-8.94 [[ 9.84646889e-01 1.71428364e-01 3.29062392e-02 2.05352293e+02] [-1.71331137e-01 9.85196586e-01 -5.77301041e-03 -3.26093646e+01] [-3.34087722e-02 4.65133529e-05 9.99441770e-01 -8.93940544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36264000000003 meters 0.014153727938623772 Centerline is valid? [True, True] Translation: X:205.38, Y:-32.62, Z:-8.94 [[ 9.84844028e-01 1.70341225e-01 3.26513039e-02 2.05382092e+02] [-1.70244635e-01 9.85385132e-01 -5.73630796e-03 -3.26166371e+01] [-3.31512392e-02 9.06593101e-05 9.99450342e-01 -8.94161834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.39264000000003 meters 0.014874776175673008 Centerline is valid? [True, True] Translation: X:205.41, Y:-32.62, Z:-8.94 [[ 9.85035725e-01 1.69240769e-01 3.25911507e-02 2.05413275e+02] [-1.69143878e-01 9.85574728e-01 -5.72741233e-03 -3.26249374e+01] [-3.30903261e-02 1.29112158e-04 9.99452357e-01 -8.94469780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42264000000003 meters 0.01600554001939533 Centerline is valid? [True, True] Translation: X:205.44, Y:-32.64, Z:-8.94 [[ 9.85606346e-01 1.65651117e-01 3.37615021e-02 2.05444449e+02] [-1.65544800e-01 9.86184383e-01 -5.93987531e-03 -3.26360211e+01] [-3.42790131e-02 2.65337665e-04 9.99412267e-01 -8.94267937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.45264000000003 meters 0.017252719541254912 Centerline is valid? [True, True] Translation: X:205.48, Y:-32.65, Z:-8.94 [[ 9.85983688e-01 1.63304659e-01 3.41724291e-02 2.05475051e+02] [-1.63194115e-01 9.86575623e-01 -6.01830074e-03 -3.26457913e+01] [-3.46965020e-02 3.57207024e-04 9.99397831e-01 -8.94331343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48264000000003 meters 0.019901216196176998 Centerline is valid? [True, True] Translation: X:205.50, Y:-32.66, Z:-8.95 [[ 9.86409677e-01 1.60706844e-01 3.41944348e-02 2.05504539e+02] [-1.60594378e-01 9.87002079e-01 -6.02847150e-03 -3.26574470e+01] [-3.47187949e-02 4.55108619e-04 9.99397017e-01 -8.94605199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.51264000000003 meters 0.025056365101242862 Centerline is valid? [True, True] Translation: X:205.53, Y:-32.67, Z:-8.95 [[ 9.87288531e-01 1.55243683e-01 3.40698552e-02 2.05532545e+02] [-1.55128538e-01 9.87875991e-01 -6.01355660e-03 -3.26745798e+01] [-3.45903586e-02 6.51908654e-04 9.99401362e-01 -8.94765974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54264000000003 meters 0.025471706600443834 Centerline is valid? [True, True] Translation: X:205.56, Y:-32.68, Z:-8.95 [[ 9.87580269e-01 1.53320670e-01 3.43217696e-02 2.05563429e+02] [-1.53202665e-01 9.88176223e-01 -6.05770929e-03 -3.26832115e+01] [-3.48447287e-02 7.24287601e-04 9.99392476e-01 -8.94731750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.57264000000004 meters 0.026731730405669105 Centerline is valid? [True, True] Translation: X:205.59, Y:-32.69, Z:-8.95 [[ 9.87826561e-01 1.51669694e-01 3.45686285e-02 2.05594026e+02] [-1.51548756e-01 9.88430915e-01 -6.10750947e-03 -3.26934458e+01] [-3.50950251e-02 7.94327440e-04 9.99383664e-01 -8.94787239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60264000000004 meters 0.03473085061347413 Centerline is valid? [True, True] Translation: X:205.63, Y:-32.70, Z:-8.95 [[ 9.88015798e-01 1.50366284e-01 3.48534568e-02 2.05625290e+02] [-1.50242310e-01 9.88629987e-01 -6.16413261e-03 -3.27027171e+01] [-3.53840502e-02 8.53796538e-04 9.99373424e-01 -8.94755101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.63264000000004 meters 0.033149018996418166 Centerline is valid? [True, True] Translation: X:205.65, Y:-32.72, Z:-8.95 [[ 9.88194814e-01 1.49314097e-01 3.42973653e-02 2.05654400e+02] [-1.49193172e-01 9.88789421e-01 -6.07281082e-03 -3.27176150e+01] [-3.48196282e-02 8.84187455e-04 9.99393222e-01 -8.95047577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66264000000004 meters 0.030045177295946305 Centerline is valid? [True, True] Translation: X:205.69, Y:-32.73, Z:-8.95 [[ 9.88135126e-01 1.49851350e-01 3.36681618e-02 2.05685764e+02] [-1.49735067e-01 9.88708172e-01 -5.96332466e-03 -3.27265784e+01] [-3.41815989e-02 8.51266100e-04 9.99415276e-01 -8.95430296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.69264000000004 meters 0.029574537730812745 Centerline is valid? [True, True] Translation: X:205.72, Y:-32.73, Z:-8.96 [[ 9.87985743e-01 1.50999060e-01 3.29158729e-02 2.05715548e+02] [-1.50888325e-01 9.88533582e-01 -5.83693851e-03 -3.27345516e+01] [-3.34198180e-02 8.00191093e-04 9.99441082e-01 -8.95735912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.72264000000004 meters 0.024208209986456654 Centerline is valid? [True, True] Translation: X:205.75, Y:-32.74, Z:-8.96 [[ 9.87412181e-01 1.55015333e-01 3.14234326e-02 2.05746375e+02] [-1.54916234e-01 9.87911857e-01 -5.57890495e-03 -3.27387860e+01] [-3.19083975e-02 6.40678853e-04 9.99490592e-01 -8.95960824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.75264000000004 meters 0.02960220723348541 Centerline is valid? [True, True] Translation: X:205.78, Y:-32.75, Z:-8.96 [[ 9.87005680e-01 1.57810064e-01 3.02617119e-02 2.05776779e+02] [-1.57719513e-01 9.87469343e-01 -5.37131043e-03 -3.27450663e+01] [-3.07301596e-02 5.28651436e-04 9.99527577e-01 -8.96271228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.78264000000004 meters 0.02164271970474763 Centerline is valid? [True, True] Translation: X:205.81, Y:-32.75, Z:-8.97 [[ 9.86385976e-01 1.61656654e-01 3.01634433e-02 2.05807268e+02] [-1.61568299e-01 9.86846977e-01 -5.35998213e-03 -3.27500267e+01] [-3.06331796e-02 4.13554974e-04 9.99530608e-01 -8.96738055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.81264000000004 meters 0.03000099280887614 Centerline is valid? [True, True] Translation: X:205.84, Y:-32.75, Z:-8.97 [[ 9.85698564e-01 1.65770382e-01 3.03071063e-02 2.05839506e+02] [-1.65683067e-01 9.86164336e-01 -5.38742516e-03 -3.27515497e+01] [-3.07808629e-02 2.89002914e-04 9.99526115e-01 -8.96516736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.84264000000002 meters 0.013600805019947256 Centerline is valid? [True, True] Translation: X:205.87, Y:-32.75, Z:-8.97 [[ 9.83959530e-01 1.75503858e-01 3.19693313e-02 2.05870963e+02] [-1.75411563e-01 9.84478743e-01 -5.69103471e-03 -3.27496527e+01] [-3.24719256e-02 -8.04252257e-06 9.99472648e-01 -8.96558661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.87264000000002 meters 0.014590075631574015 Centerline is valid? [True, True] Translation: X:205.90, Y:-32.75, Z:-8.97 [[ 9.82918183e-01 1.81085562e-01 3.28612993e-02 2.05904599e+02] [-1.80991200e-01 9.83467325e-01 -5.84860209e-03 -3.27496864e+01] [-3.33771115e-02 -1.98908637e-04 9.99442809e-01 -8.96524960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.90264000000002 meters 0.018116325061706684 Centerline is valid? [True, True] Translation: X:205.94, Y:-32.75, Z:-8.97 [[ 9.81829222e-01 1.86806893e-01 3.33850658e-02 2.05937123e+02] [-1.86712559e-01 9.82396575e-01 -5.94893092e-03 -3.27485985e+01] [-3.39086756e-02 -3.92576853e-04 9.99424858e-01 -8.96619571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93264000000002 meters 0.03162031028826002 Centerline is valid? [True, True] Translation: X:205.97, Y:-32.73, Z:-8.97 [[ 9.79711079e-01 1.97693507e-01 3.29162515e-02 2.05969830e+02] [-1.97607672e-01 9.80263594e-01 -5.87316217e-03 -3.27348892e+01] [-3.34276890e-02 -7.50501786e-04 9.99440857e-01 -8.97110184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96264000000002 meters 0.034206730421570915 Centerline is valid? [True, True] Translation: X:206.00, Y:-32.74, Z:-8.97 [[ 9.78682440e-01 2.02789361e-01 3.25139354e-02 2.06000958e+02] [-2.02708438e-01 9.79221956e-01 -5.80078244e-03 -3.27365772e+01] [-3.30146965e-02 -9.13725163e-04 9.99454449e-01 -8.97170464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.99264000000002 meters 0.04360830944194186 Centerline is valid? [True, True] Translation: X:206.03, Y:-32.74, Z:-8.97 [[ 9.77791107e-01 2.07115233e-01 3.20598103e-02 2.06032416e+02] [-2.07038863e-01 9.78315997e-01 -5.72013988e-03 -3.27356660e+01] [-3.25493534e-02 -1.04452476e-03 9.99469584e-01 -8.97250800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02264000000002 meters 0.0474885121558472 Centerline is valid? [True, True] Translation: X:206.06, Y:-32.73, Z:-8.97 [[ 9.76073699e-01 2.14932736e-01 3.29249690e-02 2.06063732e+02] [-2.14856597e-01 9.76627936e-01 -5.87518934e-03 -3.27275470e+01] [-3.34182151e-02 -1.33952902e-03 9.99440558e-01 -8.97369257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.05264000000003 meters 0.05242725838978348 Centerline is valid? [True, True] Translation: X:206.09, Y:-32.72, Z:-8.98 [[ 9.75387181e-01 2.17987421e-01 3.31863086e-02 2.06094087e+02] [-2.17911844e-01 9.75950493e-01 -5.92146392e-03 -3.27247602e+01] [-3.36789989e-02 -1.45596970e-03 9.99431641e-01 -8.97541848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08264000000003 meters 0.053656962470296596 Centerline is valid? [True, True] Translation: X:206.12, Y:-32.73, Z:-8.98 [[ 9.74899244e-01 2.20178026e-01 3.30620796e-02 2.06123733e+02] [-2.20104274e-01 9.75458512e-01 -5.89918438e-03 -3.27262960e+01] [-3.35495578e-02 -1.52599464e-03 9.99435890e-01 -8.97653449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.11264000000003 meters 0.05692868294038144 Centerline is valid? [True, True] Translation: X:206.15, Y:-32.72, Z:-8.98 [[ 9.74610722e-01 2.21467714e-01 3.29543828e-02 2.06152496e+02] [-2.21395216e-01 9.75166446e-01 -5.87881678e-03 -3.27246970e+01] [-3.34379765e-02 -1.56638481e-03 9.99439567e-01 -8.97836971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14264000000003 meters 0.055240604157204325 Centerline is valid? [True, True] Translation: X:206.18, Y:-32.73, Z:-8.98 [[ 9.74422548e-01 2.22171749e-01 3.37699926e-02 2.06181875e+02] [-2.22096076e-01 9.75006181e-01 -6.02322794e-03 -3.27267219e+01] [-3.42641426e-02 -1.63101372e-03 9.99411481e-01 -8.97809705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.17264000000003 meters 0.053312454916403046 Centerline is valid? [True, True] Translation: X:206.21, Y:-32.73, Z:-8.98 [[ 9.74595134e-01 2.21326567e-01 3.43347504e-02 2.06210830e+02] [-2.21247880e-01 9.75198387e-01 -6.12217178e-03 -3.27314686e+01] [-3.48381925e-02 -1.62985192e-03 9.99391637e-01 -8.97882703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20264000000003 meters 0.048036639959460434 Centerline is valid? [True, True] Translation: X:206.24, Y:-32.74, Z:-8.98 [[ 9.75452886e-01 2.17387475e-01 3.51333620e-02 2.06241024e+02] [-2.17302592e-01 9.76084197e-01 -6.26294650e-03 -3.27380470e+01] [-3.56546055e-02 -1.52536139e-03 9.99363008e-01 -8.97886891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.23264000000003 meters 0.04760411539404745 Centerline is valid? [True, True] Translation: X:206.27, Y:-32.74, Z:-8.98 [[ 9.76017740e-01 2.14827722e-01 3.51912191e-02 2.06269352e+02] [-2.14740901e-01 9.76650906e-01 -6.27319611e-03 -3.27406900e+01] [-3.57171925e-02 -1.43424340e-03 9.99360908e-01 -8.98106495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26264000000003 meters 0.0420935800848818 Centerline is valid? [True, True] Translation: X:206.30, Y:-32.75, Z:-8.98 [[ 9.76694284e-01 2.11776436e-01 3.49144311e-02 2.06297930e+02] [-2.11689030e-01 9.77317256e-01 -6.22380460e-03 -3.27504918e+01] [-3.54405311e-02 -1.31224766e-03 9.99370926e-01 -8.98223003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.29264000000003 meters 0.0420935800848818 Centerline is valid? [True, True] Translation: X:206.33, Y:-32.76, Z:-8.98 [[ 9.76704323e-01 2.11730127e-01 3.49144417e-02 2.06325827e+02] [-2.11642693e-01 9.77327292e-01 -6.22374489e-03 -3.27553761e+01] [-3.54405911e-02 -1.31062794e-03 9.99370926e-01 -8.98352202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32264000000004 meters 0.03698326032091567 Centerline is valid? [True, True] Translation: X:206.36, Y:-32.76, Z:-8.98 [[ 9.77470405e-01 2.08212626e-01 3.46281680e-02 2.06355246e+02] [-2.08124491e-01 9.78082880e-01 -6.17053589e-03 -3.27646510e+01] [-3.51540018e-02 -1.17545362e-03 9.99381216e-01 -8.98465696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.35264000000004 meters 0.03185263971153559 Centerline is valid? [True, True] Translation: X:206.38, Y:-32.77, Z:-8.99 [[ 9.79218437e-01 1.99799893e-01 3.48030971e-02 2.06384170e+02] [-1.99705548e-01 9.79836330e-01 -6.20171583e-03 -3.27719174e+01] [-3.53404410e-02 -8.77537103e-04 9.99374946e-01 -8.98816865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38264000000004 meters 0.03193716070984763 Centerline is valid? [True, True] Translation: X:206.41, Y:-32.78, Z:-8.99 [[ 9.80206150e-01 1.94897717e-01 3.47962995e-02 2.06412891e+02] [-1.94800321e-01 9.80823322e-01 -6.20046612e-03 -3.27845253e+01] [-3.53374788e-02 -7.00595291e-04 9.99375191e-01 -8.98751453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.41264000000004 meters 0.026867392805314933 Centerline is valid? [True, True] Translation: X:206.44, Y:-32.79, Z:-8.99 [[ 9.81184680e-01 1.89892227e-01 3.48936265e-02 2.06442284e+02] [-1.89791128e-01 9.81804802e-01 -6.21756074e-03 -3.27935403e+01] [-3.54393965e-02 -5.21925389e-04 9.99371691e-01 -8.99009665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.44264000000004 meters 0.016965934719222506 Centerline is valid? [True, True] Translation: X:206.47, Y:-32.81, Z:-8.99 [[ 9.82121557e-01 1.84932326e-01 3.51750299e-02 2.06472161e+02] [-1.84826375e-01 9.82751197e-01 -6.26859301e-03 -3.28054443e+01] [-3.57275682e-02 -3.44752938e-04 9.99361507e-01 -8.99171522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.47264000000004 meters 0.012808980339043364 Centerline is valid? [True, True] Translation: X:206.50, Y:-32.82, Z:-8.99 [[ 9.83770910e-01 1.75947764e-01 3.51735799e-02 2.06501286e+02] [-1.75836092e-01 9.84399504e-01 -6.26775891e-03 -3.28236204e+01] [-3.57276528e-02 -1.87459470e-05 9.99361563e-01 -8.99288222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.50264000000004 meters 0.01343258591664342 Centerline is valid? [True, True] Translation: X:206.53, Y:-32.84, Z:-8.99 [[ 9.84422874e-01 1.72285608e-01 3.50610184e-02 2.06533079e+02] [-1.72172121e-01 9.85047032e-01 -6.25345517e-03 -3.28350052e+01] [-3.56141325e-02 1.19514405e-04 9.99365608e-01 -8.99449367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.53264000000004 meters 0.015159236583145469 Centerline is valid? [True, True] Translation: X:206.56, Y:-32.85, Z:-9.00 [[ 9.84978147e-01 1.69177718e-01 3.45969501e-02 2.06563106e+02] [-1.69065046e-01 9.85585534e-01 -6.17788522e-03 -3.28450780e+01] [-3.51434140e-02 2.35946985e-04 9.99382252e-01 -8.99643335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.56264000000004 meters 0.018844852625379965 Centerline is valid? [True, True] Translation: X:206.59, Y:-32.86, Z:-9.00 [[ 9.85920342e-01 1.63664450e-01 3.42786585e-02 2.06593327e+02] [-1.63550276e-01 9.86515970e-01 -6.12770711e-03 -3.28579455e+01] [-3.48193318e-02 4.35147038e-04 9.99393528e-01 -8.99785466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.59264000000002 meters 0.021374253190661045 Centerline is valid? [True, True] Translation: X:206.62, Y:-32.87, Z:-9.00 [[ 9.86214367e-01 1.61760031e-01 3.48556373e-02 2.06623356e+02] [-1.61640743e-01 9.86829990e-01 -6.23220629e-03 -3.28685432e+01] [-3.54047101e-02 5.12200279e-04 9.99372925e-01 -8.99979782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.62264000000002 meters 0.023192588222715447 Centerline is valid? [True, True] Translation: X:206.65, Y:-32.88, Z:-9.00 [[ 9.86469181e-01 1.60143608e-01 3.51081167e-02 2.06653002e+02] [-1.60021463e-01 9.87093558e-01 -6.28007902e-03 -3.28779388e+01] [-3.56607103e-02 5.77052204e-04 9.99363788e-01 -9.00059989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.65264000000002 meters 0.023628083576937523 Centerline is valid? [True, True] Translation: X:206.68, Y:-32.89, Z:-9.00 [[ 9.86659047e-01 1.58952890e-01 3.51838475e-02 2.06684413e+02] [-1.58829267e-01 9.87285970e-01 -6.29905741e-03 -3.28860436e+01] [-3.57377724e-02 6.26797287e-04 9.99361005e-01 -9.00170506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68264000000002 meters 0.02490912349534573 Centerline is valid? [True, True] Translation: X:206.72, Y:-32.90, Z:-9.00 [[ 9.86930590e-01 1.57223008e-01 3.53402992e-02 2.06715257e+02] [-1.57096955e-01 9.87562878e-01 -6.33314445e-03 -3.28973445e+01] [-3.58964836e-02 6.98520573e-04 9.99355269e-01 -9.00275453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71264000000002 meters 0.035305234319510735 Centerline is valid? [True, True] Translation: X:206.75, Y:-32.91, Z:-9.00 [[ 9.86952971e-01 1.57168500e-01 3.49556109e-02 2.06745635e+02] [-1.57044926e-01 9.87571554e-01 -6.27034073e-03 -3.29069864e+01] [-3.55066670e-02 6.98930104e-04 9.99369195e-01 -9.00331060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74264000000002 meters 0.03390856300334078 Centerline is valid? [True, True] Translation: X:206.78, Y:-32.91, Z:-9.00 [[ 9.86872799e-01 1.57634938e-01 3.51184406e-02 2.06776810e+02] [-1.57510304e-01 9.87497215e-01 -6.30517529e-03 -3.29139634e+01] [-3.56732782e-02 6.90889724e-04 9.99363267e-01 -9.00493780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.77264000000002 meters 0.025563515127753345 Centerline is valid? [True, True] Translation: X:206.81, Y:-32.92, Z:-9.01 [[ 9.86742949e-01 1.58406020e-01 3.52970960e-02 2.06807467e+02] [-1.58280387e-01 9.87373830e-01 -6.34338580e-03 -3.29206327e+01] [-3.58562594e-02 6.72453185e-04 9.99356731e-01 -9.00817447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80264000000003 meters 0.03812246241412321 Centerline is valid? [True, True] Translation: X:206.84, Y:-32.93, Z:-9.01 [[ 9.86423657e-01 1.60579642e-01 3.43881912e-02 2.06839290e+02] [-1.60461511e-01 9.87022714e-01 -6.18593530e-03 -3.29280027e+01] [-3.49352611e-02 5.83971794e-04 9.99389407e-01 -9.01015443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.83264000000003 meters 0.022420422272304254 Centerline is valid? [True, True] Translation: X:206.87, Y:-32.93, Z:-9.01 [[ 9.86125008e-01 1.62228210e-01 3.52062078e-02 2.06870308e+02] [-1.62105348e-01 9.86753118e-01 -6.33564666e-03 -3.29338569e+01] [-3.57676560e-02 5.40625039e-04 9.99359986e-01 -9.01256210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86264000000003 meters 0.01910887351667567 Centerline is valid? [True, True] Translation: X:206.90, Y:-32.94, Z:-9.02 [[ 9.85515286e-01 1.66048038e-01 3.44625981e-02 2.06902272e+02] [-1.65932450e-01 9.86117584e-01 -6.20744931e-03 -3.29383496e+01] [-3.50149088e-02 3.99072849e-04 9.99386710e-01 -9.01574493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.89264000000003 meters 0.01732149350449052 Centerline is valid? [True, True] Translation: X:206.93, Y:-32.94, Z:-9.02 [[ 9.85184464e-01 1.68009582e-01 3.44144160e-02 2.06934563e+02] [-1.67895283e-01 9.85785305e-01 -6.20532974e-03 -3.29434390e+01] [-3.49677805e-02 3.35376327e-04 9.99388384e-01 -9.01695719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92264000000003 meters 0.01495874831924762 Centerline is valid? [True, True] Translation: X:206.97, Y:-32.95, Z:-9.02 [[ 9.84497962e-01 1.72019434e-01 3.42502250e-02 2.06965177e+02] [-1.71908562e-01 9.85093537e-01 -6.17816706e-03 -3.29470218e+01] [-3.48024401e-02 1.94485938e-04 9.99394193e-01 -9.01978437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.95264000000003 meters 0.014145987265036545 Centerline is valid? [True, True] Translation: X:207.00, Y:-32.95, Z:-9.02 [[ 9.84148755e-01 1.74059996e-01 3.39756753e-02 2.06996733e+02] [-1.73951930e-01 9.84735041e-01 -6.13386831e-03 -3.29511559e+01] [-3.45246992e-02 1.26504556e-04 9.99403837e-01 -9.02159349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98264000000003 meters 0.01317680939156616 Centerline is valid? [True, True] Translation: X:207.03, Y:-32.95, Z:-9.02 [[ 9.83738642e-01 1.76311107e-01 3.42443770e-02 2.07028514e+02] [-1.76202486e-01 9.84334491e-01 -6.18815173e-03 -3.29544728e+01] [-3.47989613e-02 5.35796138e-05 9.99394331e-01 -9.02123669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.01264000000003 meters 0.012797173018750106 Centerline is valid? [True, True] Translation: X:207.06, Y:-32.96, Z:-9.02 [[ 9.83297056e-01 1.78588886e-01 3.51128233e-02 2.07060121e+02] [-1.78475906e-01 9.83923782e-01 -6.35150866e-03 -3.29582251e+01] [-3.56826508e-02 -2.13731712e-05 9.99363171e-01 -9.02153141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04264000000003 meters 0.014087846932949767 Centerline is valid? [True, True] Translation: X:207.09, Y:-32.96, Z:-9.02 [[ 9.82456812e-01 1.83033791e-01 3.57385612e-02 2.07091809e+02] [-1.82919452e-01 9.83106606e-01 -6.47109524e-03 -3.29599333e+01] [-3.63192447e-02 -1.79706420e-04 9.99340222e-01 -9.02348299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.07264000000004 meters 0.014982730736046543 Centerline is valid? [True, True] Translation: X:207.12, Y:-32.96, Z:-9.02 [[ 9.82059276e-01 1.85124443e-01 3.58959505e-02 2.07123627e+02] [-1.85010233e-01 9.82715054e-01 -6.50663755e-03 -3.29644730e+01] [-3.64800286e-02 -2.51214402e-04 9.99334351e-01 -9.02390628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.10264000000004 meters 0.01568819148495944 Centerline is valid? [True, True] Translation: X:207.16, Y:-32.97, Z:-9.02 [[ 9.81645013e-01 1.87247019e-01 3.62163159e-02 2.07155198e+02] [-1.87131978e-01 9.82312805e-01 -6.57083704e-03 -3.29693018e+01] [-3.68061205e-02 -3.27001399e-04 9.99322372e-01 -9.02396531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.13264000000004 meters 0.01743106344773099 Centerline is valid? [True, True] Translation: X:207.19, Y:-32.97, Z:-9.03 [[ 9.81093647e-01 1.90180662e-01 3.58688189e-02 2.07186761e+02] [-1.90069523e-01 9.81749018e-01 -6.51477424e-03 -3.29722873e+01] [-3.64531619e-02 -4.25965690e-04 9.99335272e-01 -9.02563669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16264000000004 meters 0.019555967962921698 Centerline is valid? [True, True] Translation: X:207.22, Y:-32.97, Z:-9.03 [[ 9.80891117e-01 1.91310583e-01 3.53960191e-02 2.07217703e+02] [-1.91202973e-01 9.81529445e-01 -6.43216093e-03 -3.29745404e+01] [-3.59727755e-02 -4.58574569e-04 9.99352665e-01 -9.02968499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.19264000000004 meters 0.019621991663033203 Centerline is valid? [True, True] Translation: X:207.25, Y:-32.98, Z:-9.03 [[ 9.80718587e-01 1.92207407e-01 3.53180560e-02 2.07249552e+02] [-1.92100755e-01 9.81354205e-01 -6.42067259e-03 -3.29800300e+01] [-3.58936236e-02 -4.87752279e-04 9.99355497e-01 -9.03099440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.22264000000004 meters 0.01951746599491957 Centerline is valid? [True, True] Translation: X:207.28, Y:-32.99, Z:-9.03 [[ 9.80583559e-01 1.92923391e-01 3.51631867e-02 2.07280922e+02] [-1.92817918e-01 9.81213692e-01 -6.39852933e-03 -3.29853274e+01] [-3.57370263e-02 -5.05799779e-04 9.99361100e-01 -9.03246774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.25264000000004 meters 0.021482019558219403 Centerline is valid? [True, True] Translation: X:207.31, Y:-32.99, Z:-9.04 [[ 9.80416724e-01 1.93886921e-01 3.45095412e-02 2.07311538e+02] [-1.93785716e-01 9.81023744e-01 -6.28567924e-03 -3.29884720e+01] [-3.50733903e-02 -5.24871107e-04 9.99384602e-01 -9.03620672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.28264000000004 meters 0.02057900648512524 Centerline is valid? [True, True] Translation: X:207.34, Y:-33.00, Z:-9.04 [[ 9.80433177e-01 1.93858932e-01 3.41979619e-02 2.07344138e+02] [-1.93759352e-01 9.81029281e-01 -6.23406616e-03 -3.29961763e+01] [-3.47577314e-02 -5.14089635e-04 9.99395635e-01 -9.03793554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.31264000000004 meters 0.02081688098801153 Centerline is valid? [True, True] Translation: X:207.37, Y:-33.00, Z:-9.04 [[ 9.80543243e-01 1.93334179e-01 3.40124160e-02 2.07374823e+02] [-1.93235092e-01 9.81132845e-01 -6.20800895e-03 -3.30018414e+01] [-3.45709188e-02 -4.85171131e-04 9.99402129e-01 -9.04049269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.34264000000002 meters 0.019656034987454333 Centerline is valid? [True, True] Translation: X:207.41, Y:-33.01, Z:-9.04 [[ 9.80711343e-01 1.92464096e-01 3.41003524e-02 2.07406442e+02] [-1.92363881e-01 9.81303911e-01 -6.22661535e-03 -3.30095898e+01] [-3.46612090e-02 -4.53163829e-04 9.99399017e-01 -9.04142882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.37264000000002 meters 0.016285018047728132 Centerline is valid? [True, True] Translation: X:207.44, Y:-33.02, Z:-9.04 [[ 9.81405957e-01 1.88662298e-01 3.53395610e-02 2.07436591e+02] [-1.88551932e-01 9.82041971e-01 -6.46033613e-03 -3.30218031e+01] [-3.59237540e-02 -3.23130153e-04 9.99354481e-01 -9.04095727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.40264000000002 meters 0.014052590457943931 Centerline is valid? [True, True] Translation: X:207.46, Y:-33.04, Z:-9.04 [[ 9.81520227e-01 1.86847055e-01 4.13064504e-02 2.07461108e+02] [-1.87264339e-01 9.82288444e-01 6.44048391e-03 -3.30410485e+01] [-3.93714635e-02 -1.40566904e-02 9.99125767e-01 -9.03979982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43264000000002 meters 0.01336949746214259 Centerline is valid? [True, True] Translation: X:207.50, Y:-33.04, Z:-9.04 [[ 9.82288703e-01 1.84337667e-01 3.35935776e-02 2.07498818e+02] [-1.83750239e-01 9.82772858e-01 -1.98332981e-02 -3.30352540e+01] [-3.66708802e-02 1.33091967e-02 9.99238766e-01 -9.04428494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46264000000002 meters 0.012863673949681279 Centerline is valid? [True, True] Translation: X:207.53, Y:-33.06, Z:-9.05 [[ 9.83226250e-01 1.78898591e-01 3.55166982e-02 2.07527752e+02] [-1.78780390e-01 9.83867518e-01 -6.50230055e-03 -3.30584361e+01] [-3.61069781e-02 4.35434264e-05 9.99347930e-01 -9.04533548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.49264000000002 meters 0.021106360929101457 Centerline is valid? [True, True] Translation: X:207.56, Y:-33.07, Z:-9.05 [[ 9.83616424e-01 1.76856585e-01 3.49353487e-02 2.07558293e+02] [-1.76740687e-01 9.84236624e-01 -6.40286233e-03 -3.30690098e+01] [-3.55170381e-02 1.23463019e-04 9.99369063e-01 -9.04604729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52264000000002 meters 0.013921020696580627 Centerline is valid? [True, True] Translation: X:207.59, Y:-33.08, Z:-9.05 [[ 9.83801624e-01 1.75742423e-01 3.53406902e-02 2.07589359e+02] [-1.75622880e-01 9.84436169e-01 -6.48327669e-03 -3.30798754e+01] [-3.59300405e-02 1.71624346e-04 9.99354293e-01 -9.04863332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.55264000000003 meters 0.014789807053692398 Centerline is valid? [True, True] Translation: X:207.62, Y:-33.09, Z:-9.05 [[ 9.83996737e-01 1.74717435e-01 3.49891484e-02 2.07619641e+02] [-1.74599347e-01 9.84618592e-01 -6.42618843e-03 -3.30896154e+01] [-3.55737332e-02 2.14265979e-04 9.99367031e-01 -9.05111737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58264000000003 meters 0.026462742955892963 Centerline is valid? [True, True] Translation: X:207.65, Y:-33.10, Z:-9.05 [[ 9.84114709e-01 1.74215703e-01 3.41632633e-02 2.07650678e+02] [-1.74102638e-01 9.84707487e-01 -6.27984482e-03 -3.30984114e+01] [-3.47348687e-02 2.32173393e-04 9.99396535e-01 -9.05253864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.61264000000003 meters 0.021891787475584703 Centerline is valid? [True, True] Translation: X:207.68, Y:-33.10, Z:-9.05 [[ 9.83956551e-01 1.75119068e-01 3.41001032e-02 2.07683160e+02] [-1.75006772e-01 9.84547241e-01 -6.27375063e-03 -3.31042942e+01] [-3.46718159e-02 2.05349043e-04 9.99398731e-01 -9.05279247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64264000000003 meters 0.013849543472840283 Centerline is valid? [True, True] Translation: X:207.71, Y:-33.11, Z:-9.05 [[ 9.83598456e-01 1.76915865e-01 3.51404858e-02 2.07713999e+02] [-1.76797478e-01 9.84225966e-01 -6.47294505e-03 -3.31099357e+01] [-3.57313452e-02 1.54029502e-04 9.99361420e-01 -9.05481417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.67264000000003 meters 0.012497587477186971 Centerline is valid? [True, True] Translation: X:207.74, Y:-33.11, Z:-9.06 [[ 9.82647965e-01 1.81149325e-01 3.98484475e-02 2.07743369e+02] [-1.81201767e-01 9.83443200e-01 -2.32190912e-03 -3.31140736e+01] [-3.96092970e-02 -4.93898982e-03 9.99203037e-01 -9.05657055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70264000000003 meters 0.01309200389526958 Centerline is valid? [True, True] Translation: X:207.78, Y:-33.11, Z:-9.06 [[ 9.82201733e-01 1.84584148e-01 3.47627322e-02 2.07777341e+02] [-1.84297154e-01 9.82805445e-01 -1.13144692e-02 -3.31115256e+01] [-3.62534741e-02 4.70641864e-03 9.99331544e-01 -9.05777319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.73264000000003 meters 0.014193552699318265 Centerline is valid? [True, True] Translation: X:207.81, Y:-33.12, Z:-9.06 [[ 9.81620399e-01 1.87484734e-01 3.56492071e-02 2.07808638e+02] [-1.87369333e-01 9.82267492e-01 -6.58080350e-03 -3.31167653e+01] [-3.62508575e-02 -2.19717191e-04 9.99342698e-01 -9.05848813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76264000000003 meters 0.01604498939560798 Centerline is valid? [True, True] Translation: X:207.84, Y:-33.12, Z:-9.06 [[ 9.80995844e-01 1.90639074e-01 3.61095317e-02 2.07840458e+02] [-1.90522549e-01 9.81660141e-01 -6.67279572e-03 -3.31186274e+01] [-3.67193836e-02 -3.33695172e-04 9.99325560e-01 -9.05930117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.79264000000003 meters 0.02095057702854635 Centerline is valid? [True, True] Translation: X:207.87, Y:-33.12, Z:-9.06 [[ 9.79876790e-01 1.96311152e-01 3.61027417e-02 2.07872040e+02] [-1.96198367e-01 9.80541502e-01 -6.67554704e-03 -3.31156666e+01] [-3.67107209e-02 -5.42085357e-04 9.99325787e-01 -9.06120824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82264000000004 meters 0.021909458226809318 Centerline is valid? [True, True] Translation: X:207.90, Y:-33.12, Z:-9.06 [[ 9.79420577e-01 1.98654455e-01 3.56614744e-02 2.07903456e+02] [-1.98545978e-01 9.80069395e-01 -6.59354727e-03 -3.31194952e+01] [-3.62605572e-02 -6.22586448e-04 9.99342176e-01 -9.06215388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.85264000000004 meters 0.02504291322080292 Centerline is valid? [True, True] Translation: X:207.93, Y:-33.12, Z:-9.07 [[ 9.79009489e-01 2.00795604e-01 3.49506153e-02 2.07934766e+02] [-2.00692574e-01 9.79632921e-01 -6.46769066e-03 -3.31200604e+01] [-3.55374572e-02 -6.82398406e-04 9.99368112e-01 -9.06516111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88264000000004 meters 0.028522708577639323 Centerline is valid? [True, True] Translation: X:207.97, Y:-33.12, Z:-9.07 [[ 9.78349135e-01 2.04054592e-01 3.45643338e-02 2.07966990e+02] [-2.03955661e-01 9.78959195e-01 -6.40181697e-03 -3.31190821e+01] [-3.51433925e-02 -7.86379444e-04 9.99381971e-01 -9.06833546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.91264000000004 meters 0.029078734782028486 Centerline is valid? [True, True] Translation: X:208.00, Y:-33.12, Z:-9.07 [[ 9.78088712e-01 2.05283501e-01 3.46576964e-02 2.07998344e+02] [-2.05184614e-01 9.78702202e-01 -6.42454593e-03 -3.31235059e+01] [-3.52384170e-02 -8.27450198e-04 9.99378592e-01 -9.06913326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.94264000000004 meters 0.030792332369751787 Centerline is valid? [True, True] Translation: X:208.03, Y:-33.13, Z:-9.07 [[ 9.77952941e-01 2.05973321e-01 3.43953046e-02 2.08030151e+02] [-2.05876170e-01 9.78557246e-01 -6.38112496e-03 -3.31292309e+01] [-3.49721160e-02 -8.40733641e-04 9.99387935e-01 -9.06934571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.97264000000004 meters 0.029638354091815224 Centerline is valid? [True, True] Translation: X:208.06, Y:-33.13, Z:-9.07 [[ 9.77763238e-01 2.06720889e-01 3.52919733e-02 2.08061799e+02] [-2.06618864e-01 9.78399557e-01 -6.55382093e-03 -3.31312032e+01] [-3.58844627e-02 -8.83902243e-04 9.99355554e-01 -9.07061433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.00264000000004 meters 0.02837683036239901 Centerline is valid? [True, True] Translation: X:208.09, Y:-33.14, Z:-9.07 [[ 9.77773023e-01 2.06558122e-01 3.59674622e-02 2.08093909e+02] [-2.06451783e-01 9.78433929e-01 -6.68633329e-03 -3.31375092e+01] [-3.65729018e-02 -8.87830402e-04 9.99330593e-01 -9.06999553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.03264000000004 meters 0.029769063217879844 Centerline is valid? [True, True] Translation: X:208.13, Y:-33.14, Z:-9.07 [[ 9.77808726e-01 2.06294461e-01 3.65060296e-02 2.08125247e+02] [-2.06184620e-01 9.78489553e-01 -6.78942991e-03 -3.31397260e+01] [-3.71213904e-02 -8.88218024e-04 9.99310369e-01 -9.07137548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.06264000000004 meters 0.027798365264968886 Centerline is valid? [True, True] Translation: X:208.16, Y:-33.15, Z:-9.07 [[ 9.78205899e-01 2.04507877e-01 3.59130539e-02 2.08157142e+02] [-2.04400167e-01 9.78864590e-01 -6.68474934e-03 -3.31456456e+01] [-3.65211006e-02 -8.01572964e-04 9.99332561e-01 -9.07382938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.09264000000002 meters 0.025589087285661852 Centerline is valid? [True, True] Translation: X:208.19, Y:-33.15, Z:-9.08 [[ 9.78465916e-01 2.03273262e-01 3.58389801e-02 2.08188106e+02] [-2.03164949e-01 9.79121760e-01 -6.67697139e-03 -3.31533640e+01] [-3.64479750e-02 -7.48035631e-04 9.99335272e-01 -9.07528138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.12264000000002 meters 0.024905686221265853 Centerline is valid? [True, True] Translation: X:208.22, Y:-33.16, Z:-9.08 [[ 9.78762900e-01 2.01793564e-01 3.60907550e-02 2.08219071e+02] [-2.01682483e-01 9.79427833e-01 -6.73027411e-03 -3.31591375e+01] [-3.67064160e-02 -6.91530482e-04 9.99325853e-01 -9.07712259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.15264000000002 meters 0.029591785332675015 Centerline is valid? [True, True] Translation: X:208.25, Y:-33.17, Z:-9.08 [[ 9.79596831e-01 1.97811533e-01 3.55055758e-02 2.08248427e+02] [-1.97701160e-01 9.80239930e-01 -6.62805698e-03 -3.31669360e+01] [-3.61150892e-02 -5.26669905e-04 9.99347499e-01 -9.07847282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18264000000002 meters 0.019590654095766824 Centerline is valid? [True, True] Translation: X:208.28, Y:-33.18, Z:-9.08 [[ 9.79884072e-01 1.96320809e-01 3.58517037e-02 2.08279868e+02] [-1.96207312e-01 9.80539602e-01 -6.69169804e-03 -3.31751510e+01] [-3.64677349e-02 -4.77278081e-04 9.99334717e-01 -9.07983794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21264000000002 meters 0.019590654095766824 Centerline is valid? [True, True] Translation: X:208.31, Y:-33.18, Z:-9.08 [[ 9.79847260e-01 1.96504654e-01 3.58506509e-02 2.08311757e+02] [-1.96391073e-01 9.80502775e-01 -6.69733302e-03 -3.31813044e+01] [-3.64677198e-02 -4.78384393e-04 9.99334717e-01 -9.08132083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24264000000002 meters 0.02629706957430234 Centerline is valid? [True, True] Translation: X:208.34, Y:-33.19, Z:-9.08 [[ 9.80279534e-01 1.94346354e-01 3.57984687e-02 2.08342636e+02] [-1.94231406e-01 9.80932894e-01 -6.69468232e-03 -3.31902967e+01] [-3.64169826e-02 -3.90526836e-04 9.99336605e-01 -9.08107512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27264000000002 meters 0.014919468756028578 Centerline is valid? [True, True] Translation: X:208.37, Y:-33.20, Z:-9.08 [[ 9.80875074e-01 1.91149150e-01 3.66891241e-02 2.08372603e+02] [-1.91025919e-01 9.81560965e-01 -6.86801565e-03 -3.31990009e+01] [-3.73254274e-02 -2.71908307e-04 9.99303126e-01 -9.08210896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30264000000003 meters 0.013917144165107583 Centerline is valid? [True, True] Translation: X:208.40, Y:-33.21, Z:-9.08 [[ 9.81159904e-01 1.89784795e-01 3.61520932e-02 2.08404769e+02] [-1.89664020e-01 9.81825691e-01 -6.77293180e-03 -3.32073121e+01] [-3.67804533e-02 -2.11422189e-04 9.99323348e-01 -9.08350647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.33264000000003 meters 0.013580106322387875 Centerline is valid? [True, True] Translation: X:208.44, Y:-33.21, Z:-9.09 [[ 9.81410785e-01 1.88534653e-01 3.58825212e-02 2.08435762e+02] [-1.88414572e-01 9.82066525e-01 -6.72968531e-03 -3.32146772e+01] [-3.65078018e-02 -1.56204142e-04 9.99333356e-01 -9.08623054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36264000000003 meters 0.01342904947097491 Centerline is valid? [True, True] Translation: X:208.47, Y:-33.22, Z:-9.09 [[ 9.81655999e-01 1.87359646e-01 3.53250959e-02 2.08466554e+02] [-1.87242272e-01 9.82291378e-01 -6.63169739e-03 -3.32222463e+01] [-3.59420497e-02 -1.04305700e-04 9.99353870e-01 -9.08894055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.39264000000003 meters 0.017448793461337184 Centerline is valid? [True, True] Translation: X:208.50, Y:-33.23, Z:-9.09 [[ 9.82082189e-01 1.85191457e-01 3.49098555e-02 2.08498189e+02] [-1.85075201e-01 9.82702459e-01 -6.56095815e-03 -3.32309662e+01] [-3.55210343e-02 -1.75483837e-05 9.99368929e-01 -9.09041672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42264000000003 meters 0.012926942965172406 Centerline is valid? [True, True] Translation: X:208.53, Y:-33.24, Z:-9.09 [[ 9.82180694e-01 1.84657025e-01 3.49695366e-02 2.08530845e+02] [-1.84539963e-01 9.82803024e-01 -6.57410109e-03 -3.32383219e+01] [-3.55821202e-02 3.67817501e-06 9.99366756e-01 -9.09186523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.45264000000003 meters 0.013161301245336352 Centerline is valid? [True, True] Translation: X:208.56, Y:-33.25, Z:-9.09 [[ 9.82327446e-01 1.83847013e-01 3.51150250e-02 2.08562106e+02] [-1.83728196e-01 9.82954869e-01 -6.60877281e-03 -3.32456555e+01] [-3.57314879e-02 4.03587144e-05 9.99361426e-01 -9.09398184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48264000000003 meters 0.013258137150226626 Centerline is valid? [True, True] Translation: X:208.59, Y:-33.25, Z:-9.09 [[ 9.82445229e-01 1.83184405e-01 3.52823635e-02 2.08594503e+02] [-1.83063786e-01 9.83078567e-01 -6.64690432e-03 -3.32532777e+01] [-3.59029445e-02 7.12963877e-05 9.99355279e-01 -9.09455925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.51264000000003 meters 0.013836272158289307 Centerline is valid? [True, True] Translation: X:208.63, Y:-33.26, Z:-9.10 [[ 9.82728622e-01 1.81549856e-01 3.58344146e-02 2.08625645e+02] [-1.81424076e-01 9.83381732e-01 -6.75831253e-03 -3.32630266e+01] [-3.64658794e-02 1.40361614e-04 9.99334889e-01 -9.09595872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54264000000003 meters 0.01383130990393935 Centerline is valid? [True, True] Translation: X:208.66, Y:-33.27, Z:-9.10 [[ 9.82879401e-01 1.80752263e-01 3.57309889e-02 2.08657831e+02] [-1.80626446e-01 9.83528642e-01 -6.74524009e-03 -3.32707810e+01] [-3.63616684e-02 1.75795985e-04 9.99338680e-01 -9.09591497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.57264000000004 meters 0.014853714893762547 Centerline is valid? [True, True] Translation: X:208.69, Y:-33.28, Z:-9.10 [[ 9.83223326e-01 1.79038524e-01 3.48869419e-02 2.08688619e+02] [-1.78917249e-01 9.83842035e-01 -6.59308833e-03 -3.32811630e+01] [-3.55036567e-02 2.40602543e-04 9.99369517e-01 -9.09845933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.60264000000004 meters 0.016371239910675395 Centerline is valid? [True, True] Translation: X:208.72, Y:-33.29, Z:-9.10 [[ 9.83381080e-01 1.78240710e-01 3.45239054e-02 2.08718630e+02] [-1.78121234e-01 9.83986877e-01 -6.53078356e-03 -3.32903761e+01] [-3.51351213e-02 2.72808374e-04 9.99382534e-01 -9.10210456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.63264000000004 meters 0.01615722410613994 Centerline is valid? [True, True] Translation: X:208.75, Y:-33.30, Z:-9.10 [[ 9.83521792e-01 1.77545097e-01 3.40972629e-02 2.08750066e+02] [-1.77427949e-01 9.84112620e-01 -6.45553943e-03 -3.32971551e+01] [-3.47016961e-02 2.99356286e-04 9.99397670e-01 -9.10266141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.66264000000004 meters 0.017503312595086327 Centerline is valid? [True, True] Translation: X:208.78, Y:-33.31, Z:-9.11 [[ 9.83637777e-01 1.76919514e-01 3.40030705e-02 2.08779565e+02] [-1.76802423e-01 9.84225268e-01 -6.44392944e-03 -3.33058153e+01] [-3.46067380e-02 3.26667175e-04 9.99400954e-01 -9.10590729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.69264000000004 meters 0.01806304745138417 Centerline is valid? [True, True] Translation: X:208.81, Y:-33.32, Z:-9.11 [[ 9.83860492e-01 1.75746231e-01 3.36421436e-02 2.08810480e+02] [-1.75630743e-01 9.84435435e-01 -6.38091657e-03 -3.33162603e+01] [-3.42399403e-02 3.69337044e-04 9.99413573e-01 -9.10713355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.72264000000004 meters 0.018552429143642024 Centerline is valid? [True, True] Translation: X:208.84, Y:-33.33, Z:-9.11 [[ 9.83961331e-01 1.75185640e-01 3.36168133e-02 2.08841624e+02] [-1.75069797e-01 9.84535340e-01 -6.38200446e-03 -3.33256095e+01] [-3.42149762e-02 3.94356918e-04 9.99414418e-01 -9.10834791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.75264000000004 meters 0.018375210654006068 Centerline is valid? [True, True] Translation: X:208.87, Y:-33.33, Z:-9.11 [[ 9.84016564e-01 1.74875102e-01 3.36169605e-02 2.08873434e+02] [-1.74758885e-01 9.84590539e-01 -6.38764873e-03 -3.33342191e+01] [-3.42159820e-02 4.10689628e-04 9.99414377e-01 -9.10885214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.78264000000004 meters 0.01886633017977885 Centerline is valid? [True, True] Translation: X:208.90, Y:-33.34, Z:-9.11 [[ 9.84087760e-01 1.74530197e-01 3.33240282e-02 2.08903303e+02] [-1.74415551e-01 9.84651730e-01 -6.33932034e-03 -3.33428306e+01] [-3.39189649e-02 4.26218819e-04 9.99424495e-01 -9.11055226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.81264000000004 meters 0.019936390322509594 Centerline is valid? [True, True] Translation: X:208.93, Y:-33.35, Z:-9.11 [[ 9.84068135e-01 1.74569757e-01 3.36942964e-02 2.08933927e+02] [-1.74452382e-01 9.84644713e-01 -6.41526802e-03 -3.33530991e+01] [-3.42968226e-02 4.35010575e-04 9.99411596e-01 -9.11306575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.84264000000002 meters 0.019969204844880663 Centerline is valid? [True, True] Translation: X:208.96, Y:-33.36, Z:-9.11 [[ 9.83917945e-01 1.75403690e-01 3.37494092e-02 2.08964656e+02] [-1.75286184e-01 9.84496508e-01 -6.43264954e-03 -3.33604525e+01] [-3.43544859e-02 4.13394164e-04 9.99409625e-01 -9.11455108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.87264000000002 meters 0.017794059224705432 Centerline is valid? [True, True] Translation: X:209.00, Y:-33.36, Z:-9.11 [[ 9.83663657e-01 1.76837060e-01 3.36818038e-02 2.08996250e+02] [-1.76720685e-01 9.84240072e-01 -6.42498994e-03 -3.33643763e+01] [-3.42871573e-02 3.67757666e-04 9.99411955e-01 -9.11440762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.90264000000002 meters 0.015788006808211418 Centerline is valid? [True, True] Translation: X:209.03, Y:-33.37, Z:-9.12 [[ 9.82983942e-01 1.80503887e-01 3.40722385e-02 2.09027399e+02] [-1.80386779e-01 9.83574240e-01 -6.50576175e-03 -3.33686864e+01] [-3.46868914e-02 2.48877968e-04 9.99398198e-01 -9.11590501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93264000000002 meters 0.014032802178268574 Centerline is valid? [True, True] Translation: X:209.06, Y:-33.37, Z:-9.12 [[ 9.82523367e-01 1.82954319e-01 3.42863005e-02 2.09059402e+02] [-1.82837031e-01 9.83121401e-01 -6.55220094e-03 -3.33725127e+01] [-3.49063492e-02 1.68885135e-04 9.99390573e-01 -9.11586363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96264000000002 meters 0.013101917333743784 Centerline is valid? [True, True] Translation: X:209.09, Y:-33.38, Z:-9.12 [[ 9.82030185e-01 1.85555739e-01 3.44351981e-02 2.09091289e+02] [-1.85438813e-01 9.82633737e-01 -6.58678961e-03 -3.33766511e+01] [-3.50594040e-02 8.28039442e-05 9.99385227e-01 -9.11720299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.99264000000002 meters 0.01278778913630319 Centerline is valid? [True, True] Translation: X:209.12, Y:-33.38, Z:-9.12 [[ 9.81563347e-01 1.87984364e-01 3.45727493e-02 2.09123789e+02] [-1.87867799e-01 9.82172021e-01 -6.61900660e-03 -3.33808487e+01] [-3.52006568e-02 1.86795499e-06 9.99380265e-01 -9.11815991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02264000000002 meters 0.013530286116407999 Centerline is valid? [True, True] Translation: X:209.16, Y:-33.38, Z:-9.12 [[ 9.80725921e-01 1.92203388e-01 3.51358136e-02 2.09155386e+02] [-1.92085436e-01 9.81355102e-01 -6.73415856e-03 -3.33832811e+01] [-3.57750380e-02 -1.44714208e-04 9.99359858e-01 -9.12008549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.05264000000003 meters 0.014212609652377571 Centerline is valid? [True, True] Translation: X:209.19, Y:-33.39, Z:-9.12 [[ 9.80386581e-01 1.93877662e-01 3.54062598e-02 2.09186961e+02] [-1.93758732e-01 9.81025694e-01 -6.79278189e-03 -3.33886653e+01] [-3.60514193e-02 -2.00719793e-04 9.99349916e-01 -9.12118157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08264000000003 meters 0.014475061831141943 Centerline is valid? [True, True] Translation: X:209.22, Y:-33.39, Z:-9.12 [[ 9.80071929e-01 1.95407846e-01 3.57041701e-02 2.09219235e+02] [-1.95287691e-01 9.80722035e-01 -6.85622405e-03 -3.33947556e+01] [-3.63556264e-02 -2.52992235e-04 9.99338884e-01 -9.12068286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.11264000000003 meters 0.015110201998284643 Centerline is valid? [True, True] Translation: X:209.25, Y:-33.40, Z:-9.12 [[ 9.79821155e-01 1.96594543e-01 3.60706174e-02 2.09251486e+02] [-1.96472448e-01 9.80484829e-01 -6.93380277e-03 -3.33998107e+01] [-3.67298409e-02 -2.92995847e-04 9.99325189e-01 -9.12148477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14264000000003 meters 0.016684306618869247 Centerline is valid? [True, True] Translation: X:209.28, Y:-33.40, Z:-9.12 [[ 9.79362236e-01 1.98772110e-01 3.65958865e-02 2.09282143e+02] [-1.98647666e-01 9.80045667e-01 -7.04240079e-03 -3.34037891e+01] [-3.72654728e-02 -3.72626049e-04 9.99305332e-01 -9.12174104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.17264000000003 meters 0.017658023930765623 Centerline is valid? [True, True] Translation: X:209.31, Y:-33.41, Z:-9.12 [[ 9.79096339e-01 2.00131312e-01 3.63017474e-02 2.09313627e+02] [-2.00009586e-01 9.79768996e-01 -6.99144225e-03 -3.34084243e+01] [-3.69665331e-02 -4.15401945e-04 9.99316418e-01 -9.12327246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20264000000003 meters 0.01914496014624133 Centerline is valid? [True, True] Translation: X:209.35, Y:-33.41, Z:-9.13 [[ 9.78783155e-01 2.01774940e-01 3.56428085e-02 2.09346028e+02] [-2.01658468e-01 9.79431804e-01 -6.87043260e-03 -3.34119069e+01] [-3.62959813e-02 -4.63010463e-04 9.99340977e-01 -9.12612099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.23264000000003 meters 0.02245797298183028 Centerline is valid? [True, True] Translation: X:209.38, Y:-33.41, Z:-9.13 [[ 9.78147837e-01 2.05030028e-01 3.44890846e-02 2.09377576e+02] [-2.04922797e-01 9.78755524e-01 -6.65374048e-03 -3.34114154e+01] [-3.51205987e-02 -5.59257831e-04 9.99382925e-01 -9.13048840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26264000000003 meters 0.025111362421745668 Centerline is valid? [True, True] Translation: X:209.41, Y:-33.41, Z:-9.13 [[ 9.77834550e-01 2.06538057e-01 3.43747493e-02 2.09408582e+02] [-2.06432256e-01 9.78438380e-01 -6.63772269e-03 -3.34137634e+01] [-3.50045164e-02 -6.05462461e-04 9.99386971e-01 -9.13365382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.29264000000003 meters 0.025369379259003677 Centerline is valid? [True, True] Translation: X:209.44, Y:-33.42, Z:-9.13 [[ 9.77589151e-01 2.07793929e-01 3.37806790e-02 2.09440423e+02] [-2.07692431e-01 9.78172417e-01 -6.52510632e-03 -3.34198072e+01] [-3.43992059e-02 -6.37118177e-04 9.99407969e-01 -9.13459738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32264000000004 meters 0.027279696355631523 Centerline is valid? [True, True] Translation: X:209.47, Y:-33.42, Z:-9.14 [[ 9.77324357e-01 2.09216825e-01 3.26407891e-02 2.09471842e+02] [-2.09122652e-01 9.77869054e-01 -6.31105119e-03 -3.34225328e+01] [-3.32387957e-02 -6.57984329e-04 9.99447222e-01 -9.13834001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.35264000000004 meters 0.027739224918252998 Centerline is valid? [True, True] Translation: X:209.50, Y:-33.43, Z:-9.14 [[ 9.77267864e-01 2.09549820e-01 3.21930964e-02 2.09503417e+02] [-2.09458336e-01 9.77797750e-01 -6.22625054e-03 -3.34277465e+01] [-3.27830469e-02 -6.58397833e-04 9.99462275e-01 -9.14122815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38264000000004 meters 0.027746239871044073 Centerline is valid? [True, True] Translation: X:209.53, Y:-33.43, Z:-9.14 [[ 9.77343008e-01 2.09273334e-01 3.17067354e-02 2.09534883e+02] [-2.09184289e-01 9.77856978e-01 -6.13712506e-03 -3.34335518e+01] [-3.22889890e-02 -6.34474616e-04 9.99478373e-01 -9.14364363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.41264000000004 meters 0.027323723214447388 Centerline is valid? [True, True] Translation: X:209.57, Y:-33.44, Z:-9.14 [[ 9.77409284e-01 2.08929992e-01 3.19272748e-02 2.09566780e+02] [-2.08839331e-01 9.77930402e-01 -6.18561693e-03 -3.34396212e+01] [-3.25150136e-02 -6.21791314e-04 9.99471054e-01 -9.14486424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.44264000000004 meters 0.026844999974793532 Centerline is valid? [True, True] Translation: X:209.60, Y:-33.45, Z:-9.15 [[ 9.77515763e-01 2.08426028e-01 3.19612840e-02 2.09598260e+02] [-2.08334736e-01 9.78037949e-01 -6.19739470e-03 -3.34457292e+01] [-3.25510471e-02 -6.00594654e-04 9.99469894e-01 -9.14628842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.47264000000004 meters 0.025806441765482708 Centerline is valid? [True, True] Translation: X:209.63, Y:-33.45, Z:-9.14 [[ 9.77634707e-01 2.07672456e-01 3.32043788e-02 2.09628316e+02] [-2.07573293e-01 9.78198242e-01 -6.44419683e-03 -3.34533932e+01] [-3.38187472e-02 -5.92271785e-04 9.99427807e-01 -9.14485172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.50264000000004 meters 0.026043517060676914 Centerline is valid? [True, True] Translation: X:209.66, Y:-33.46, Z:-9.15 [[ 9.77597613e-01 2.07752336e-01 3.37916299e-02 2.09658788e+02] [-2.07649503e-01 9.78181275e-01 -6.56333234e-03 -3.34587778e+01] [-3.44178872e-02 -6.00517137e-04 9.99407349e-01 -9.14543101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.53264000000004 meters 0.02590030818811225 Centerline is valid? [True, True] Translation: X:209.69, Y:-33.46, Z:-9.15 [[ 9.77618202e-01 2.07794935e-01 3.29228684e-02 2.09690823e+02] [-2.07697195e-01 9.78172237e-01 -6.39915689e-03 -3.34645977e+01] [-3.35339482e-02 -5.82055155e-04 9.99437410e-01 -9.14751603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.56264000000004 meters 0.026558629245351465 Centerline is valid? [True, True] Translation: X:209.72, Y:-33.47, Z:-9.15 [[ 9.77512621e-01 2.08293569e-01 3.29069057e-02 2.09722598e+02] [-2.08196034e-01 9.78066172e-01 -6.40116713e-03 -3.34687342e+01] [-3.35184532e-02 -5.93865584e-04 9.99437922e-01 -9.14938275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.59264000000002 meters 0.02767820287719137 Centerline is valid? [True, True] Translation: X:209.76, Y:-33.47, Z:-9.15 [[ 9.77326764e-01 2.09301928e-01 3.20171764e-02 2.09755145e+02] [-2.09209962e-01 9.77850876e-01 -6.23348104e-03 -3.34715376e+01] [-3.26127036e-02 -6.06164386e-04 9.99467880e-01 -9.15235906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.62264000000002 meters 0.025982078619634117 Centerline is valid? [True, True] Translation: X:209.79, Y:-33.48, Z:-9.15 [[ 9.77249118e-01 2.09720182e-01 3.16481729e-02 2.09786524e+02] [-2.09630388e-01 9.77761257e-01 -6.16646992e-03 -3.34792090e+01] [-3.22375905e-02 -6.08241462e-04 9.99480049e-01 -9.15206824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.65264000000002 meters 0.027935260917056882 Centerline is valid? [True, True] Translation: X:209.82, Y:-33.48, Z:-9.15 [[ 9.77221760e-01 2.09728482e-01 3.24283039e-02 2.09818068e+02] [-2.09633996e-01 9.77759471e-01 -6.32494456e-03 -3.34816089e+01] [-3.30336023e-02 -6.17201482e-04 9.99454051e-01 -9.15468568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68264000000002 meters 0.025651119818678104 Centerline is valid? [True, True] Translation: X:209.85, Y:-33.49, Z:-9.15 [[ 9.77285495e-01 2.09417952e-01 3.25143429e-02 2.09849302e+02] [-2.09322718e-01 9.77826035e-01 -6.34395644e-03 -3.34900721e+01] [-3.31219094e-02 -6.06134016e-04 9.99451135e-01 -9.15371665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71264000000002 meters 0.023284160213675006 Centerline is valid? [True, True] Translation: X:209.88, Y:-33.50, Z:-9.15 [[ 9.77580364e-01 2.08115042e-01 3.20119048e-02 2.09880141e+02] [-2.08021863e-01 9.78104201e-01 -6.25103829e-03 -3.34988241e+01] [-3.26119136e-02 -5.48283803e-04 9.99467940e-01 -9.15443210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74264000000002 meters 0.023962381359647372 Centerline is valid? [True, True] Translation: X:209.91, Y:-33.50, Z:-9.16 [[ 9.77723154e-01 2.07464642e-01 3.18724949e-02 2.09911385e+02] [-2.07371722e-01 9.78242380e-01 -6.23015469e-03 -3.35031359e+01] [-3.24715621e-02 -5.18087667e-04 9.99472526e-01 -9.15713288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.77264000000002 meters 0.02072837103394077 Centerline is valid? [True, True] Translation: X:209.94, Y:-33.51, Z:-9.16 [[ 9.78012273e-01 2.06122867e-01 3.17073644e-02 2.09943058e+02] [-2.06030138e-01 9.78526006e-01 -6.19988717e-03 -3.35110438e+01] [-3.23044191e-02 -4.69106908e-04 9.99477966e-01 -9.15624572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80264000000003 meters 0.021075466868338343 Centerline is valid? [True, True] Translation: X:209.97, Y:-33.52, Z:-9.16 [[ 9.78130951e-01 2.05471422e-01 3.22697660e-02 2.09974121e+02] [-2.05374799e-01 9.78663013e-01 -6.31655121e-03 -3.35157994e+01] [-3.28790971e-02 -4.48982447e-04 9.99459235e-01 -9.15867084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.83264000000003 meters 0.019499168207494304 Centerline is valid? [True, True] Translation: X:210.01, Y:-33.52, Z:-9.16 [[ 9.78331842e-01 2.04549429e-01 3.20365136e-02 2.10005160e+02] [-2.04453630e-01 9.78856149e-01 -6.27315948e-03 -3.35240501e+01] [-3.26423095e-02 -4.12749831e-04 9.99467013e-01 -9.15890212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86264000000003 meters 0.018050601601556568 Centerline is valid? [True, True] Translation: X:210.04, Y:-33.53, Z:-9.16 [[ 9.78608771e-01 2.03247237e-01 3.18658670e-02 2.10036917e+02] [-2.03151558e-01 9.79127382e-01 -6.24613373e-03 -3.35319821e+01] [-3.24702523e-02 -3.61079260e-04 9.99472637e-01 -9.15984156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.89264000000003 meters 0.02022409915597621 Centerline is valid? [True, True] Translation: X:210.07, Y:-33.53, Z:-9.17 [[ 9.78886182e-01 2.01916863e-01 3.18028738e-02 2.10067513e+02] [-2.01820763e-01 9.79402615e-01 -6.23675021e-03 -3.35348117e+01] [-3.24071228e-02 -3.13411667e-04 9.99474702e-01 -9.16708626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92264000000003 meters 0.027698053499481765 Centerline is valid? [True, True] Translation: X:210.10, Y:-33.55, Z:-9.17 [[ 9.79704653e-01 1.97932192e-01 3.16487059e-02 2.10098135e+02] [-1.97834825e-01 9.80215699e-01 -6.21017618e-03 -3.35492972e+01] [-3.22517522e-02 -1.77077693e-04 9.99479761e-01 -9.16527718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.95264000000003 meters 0.015992816870646447 Centerline is valid? [True, True] Translation: X:210.13, Y:-33.56, Z:-9.17 [[ 9.80022866e-01 1.96352596e-01 3.16360538e-02 2.10128344e+02] [-1.96254462e-01 9.80533346e-01 -6.20835030e-03 -3.35573956e+01] [-3.22392314e-02 -1.24391462e-04 9.99480173e-01 -9.17189826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98264000000003 meters 0.013687060092312915 Centerline is valid? [True, True] Translation: X:210.16, Y:-33.57, Z:-9.17 [[ 9.80452695e-01 1.94241937e-01 3.13461751e-02 2.10159818e+02] [-1.94144329e-01 9.80953652e-01 -6.15725168e-03 -3.35691343e+01] [-3.19451414e-02 -4.87881410e-05 9.99489623e-01 -9.16620615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.01264000000003 meters 0.02438593231567571 Centerline is valid? [True, True] Translation: X:210.19, Y:-33.58, Z:-9.17 [[ 9.81032979e-01 1.91198401e-01 3.18977250e-02 2.10189134e+02] [-1.91095654e-01 9.81551409e-01 -6.26755905e-03 -3.35813019e+01] [-3.25076042e-02 5.31655178e-05 9.99471487e-01 -9.16824229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04264000000003 meters 0.014160949686716832 Centerline is valid? [True, True] Translation: X:210.22, Y:-33.59, Z:-9.17 [[ 9.81275008e-01 1.89996380e-01 3.16343960e-02 2.10218682e+02] [-1.89894501e-01 9.81784786e-01 -6.22195337e-03 -3.35907850e+01] [-3.22403173e-02 9.82494960e-05 9.99480141e-01 -9.16952443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.07264000000004 meters 0.014536091396285606 Centerline is valid? [True, True] Translation: X:210.25, Y:-33.60, Z:-9.17 [[ 9.81382385e-01 1.89396130e-01 3.19017368e-02 2.10249392e+02] [-1.89292111e-01 9.81900754e-01 -6.27738834e-03 -3.36001238e+01] [-3.25132525e-02 1.21771227e-04 9.99471297e-01 -9.17129513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10264000000004 meters 0.014536091396285606 Centerline is valid? [True, True] Translation: X:210.28, Y:-33.61, Z:-9.17 [[ 9.81346379e-01 1.89582704e-01 3.19011564e-02 2.10281211e+02] [-1.89478687e-01 9.81864749e-01 -6.28033668e-03 -3.36065902e+01] [-3.25132641e-02 1.18596408e-04 9.99471297e-01 -9.17277772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.13264000000004 meters 0.018952358930248846 Centerline is valid? [True, True] Translation: X:210.31, Y:-33.62, Z:-9.18 [[ 9.81370061e-01 1.89452805e-01 3.19442944e-02 2.10311920e+02] [-1.89348227e-01 9.81889820e-01 -6.29532145e-03 -3.36157358e+01] [-3.25584438e-02 1.29444486e-04 9.99469825e-01 -9.17625948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16264000000004 meters 0.013956129498662331 Centerline is valid? [True, True] Translation: X:210.34, Y:-33.62, Z:-9.17 [[ 9.81222834e-01 1.90275991e-01 3.15721025e-02 2.10344457e+02] [-1.90174088e-01 9.81730633e-01 -6.22739150e-03 -3.36207630e+01] [-3.21802233e-02 1.06262924e-04 9.99482077e-01 -9.17445035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.19264000000004 meters 0.013981902742934564 Centerline is valid? [True, True] Translation: X:210.37, Y:-33.63, Z:-9.18 [[ 9.80961166e-01 1.91593021e-01 3.17380824e-02 2.10374994e+02] [-1.91490500e-01 9.81474457e-01 -6.26728104e-03 -3.36264582e+01] [-3.23508845e-02 7.04180361e-05 9.99476571e-01 -9.17758510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.22264000000004 meters 0.013768364116954606 Centerline is valid? [True, True] Translation: X:210.41, Y:-33.63, Z:-9.18 [[ 9.80585280e-01 1.93500309e-01 3.17826906e-02 2.10406984e+02] [-1.93398336e-01 9.81100214e-01 -6.28119700e-03 -3.36314720e+01] [-3.23974181e-02 1.25298463e-05 9.99475066e-01 -9.17958122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.25264000000004 meters 0.014420988234666554 Centerline is valid? [True, True] Translation: X:210.44, Y:-33.63, Z:-9.18 [[ 9.79718476e-01 1.97946437e-01 3.11274097e-02 2.10439674e+02] [-1.97850687e-01 9.80212830e-01 -6.15741996e-03 -3.36338491e+01] [-3.17303257e-02 -1.26041273e-04 9.99496458e-01 -9.18192103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.28264000000004 meters 0.014875266384882894 Centerline is valid? [True, True] Translation: X:210.47, Y:-33.64, Z:-9.18 [[ 9.79256310e-01 2.00316884e-01 3.04995864e-02 2.10471517e+02] [-2.00225950e-01 9.79731141e-01 -6.03826858e-03 -3.36385916e+01] [-3.10909617e-02 -1.93796040e-04 9.99516540e-01 -9.18261369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.31264000000004 meters 0.01702109526011088 Centerline is valid? [True, True] Translation: X:210.50, Y:-33.64, Z:-9.19 [[ 9.78780773e-01 2.02672970e-01 3.01971173e-02 2.10502177e+02] [-2.02584748e-01 9.79246445e-01 -5.98497738e-03 -3.36410835e+01] [-3.07834129e-02 -2.59494606e-04 9.99526045e-01 -9.18736210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.34264000000002 meters 0.019048738371139576 Centerline is valid? [True, True] Translation: X:210.53, Y:-33.64, Z:-9.19 [[ 9.77925256e-01 2.06815771e-01 2.98233388e-02 2.10534769e+02] [-2.06731594e-01 9.78379829e-01 -5.91253906e-03 -3.36427141e+01] [-3.04013594e-02 -3.83405084e-04 9.99537698e-01 -9.18752845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.37264000000002 meters 0.020449795214554888 Centerline is valid? [True, True] Translation: X:210.57, Y:-33.65, Z:-9.19 [[ 9.77466743e-01 2.08958287e-01 2.99199084e-02 2.10566642e+02] [-2.08874404e-01 9.77924453e-01 -5.93703721e-03 -3.36453077e+01] [-3.05000032e-02 -4.46246592e-04 9.99534667e-01 -9.18820771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.40264000000002 meters 0.027870808931160784 Centerline is valid? [True, True] Translation: X:210.60, Y:-33.65, Z:-9.19 [[ 9.76942331e-01 2.11364343e-01 3.01462459e-02 2.10597901e+02] [-2.11280156e-01 9.77407205e-01 -5.98761096e-03 -3.36455884e+01] [-3.07307254e-02 -5.19752926e-04 9.99527565e-01 -9.19190924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43264000000002 meters 0.024738605592689925 Centerline is valid? [True, True] Translation: X:210.63, Y:-33.65, Z:-9.19 [[ 9.76456271e-01 2.13542795e-01 3.05389105e-02 2.10629312e+02] [-2.13457302e-01 9.76933532e-01 -6.07080737e-03 -3.36507200e+01] [-3.11308629e-02 -5.90875499e-04 9.99515143e-01 -9.19130462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46264000000002 meters 0.027434762433899276 Centerline is valid? [True, True] Translation: X:210.66, Y:-33.65, Z:-9.19 [[ 9.75538707e-01 2.17592374e-01 3.12696399e-02 2.10661513e+02] [-2.17504651e-01 9.76039457e-01 -6.22126754e-03 -3.36526655e+01] [-3.18741027e-02 -7.32204837e-04 9.99491624e-01 -9.19047738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.49264000000002 meters 0.03189714462693055 Centerline is valid? [True, True] Translation: X:210.69, Y:-33.65, Z:-9.19 [[ 9.75086414e-01 2.19604740e-01 3.13088324e-02 2.10693039e+02] [-2.19517668e-01 9.75588606e-01 -6.23423162e-03 -3.36532134e+01] [-3.19136069e-02 -7.93927319e-04 9.99490316e-01 -9.19310010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52264000000002 meters 0.0330176129602426 Centerline is valid? [True, True] Translation: X:210.72, Y:-33.65, Z:-9.19 [[ 9.74394397e-01 2.22682294e-01 3.11151851e-02 2.10724622e+02] [-2.22597649e-01 9.74890669e-01 -6.20241586e-03 -3.36527796e+01] [-3.17150719e-02 -8.82567787e-04 9.99496561e-01 -9.19443287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.55264000000003 meters 0.03653532663945424 Centerline is valid? [True, True] Translation: X:210.75, Y:-33.65, Z:-9.20 [[ 9.74154216e-01 2.23786444e-01 3.07114053e-02 2.10754546e+02] [-2.23704472e-01 9.74637783e-01 -6.12374073e-03 -3.36522709e+01] [-3.13029062e-02 -9.04810875e-04 9.99509534e-01 -9.19792425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58264000000003 meters 0.03548166957424696 Centerline is valid? [True, True] Translation: X:210.78, Y:-33.66, Z:-9.20 [[ 9.73973288e-01 2.24586100e-01 3.06123867e-02 2.10784857e+02] [-2.24505068e-01 9.74453807e-01 -6.10344665e-03 -3.36580491e+01] [-3.12011061e-02 -9.28041973e-04 9.99512696e-01 -9.19837964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.61264000000003 meters 0.03794831038847808 Centerline is valid? [True, True] Translation: X:210.81, Y:-33.66, Z:-9.20 [[ 9.73789768e-01 2.25325007e-01 3.10182105e-02 2.10814065e+02] [-2.25242170e-01 9.74283179e-01 -6.18486292e-03 -3.36571923e+01] [-3.16141250e-02 -9.63852818e-04 9.99499684e-01 -9.20014035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64264000000003 meters 0.03634005405020015 Centerline is valid? [True, True] Translation: X:210.84, Y:-33.66, Z:-9.20 [[ 9.73827531e-01 2.25113697e-01 3.13649945e-02 2.10843236e+02] [-2.25028931e-01 9.74332020e-01 -6.25267322e-03 -3.36639809e+01] [-3.19674809e-02 -9.69005868e-04 9.99488440e-01 -9.19986783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.67264000000003 meters 0.03514194459754 Centerline is valid? [True, True] Translation: X:210.87, Y:-33.67, Z:-9.20 [[ 9.73973812e-01 2.24457913e-01 3.15223695e-02 2.10872677e+02] [-2.24371975e-01 9.74483318e-01 -6.28327165e-03 -3.36702596e+01] [-3.21283533e-02 -9.52994272e-04 9.99483297e-01 -9.20035705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70264000000003 meters 0.037736992757790626 Centerline is valid? [True, True] Translation: X:210.90, Y:-33.67, Z:-9.20 [[ 9.74126887e-01 2.23708675e-01 3.21128772e-02 2.10901262e+02] [-2.23619102e-01 9.74655597e-01 -6.40031684e-03 -3.36713372e+01] [-3.27308019e-02 -9.46332054e-04 9.99463756e-01 -9.20319073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.73264000000003 meters 0.03280292773238046 Centerline is valid? [True, True] Translation: X:210.93, Y:-33.68, Z:-9.20 [[ 9.74595557e-01 2.21526678e-01 3.30065387e-02 2.10930235e+02] [-2.21430851e-01 9.75153897e-01 -6.57688181e-03 -3.36807129e+01] [-3.36434096e-02 -8.98866148e-04 9.99433496e-01 -9.20110550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76264000000003 meters 0.03267573656103463 Centerline is valid? [True, True] Translation: X:210.96, Y:-33.68, Z:-9.20 [[ 9.74809743e-01 2.20549399e-01 3.32254076e-02 2.10959178e+02] [-2.20451743e-01 9.75375417e-01 -6.62008501e-03 -3.36845757e+01] [-3.38673015e-02 -8.71275640e-04 9.99425959e-01 -9.20274737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.79264000000003 meters 0.0303487561748529 Centerline is valid? [True, True] Translation: X:210.99, Y:-33.69, Z:-9.21 [[ 9.75239408e-01 2.18772900e-01 3.23498802e-02 2.10988920e+02] [-2.18679365e-01 9.75775484e-01 -6.44510932e-03 -3.36888921e+01] [-3.29762352e-02 -7.88726648e-04 9.99455825e-01 -9.20577871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82264000000004 meters 0.03471265265125802 Centerline is valid? [True, True] Translation: X:211.02, Y:-33.70, Z:-9.21 [[ 9.75482946e-01 2.17786746e-01 3.16536704e-02 2.11018085e+02] [-2.17696665e-01 9.75996100e-01 -6.30672091e-03 -3.36952163e+01] [-3.22673791e-02 -7.38799786e-04 9.99478999e-01 -9.20808442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.85264000000004 meters 0.035914160453087866 Centerline is valid? [True, True] Translation: X:211.05, Y:-33.70, Z:-9.21 [[ 9.75733124e-01 2.16728199e-01 3.12051118e-02 2.11046906e+02] [-2.16640136e-01 9.76231738e-01 -6.21660443e-03 -3.37019009e+01] [-3.18107340e-02 -6.94532814e-04 9.99493669e-01 -9.20990212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88264000000004 meters 0.032860598271145534 Centerline is valid? [True, True] Translation: X:211.08, Y:-33.71, Z:-9.21 [[ 9.76225866e-01 2.14519622e-01 3.10546236e-02 2.11076555e+02] [-2.14431318e-01 9.76719482e-01 -6.18570579e-03 -3.37051459e+01] [-3.16586111e-02 -6.20437867e-04 9.99498548e-01 -9.21299378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.91264000000004 meters 0.02541790518433639 Centerline is valid? [True, True] Translation: X:211.11, Y:-33.71, Z:-9.21 [[ 9.76532537e-01 2.13025429e-01 3.16918098e-02 2.11105759e+02] [-2.12932690e-01 9.77046481e-01 -6.31222732e-03 -3.37126993e+01] [-3.23090362e-02 -5.84126958e-04 9.99477756e-01 -9.21257256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.94264000000004 meters 0.0239400404044075 Centerline is valid? [True, True] Translation: X:211.13, Y:-33.72, Z:-9.21 [[ 9.76923134e-01 2.11188390e-01 3.19476749e-02 2.11134499e+02] [-2.11093192e-01 9.77445234e-01 -6.36236830e-03 -3.37185878e+01] [-3.25707608e-02 -5.28391885e-04 9.99469292e-01 -9.21367157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.97264000000004 meters 0.02033762656436812 Centerline is valid? [True, True] Translation: X:211.16, Y:-33.73, Z:-9.21 [[ 9.77729959e-01 2.07314911e-01 3.26290597e-02 2.11164709e+02] [-2.07213426e-01 9.78274175e-01 -6.49876406e-03 -3.37276847e+01] [-3.32674571e-02 -4.07142947e-04 9.99446402e-01 -9.21419156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.00264000000004 meters 0.01851109877482338 Centerline is valid? [True, True] Translation: X:211.20, Y:-33.74, Z:-9.22 [[ 9.78078400e-01 2.05656939e-01 3.26782422e-02 2.11196159e+02] [-2.05554255e-01 9.78624085e-01 -6.50758084e-03 -3.37358654e+01] [-3.33180440e-02 -3.52227492e-04 9.99444738e-01 -9.21536192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.03264000000004 meters 0.02512897331000379 Centerline is valid? [True, True] Translation: X:211.23, Y:-33.74, Z:-9.22 [[ 9.78432743e-01 2.04013231e-01 3.23723535e-02 2.11226990e+02] [-2.03911321e-01 9.78968089e-01 -6.45395232e-03 -3.37429947e+01] [-3.30081927e-02 -2.86331111e-04 9.99455040e-01 -9.21606496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.06264000000004 meters 0.015556608596646121 Centerline is valid? [True, True] Translation: X:211.26, Y:-33.75, Z:-9.22 [[ 9.78811527e-01 2.02057388e-01 3.31783987e-02 2.11258617e+02] [-2.01949246e-01 9.79373657e-01 -6.61371431e-03 -3.37501748e+01] [-3.38303995e-02 -2.26772808e-04 9.99427562e-01 -9.21608405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.09264000000002 meters 0.015201052134397503 Centerline is valid? [True, True] Translation: X:211.29, Y:-33.76, Z:-9.22 [[ 9.78933040e-01 2.01455141e-01 3.32555241e-02 2.11291439e+02] [-2.01345957e-01 9.79497721e-01 -6.63474808e-03 -3.37560237e+01] [-3.39103142e-02 -2.00891208e-04 9.99424860e-01 -9.21743731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.12264000000002 meters 0.014893264504037839 Centerline is valid? [True, True] Translation: X:211.32, Y:-33.76, Z:-9.22 [[ 9.79132681e-01 2.00510644e-01 3.30858549e-02 2.11323038e+02] [-2.00401803e-01 9.79691510e-01 -6.60771369e-03 -3.37606364e+01] [-3.37388481e-02 -1.60636547e-04 9.99430670e-01 -9.22004826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.15264000000002 meters 0.014713311794358766 Centerline is valid? [True, True] Translation: X:211.35, Y:-33.77, Z:-9.22 [[ 9.79268295e-01 1.99888744e-01 3.28343713e-02 2.11353934e+02] [-1.99780994e-01 9.79818592e-01 -6.56368963e-03 -3.37666134e+01] [-3.34837351e-02 -1.32070171e-04 9.99439254e-01 -9.22256282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18264000000002 meters 0.014408215100481498 Centerline is valid? [True, True] Translation: X:211.39, Y:-33.77, Z:-9.22 [[ 9.79436203e-01 1.99103193e-01 3.25982106e-02 2.11386088e+02] [-1.98996358e-01 9.79978525e-01 -6.52232469e-03 -3.37732938e+01] [-3.32441620e-02 -9.87242745e-05 9.99447255e-01 -9.22389848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21264000000002 meters 0.014221554507568627 Centerline is valid? [True, True] Translation: X:211.42, Y:-33.78, Z:-9.23 [[ 9.79647084e-01 1.98075474e-01 3.25222531e-02 2.11418830e+02] [-1.97968306e-01 9.80186770e-01 -6.51507779e-03 -3.37802499e+01] [-3.31683594e-02 -5.58983987e-05 9.99449777e-01 -9.22527875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24264000000002 meters 0.014198704210910055 Centerline is valid? [True, True] Translation: X:211.45, Y:-33.79, Z:-9.23 [[ 9.80323727e-01 1.94551665e-01 3.33922262e-02 2.11448528e+02] [-1.94436540e-01 9.80892270e-01 -6.69232374e-03 -3.37892072e+01] [-3.40561793e-02 6.79748380e-05 9.99419918e-01 -9.22539572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.27264000000002 meters 0.014812497702716176 Centerline is valid? [True, True] Translation: X:211.48, Y:-33.80, Z:-9.23 [[ 9.80690084e-01 1.92605593e-01 3.39123075e-02 2.11479259e+02] [-1.92485601e-01 9.81276243e-01 -6.79908001e-03 -3.37977577e+01] [-3.45868826e-02 1.40159441e-04 9.99401685e-01 -9.22652354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30264000000003 meters 0.015599858972070824 Centerline is valid? [True, True] Translation: X:211.51, Y:-33.81, Z:-9.23 [[ 9.81051850e-01 1.90656914e-01 3.44559036e-02 2.11510744e+02] [-1.90531611e-01 9.81656709e-01 -6.91461329e-03 -3.38063336e+01] [-3.51421877e-02 2.18655355e-04 9.99382299e-01 -9.22676305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.33264000000003 meters 0.01716197859477867 Centerline is valid? [True, True] Translation: X:211.54, Y:-33.82, Z:-9.23 [[ 9.81468065e-01 1.88411869e-01 3.49486099e-02 2.11540373e+02] [-1.88281242e-01 9.82090052e-01 -7.02163933e-03 -3.38153725e+01] [-3.56456423e-02 3.11347095e-04 9.99364444e-01 -9.22838168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36264000000003 meters 0.018079086791621374 Centerline is valid? [True, True] Translation: X:211.57, Y:-33.83, Z:-9.23 [[ 9.82470387e-01 1.83148466e-01 3.47646205e-02 2.11572209e+02] [-1.83133373e-01 9.83081320e-01 -3.64507342e-03 -3.38258095e+01] [-3.48440387e-02 -2.78538554e-03 9.99388881e-01 -9.22656078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.39264000000003 meters 0.022310611762410747 Centerline is valid? [True, True] Translation: X:211.60, Y:-33.84, Z:-9.23 [[ 9.82610150e-01 1.82496200e-01 3.42407663e-02 2.11600621e+02] [-1.82244390e-01 9.83198655e-01 -1.03628212e-02 -3.38359459e+01] [-3.55566509e-02 3.94242575e-03 9.99359886e-01 -9.23179144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42264000000003 meters 0.024143757452020072 Centerline is valid? [True, True] Translation: X:211.63, Y:-33.85, Z:-9.23 [[ 9.82911507e-01 1.80748489e-01 3.48561722e-02 2.11630468e+02] [-1.80613356e-01 9.83529169e-01 -7.01353311e-03 -3.38477263e+01] [-3.55497476e-02 5.98192135e-04 9.99367729e-01 -9.23337071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.45264000000003 meters 0.02752199649623907 Centerline is valid? [True, True] Translation: X:211.66, Y:-33.86, Z:-9.24 [[ 9.83463320e-01 1.77773913e-01 3.45880777e-02 2.11659513e+02] [-1.77638821e-01 9.84071104e-01 -6.96498440e-03 -3.38612763e+01] [-3.52753204e-02 7.05621320e-04 9.99377383e-01 -9.23574264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48264000000003 meters 0.028475929667505673 Centerline is valid? [True, True] Translation: X:211.69, Y:-33.87, Z:-9.24 [[ 9.83691268e-01 1.76547335e-01 3.43879139e-02 2.11689771e+02] [-1.76412867e-01 9.84291865e-01 -6.93001200e-03 -3.38711877e+01] [-3.50712190e-02 7.50521810e-04 9.99384534e-01 -9.23750869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.51264000000003 meters 0.026928498875824814 Centerline is valid? [True, True] Translation: X:211.72, Y:-33.88, Z:-9.24 [[ 9.83883153e-01 1.75571214e-01 3.38923463e-02 2.11721594e+02] [-1.75439843e-01 9.84466425e-01 -6.83514082e-03 -3.38776076e+01] [-3.45659310e-02 7.78911975e-04 9.99402116e-01 -9.23788268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54264000000003 meters 0.036170632572358793 Centerline is valid? [True, True] Translation: X:211.75, Y:-33.89, Z:-9.24 [[ 9.84064080e-01 1.74750377e-01 3.28662634e-02 2.11750346e+02] [-1.74626189e-01 9.84612453e-01 -6.63408147e-03 -3.38928836e+01] [-3.35198405e-02 7.89050960e-04 9.99437741e-01 -9.24139470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.57264000000004 meters 0.029300165209390164 Centerline is valid? [True, True] Translation: X:211.78, Y:-33.90, Z:-9.24 [[ 9.83979617e-01 1.75221194e-01 3.28883785e-02 2.11782355e+02] [-1.75096922e-01 9.84528784e-01 -6.64391228e-03 -3.38979491e+01] [-3.35437095e-02 7.78820427e-04 9.99436948e-01 -9.24191334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60264000000004 meters 0.027918224077179532 Centerline is valid? [True, True] Translation: X:211.81, Y:-33.91, Z:-9.24 [[ 9.83813765e-01 1.76157385e-01 3.28489326e-02 2.11812808e+02] [-1.76033733e-01 9.84361728e-01 -6.64185395e-03 -3.39067912e+01] [-3.35052437e-02 7.51827107e-04 9.99438259e-01 -9.24439822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.63264000000004 meters 0.028410648147052804 Centerline is valid? [True, True] Translation: X:211.84, Y:-33.92, Z:-9.25 [[ 9.83633896e-01 1.77175768e-01 3.27583023e-02 2.11842414e+02] [-1.77053137e-01 9.84178960e-01 -6.63027693e-03 -3.39163797e+01] [-3.34147563e-02 7.21804945e-04 9.99441310e-01 -9.24715238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66264000000004 meters 0.027437668889046356 Centerline is valid? [True, True] Translation: X:211.87, Y:-33.93, Z:-9.25 [[ 9.83169949e-01 1.79724479e-01 3.28018691e-02 2.11872293e+02] [-1.79602849e-01 9.83716780e-01 -6.64175428e-03 -3.39265922e+01] [-3.34614349e-02 6.38664066e-04 9.99439805e-01 -9.24986682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.69264000000004 meters 0.023897372087289242 Centerline is valid? [True, True] Translation: X:211.90, Y:-33.93, Z:-9.25 [[ 9.82819252e-01 1.81581658e-01 3.30820207e-02 2.11904974e+02] [-1.81458774e-01 9.83375695e-01 -6.70494294e-03 -3.39304261e+01] [-3.37495498e-02 5.86724100e-04 9.99430149e-01 -9.24863661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.72264000000004 meters 0.022358696693292553 Centerline is valid? [True, True] Translation: X:211.94, Y:-33.94, Z:-9.25 [[ 9.82426792e-01 1.83662139e-01 3.32538397e-02 2.11935686e+02] [-1.83539108e-01 9.82989292e-01 -6.74143634e-03 -3.39365797e+01] [-3.39263150e-02 5.19587588e-04 9.99424202e-01 -9.25003291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.75264000000004 meters 0.02474376361125593 Centerline is valid? [True, True] Translation: X:211.97, Y:-33.94, Z:-9.25 [[ 9.81513797e-01 1.88427819e-01 3.35503212e-02 2.11966408e+02] [-1.88305219e-01 9.82086975e-01 -6.80577380e-03 -3.39403484e+01] [-3.42317305e-02 3.62260295e-04 9.99413857e-01 -9.24930205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.78264000000004 meters 0.016161889284450913 Centerline is valid? [True, True] Translation: X:212.00, Y:-33.94, Z:-9.25 [[ 9.80838952e-01 1.91742454e-01 3.44932179e-02 2.11998570e+02] [-1.91614934e-01 9.81445244e-01 -6.99642586e-03 -3.39447433e+01] [-3.51947165e-02 2.52951349e-04 9.99380442e-01 -9.25057890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.81264000000004 meters 0.014244449867129439 Centerline is valid? [True, True] Translation: X:212.03, Y:-33.95, Z:-9.25 [[ 9.80193229e-01 1.95014615e-01 3.45041027e-02 2.12031056e+02] [-1.94888789e-01 9.80800326e-01 -7.00572441e-03 -3.39489032e+01] [-3.52078538e-02 1.42500855e-04 9.99380001e-01 -9.25073674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.84264000000002 meters 0.013628546202252794 Centerline is valid? [True, True] Translation: X:212.06, Y:-33.95, Z:-9.25 [[ 9.78824055e-01 2.01712497e-01 3.48645573e-02 2.12062175e+02] [-2.01588225e-01 9.79444771e-01 -7.08016328e-03 -3.39506738e+01] [-3.55760658e-02 -9.80500788e-05 9.99366967e-01 -9.25184334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.87264000000002 meters 0.01460322544416388 Centerline is valid? [True, True] Translation: X:212.09, Y:-33.95, Z:-9.25 [[ 9.78115159e-01 2.05120001e-01 3.48786500e-02 2.12093983e+02] [-2.04997595e-01 9.78736807e-01 -7.08857181e-03 -3.39544113e+01] [-3.55910264e-02 -2.16599818e-04 9.99366415e-01 -9.25277785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.90264000000002 meters 0.018552085276226916 Centerline is valid? [True, True] Translation: X:212.13, Y:-33.95, Z:-9.26 [[ 9.77100675e-01 2.10046680e-01 3.39803336e-02 2.12125710e+02] [-2.09933241e-01 9.77691285e-01 -6.91273595e-03 -3.39537235e+01] [-3.46742733e-02 -3.79162592e-04 9.99398595e-01 -9.25731715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93264000000002 meters 0.019737376214890662 Centerline is valid? [True, True] Translation: X:212.16, Y:-33.96, Z:-9.26 [[ 9.76691650e-01 2.12017048e-01 3.34991486e-02 2.12157482e+02] [-2.11907887e-01 9.77265868e-01 -6.81692413e-03 -3.39589549e+01] [-3.41828787e-02 -4.40700913e-04 9.99415497e-01 -9.25847722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96264000000002 meters 0.02077259416873421 Centerline is valid? [True, True] Translation: X:212.19, Y:-33.96, Z:-9.26 [[ 9.76436537e-01 2.13194049e-01 3.34662108e-02 2.12188415e+02] [-2.13085564e-01 9.77009761e-01 -6.81689642e-03 -3.39645314e+01] [-3.41501363e-02 -4.74899681e-04 9.99416601e-01 -9.26030568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.99264000000002 meters 0.02760183292374328 Centerline is valid? [True, True] Translation: X:212.22, Y:-33.97, Z:-9.26 [[ 9.76295584e-01 2.13804317e-01 3.36845201e-02 2.12220740e+02] [-2.13694706e-01 9.76876382e-01 -6.86337569e-03 -3.39725576e+01] [-3.43730315e-02 -4.97520255e-04 9.99408949e-01 -9.25974549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02264000000002 meters 0.02760183292374328 Centerline is valid? [True, True] Translation: X:212.25, Y:-33.98, Z:-9.26 [[ 9.76254331e-01 2.13992812e-01 3.36831952e-02 2.12252524e+02] [-2.13883090e-01 9.76835108e-01 -6.86987085e-03 -3.39792284e+01] [-3.43730306e-02 -4.97524692e-04 9.99408949e-01 -9.26122855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.05264000000003 meters 0.024130081827157437 Centerline is valid? [True, True] Translation: X:212.28, Y:-33.99, Z:-9.26 [[ 9.76266997e-01 2.13915593e-01 3.38063518e-02 2.12283282e+02] [-2.13804779e-01 9.76852025e-01 -6.90196437e-03 -3.39866065e+01] [-3.45002410e-02 -4.89799545e-04 9.99404569e-01 -9.26380634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08264000000003 meters 0.020682614059147574 Centerline is valid? [True, True] Translation: X:212.31, Y:-33.99, Z:-9.27 [[ 9.76355997e-01 2.13534717e-01 3.36436076e-02 2.12314109e+02] [-2.13424520e-01 9.76935364e-01 -6.87520207e-03 -3.39949189e+01] [-3.43357244e-02 -4.67726037e-04 9.99410246e-01 -9.26560754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.11264000000003 meters 0.01966881413539032 Centerline is valid? [True, True] Translation: X:212.34, Y:-34.01, Z:-9.27 [[ 9.76582712e-01 2.12506730e-01 3.35722488e-02 2.12344811e+02] [-2.12396198e-01 9.77159511e-01 -6.86630141e-03 -3.40061503e+01] [-3.42645775e-02 -4.25106746e-04 9.99412707e-01 -9.26725324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14264000000003 meters 0.018948561773504534 Centerline is valid? [True, True] Translation: X:212.38, Y:-34.02, Z:-9.27 [[ 9.76614227e-01 2.12379781e-01 3.34586306e-02 2.12376859e+02] [-2.12269740e-01 9.77187115e-01 -6.84839681e-03 -3.40151917e+01] [-3.41498037e-02 -4.14013060e-04 9.99416640e-01 -9.26855150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.17264000000003 meters 0.019403675848069398 Centerline is valid? [True, True] Translation: X:212.41, Y:-34.02, Z:-9.27 [[ 9.76562060e-01 2.12717348e-01 3.28309778e-02 2.12407372e+02] [-2.12611359e-01 9.77113689e-01 -6.72675212e-03 -3.40213490e+01] [-3.35104947e-02 -4.11147887e-04 9.99438281e-01 -9.27083094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20264000000003 meters 0.019547416619140456 Centerline is valid? [True, True] Translation: X:212.44, Y:-34.03, Z:-9.27 [[ 9.76444907e-01 2.13289962e-01 3.25996115e-02 2.12439319e+02] [-2.13185625e-01 9.76988850e-01 -6.68405050e-03 -3.40278214e+01] [-3.32750979e-02 -4.23161481e-04 9.99446141e-01 -9.27230841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.23264000000003 meters 0.02001123318364758 Centerline is valid? [True, True] Translation: X:212.47, Y:-34.03, Z:-9.27 [[ 9.76252492e-01 2.14147249e-01 3.27418274e-02 2.12471910e+02] [-2.14042261e-01 9.76801288e-01 -6.71976773e-03 -3.40342215e+01] [-3.34212789e-02 -4.47944768e-04 9.99441253e-01 -9.27357513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26264000000003 meters 0.020846285434654093 Centerline is valid? [True, True] Translation: X:212.50, Y:-34.04, Z:-9.28 [[ 9.76032692e-01 2.15105599e-01 3.30115845e-02 2.12503016e+02] [-2.14999181e-01 9.76590678e-01 -6.78224409e-03 -3.40394748e+01] [-3.36977044e-02 -4.77771686e-04 9.99431957e-01 -9.27520793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.29264000000003 meters 0.022786973693612357 Centerline is valid? [True, True] Translation: X:212.53, Y:-34.04, Z:-9.28 [[ 9.75613700e-01 2.17100370e-01 3.23316934e-02 2.12534294e+02] [-2.16999220e-01 9.76149142e-01 -6.64762545e-03 -3.40419071e+01] [-3.30037568e-02 -5.30437782e-04 9.99455087e-01 -9.27803750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32264000000004 meters 0.031074288442033526 Centerline is valid? [True, True] Translation: X:212.57, Y:-34.05, Z:-9.28 [[ 9.75488588e-01 2.17732690e-01 3.18510525e-02 2.12565979e+02] [-2.17634707e-01 9.76008292e-01 -6.55355500e-03 -3.40484521e+01] [-3.25138145e-02 -5.38976372e-04 9.99471141e-01 -9.27771749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.35264000000004 meters 0.023499548724292302 Centerline is valid? [True, True] Translation: X:212.60, Y:-34.05, Z:-9.28 [[ 9.75322769e-01 2.18336677e-01 3.27809792e-02 2.12597463e+02] [-2.18233032e-01 9.75873338e-01 -6.75076387e-03 -3.40534902e+01] [-3.34640229e-02 -5.69718767e-04 9.99439760e-01 -9.28040173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38264000000004 meters 0.023479421841318567 Centerline is valid? [True, True] Translation: X:212.63, Y:-34.06, Z:-9.28 [[ 9.75303916e-01 2.18321213e-01 3.34382981e-02 2.12629095e+02] [-2.18213132e-01 9.75876795e-01 -6.89282131e-03 -3.40597550e+01] [-3.41365083e-02 -5.74080136e-04 9.99417015e-01 -9.28069647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.41264000000004 meters 0.02299341283779992 Centerline is valid? [True, True] Translation: X:212.66, Y:-34.06, Z:-9.28 [[ 9.75365346e-01 2.17831528e-01 3.48118843e-02 2.12660186e+02] [-2.17713844e-01 9.75986217e-01 -7.18234323e-03 -3.40637682e+01] [-3.55404600e-02 -5.73620442e-04 9.99368074e-01 -9.27958029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.44264000000004 meters 0.02083681024236312 Centerline is valid? [True, True] Translation: X:212.69, Y:-34.07, Z:-9.28 [[ 9.75472669e-01 2.17314609e-01 3.50347318e-02 2.12691370e+02] [-2.17194887e-01 9.76101457e-01 -7.23370460e-03 -3.40719331e+01] [-3.57694425e-02 -5.53083480e-04 9.99359916e-01 -9.27916138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.47264000000004 meters 0.019801502783224185 Centerline is valid? [True, True] Translation: X:212.72, Y:-34.08, Z:-9.28 [[ 9.75702067e-01 2.16157583e-01 3.57963191e-02 2.12722404e+02] [-2.16031579e-01 9.76358353e-01 -7.39750766e-03 -3.40788928e+01] [-3.65490625e-02 -5.15371837e-04 9.99331727e-01 -9.27984064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.50264000000004 meters 0.0263504028841361 Centerline is valid? [True, True] Translation: X:212.75, Y:-34.09, Z:-9.28 [[ 9.75903803e-01 2.15393312e-01 3.48925229e-02 2.12754461e+02] [-2.15272899e-01 9.76527266e-01 -7.21646790e-03 -3.40869627e+01] [-3.56278789e-02 -4.68836082e-04 9.99365016e-01 -9.28052197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.53264000000004 meters 0.02777273382414174 Centerline is valid? [True, True] Translation: X:212.79, Y:-34.09, Z:-9.28 [[ 9.76070665e-01 2.14754760e-01 3.41533256e-02 2.12786096e+02] [-2.14638739e-01 9.76667912e-01 -7.07124149e-03 -3.40931594e+01] [-3.48750399e-02 -4.28595346e-04 9.99391589e-01 -9.28444957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.56264000000004 meters 0.028967692885963098 Centerline is valid? [True, True] Translation: X:212.82, Y:-34.10, Z:-9.29 [[ 9.76244955e-01 2.14054869e-01 3.35603973e-02 2.12817017e+02] [-2.13942307e-01 9.76821559e-01 -6.95203446e-03 -3.40995502e+01] [-3.42706364e-02 -3.93100247e-04 9.99412512e-01 -9.28809721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.59264000000002 meters 0.01728147472529183 Centerline is valid? [True, True] Translation: X:212.85, Y:-34.11, Z:-9.29 [[ 9.76590575e-01 2.12535726e-01 3.31574196e-02 2.12847536e+02] [-2.12424766e-01 9.77153241e-01 -6.87474534e-03 -3.41088777e+01] [-3.38610090e-02 -3.29645614e-04 9.99426497e-01 -9.29114298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.62264000000002 meters 0.017314591940188574 Centerline is valid? [True, True] Translation: X:212.88, Y:-34.11, Z:-9.29 [[ 9.76752034e-01 2.11770186e-01 3.32994483e-02 2.12878058e+02] [-2.11657622e-01 9.77319446e-01 -6.91025383e-03 -3.41146626e+01] [-3.40075841e-02 -2.98477574e-04 9.99421530e-01 -9.29425170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.65264000000002 meters 0.017091080599316348 Centerline is valid? [True, True] Translation: X:212.91, Y:-34.12, Z:-9.30 [[ 9.76978973e-01 2.10798587e-01 3.28030731e-02 2.12909240e+02] [-2.10688638e-01 9.77529483e-01 -6.81229350e-03 -3.41216245e+01] [-3.35019929e-02 -2.55767293e-04 9.99438618e-01 -9.29718732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68264000000002 meters 0.01677988367124714 Centerline is valid? [True, True] Translation: X:212.94, Y:-34.13, Z:-9.30 [[ 9.77158145e-01 2.09958388e-01 3.28547499e-02 2.12939432e+02] [-2.09847405e-01 9.77710298e-01 -6.82935421e-03 -3.41290944e+01] [-3.35563076e-02 -2.21124923e-04 9.99436804e-01 -9.29992862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71264000000002 meters 0.015058848049339468 Centerline is valid? [True, True] Translation: X:212.97, Y:-34.14, Z:-9.30 [[ 9.77289095e-01 2.09537538e-01 3.16234844e-02 2.12970086e+02] [-2.09286490e-01 9.77791509e-01 -1.10873581e-02 -3.41390486e+01] [-3.32443923e-02 4.21718610e-03 9.99438355e-01 -9.29847864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74264000000002 meters 0.015158417872910248 Centerline is valid? [True, True] Translation: X:213.00, Y:-34.15, Z:-9.30 [[ 9.77567378e-01 2.07945414e-01 3.34772612e-02 2.13000214e+02] [-2.07983109e-01 9.78129496e-01 -2.39088572e-03 -3.41501080e+01] [-3.32422703e-02 -4.62545298e-03 9.99436620e-01 -9.30009059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.77264000000002 meters 0.015432156138346302 Centerline is valid? [True, True] Translation: X:213.03, Y:-34.15, Z:-9.30 [[ 9.77254671e-01 2.09720828e-01 3.14719281e-02 2.13032145e+02] [-2.09406057e-01 9.77742058e-01 -1.30219737e-02 -3.41500723e+01] [-3.35024069e-02 6.13537230e-03 9.99419805e-01 -9.30241032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80264000000003 meters 0.020980362821897004 Centerline is valid? [True, True] Translation: X:213.06, Y:-34.16, Z:-9.30 [[ 9.77211310e-01 2.09404297e-01 3.47547950e-02 2.13062964e+02] [-2.09506682e-01 9.77806958e-01 -7.10100960e-04 -3.41614275e+01] [-3.41321786e-02 -6.58744309e-03 9.99395617e-01 -9.29914767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.83264000000003 meters 0.016329756618867916 Centerline is valid? [True, True] Translation: X:213.10, Y:-34.16, Z:-9.30 [[ 9.76774946e-01 2.11566263e-01 3.39178637e-02 2.13096292e+02] [-2.11448292e-01 9.77363620e-01 -7.06928737e-03 -3.41624438e+01] [-3.46457088e-02 -2.66771563e-04 9.99399622e-01 -9.30183879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86264000000003 meters 0.017475993354234637 Centerline is valid? [True, True] Translation: X:213.13, Y:-34.17, Z:-9.30 [[ 9.76407091e-01 2.13233909e-01 3.40659939e-02 2.13127834e+02] [-2.13115669e-01 9.77001125e-01 -7.10733148e-03 -3.41659675e+01] [-3.47980384e-02 -3.20348229e-04 9.99394314e-01 -9.30357979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.89264000000003 meters 0.019838590777523514 Centerline is valid? [True, True] Translation: X:213.16, Y:-34.17, Z:-9.31 [[ 9.75703248e-01 2.16509768e-01 3.35662434e-02 2.13160384e+02] [-2.16396733e-01 9.76280359e-01 -7.00820260e-03 -3.41664667e+01] [-3.42874085e-02 -4.25699369e-04 9.99411923e-01 -9.30522542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92264000000003 meters 0.02042961841409126 Centerline is valid? [True, True] Translation: X:213.19, Y:-34.17, Z:-9.31 [[ 9.75406307e-01 2.17878219e-01 3.33409307e-02 2.13192226e+02] [-2.17767302e-01 9.75975853e-01 -6.96681111e-03 -3.41715846e+01] [-3.40578597e-02 -4.65093042e-04 9.99419755e-01 -9.30671006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.95264000000003 meters 0.021892512355977507 Centerline is valid? [True, True] Translation: X:213.22, Y:-34.18, Z:-9.31 [[ 9.75188018e-01 2.18962674e-01 3.26140713e-02 2.13223492e+02] [-2.18856958e-01 9.75733115e-01 -6.82064152e-03 -3.41753503e+01] [-3.33160953e-02 -4.86408552e-04 9.99444746e-01 -9.31000164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98264000000003 meters 0.02321418062973947 Centerline is valid? [True, True] Translation: X:213.25, Y:-34.18, Z:-9.31 [[ 9.74969576e-01 2.20122813e-01 3.13093130e-02 2.13254700e+02] [-2.20025774e-01 9.75472039e-01 -6.55440936e-03 -3.41778460e+01] [-3.19841344e-02 -4.98506104e-04 9.99488252e-01 -9.31412827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.01264000000003 meters 0.022542846896316773 Centerline is valid? [True, True] Translation: X:213.29, Y:-34.18, Z:-9.32 [[ 9.75006247e-01 2.20023322e-01 3.08635013e-02 2.13285486e+02] [-2.19928954e-01 9.75494490e-01 -6.46181018e-03 -3.41848067e+01] [-3.15289244e-02 -4.87472275e-04 9.99502721e-01 -9.31550139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04264000000003 meters 0.022015248136067585 Centerline is valid? [True, True] Translation: X:213.32, Y:-34.19, Z:-9.32 [[ 9.75087480e-01 2.19697464e-01 3.06174899e-02 2.13315831e+02] [-2.19604411e-01 9.75567938e-01 -6.41105598e-03 -3.41920848e+01] [-3.12779343e-02 -4.72395406e-04 9.99510614e-01 -9.31667850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.07264000000004 meters 0.02129883216649333 Centerline is valid? [True, True] Translation: X:213.35, Y:-34.20, Z:-9.32 [[ 9.75122599e-01 2.19495858e-01 3.09432596e-02 2.13347151e+02] [-2.19400753e-01 9.75613318e-01 -6.47796594e-03 -3.41998400e+01] [-3.16105428e-02 -4.72163467e-04 9.99500150e-01 -9.31677808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.10264000000004 meters 0.02070963462937136 Centerline is valid? [True, True] Translation: X:213.38, Y:-34.21, Z:-9.32 [[ 9.75258077e-01 2.18836375e-01 3.13420412e-02 2.13378854e+02] [-2.18738279e-01 9.75761466e-01 -6.56716624e-03 -3.42072666e+01] [-3.20194909e-02 -4.51022228e-04 9.99487143e-01 -9.31770954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.13264000000004 meters 0.021617888014789387 Centerline is valid? [True, True] Translation: X:213.41, Y:-34.21, Z:-9.32 [[ 9.75227048e-01 2.18902408e-01 3.18424298e-02 2.13409995e+02] [-2.18800995e-01 9.75746652e-01 -6.67796718e-03 -3.42115965e+01] [-3.25319674e-02 -4.54621108e-04 9.99470592e-01 -9.31986154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16264000000004 meters 0.02099563554667605 Centerline is valid? [True, True] Translation: X:213.44, Y:-34.22, Z:-9.32 [[ 9.75165052e-01 2.19123533e-01 3.22179989e-02 2.13441209e+02] [-2.19019599e-01 9.75697015e-01 -6.76385103e-03 -3.42179386e+01] [-3.29171243e-02 -4.60502066e-04 9.99457979e-01 -9.31957233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.19264000000004 meters 0.02149723727473571 Centerline is valid? [True, True] Translation: X:213.47, Y:-34.22, Z:-9.32 [[ 9.75053342e-01 2.19533019e-01 3.28060172e-02 2.13471163e+02] [-2.19425455e-01 9.75604951e-01 -6.88829084e-03 -3.42212694e+01] [-3.35179201e-02 -4.82024230e-04 9.99438000e-01 -9.32075295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.22264000000004 meters 0.021980200495849343 Centerline is valid? [True, True] Translation: X:213.50, Y:-34.23, Z:-9.32 [[ 9.74998233e-01 2.19763564e-01 3.29001934e-02 2.13501107e+02] [-2.19655498e-01 9.75553041e-01 -6.90847706e-03 -3.42255610e+01] [-3.36141152e-02 -4.90955448e-04 9.99434765e-01 -9.32256290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.25264000000004 meters 0.021782832959947342 Centerline is valid? [True, True] Translation: X:213.53, Y:-34.23, Z:-9.33 [[ 9.75006110e-01 2.19814624e-01 3.23205370e-02 2.13531500e+02] [-2.19710354e-01 9.75541540e-01 -6.78699364e-03 -3.42309381e+01] [-3.30219069e-02 -4.83796376e-04 9.99454511e-01 -9.32504695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.28264000000004 meters 0.021390893682119556 Centerline is valid? [True, True] Translation: X:213.56, Y:-34.24, Z:-9.33 [[ 9.75137419e-01 2.19547563e-01 3.00978630e-02 2.13562270e+02] [-2.19456996e-01 9.75601698e-01 -6.32091577e-03 -3.42352661e+01] [-3.07512679e-02 -4.41425102e-04 9.99526970e-01 -9.32896391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.31264000000004 meters 0.022646243774055913 Centerline is valid? [True, True] Translation: X:213.59, Y:-34.24, Z:-9.33 [[ 9.75197196e-01 2.19292041e-01 3.00238177e-02 2.13592057e+02] [-2.19201794e-01 9.75659169e-01 -6.30554108e-03 -3.42384917e+01] [-3.06757680e-02 -4.32128704e-04 9.99529294e-01 -9.33301351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.34264000000002 meters 0.021948461512585234 Centerline is valid? [True, True] Translation: X:213.62, Y:-34.24, Z:-9.33 [[ 9.75323536e-01 2.18755392e-01 2.98341851e-02 2.13621311e+02] [-2.18665931e-01 9.75779642e-01 -6.26897354e-03 -3.42447304e+01] [-3.04829622e-02 -4.09442414e-04 9.99535203e-01 -9.33400943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.37264000000002 meters 0.02017298877206906 Centerline is valid? [True, True] Translation: X:213.65, Y:-34.25, Z:-9.33 [[ 9.75665654e-01 2.17106328e-01 3.06818120e-02 2.13651242e+02] [-2.17010929e-01 9.76147892e-01 -6.44596714e-03 -3.42524997e+01] [-3.13494463e-02 -3.69179771e-04 9.99508417e-01 -9.33377452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.40264000000002 meters 0.018531832056182543 Centerline is valid? [True, True] Translation: X:213.68, Y:-34.26, Z:-9.33 [[ 9.75883434e-01 2.16033015e-01 3.13250698e-02 2.13681241e+02] [-2.15933031e-01 9.76385999e-01 -6.58077148e-03 -3.42607569e+01] [-3.20070235e-02 -3.42051417e-04 9.99487585e-01 -9.33260311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43264000000002 meters 0.01759717238600049 Centerline is valid? [True, True] Translation: X:213.71, Y:-34.27, Z:-9.33 [[ 9.76034001e-01 2.15291096e-01 3.17391366e-02 2.13712425e+02] [-2.15188097e-01 9.76549865e-01 -6.66658030e-03 -3.42684761e+01] [-3.24301050e-02 -3.23075371e-04 9.99473954e-01 -9.33237683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46264000000002 meters 0.020780160083730622 Centerline is valid? [True, True] Translation: X:213.74, Y:-34.28, Z:-9.33 [[ 9.76223340e-01 2.14374826e-01 3.21158115e-02 2.13742842e+02] [-2.14268672e-01 9.76751427e-01 -6.75177195e-03 -3.42750881e+01] [-3.28165746e-02 -2.90174917e-04 9.99461349e-01 -9.33296172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.49264000000002 meters 0.02444060644383353 Centerline is valid? [True, True] Translation: X:213.77, Y:-34.28, Z:-9.33 [[ 9.76469565e-01 2.13244443e-01 3.21558052e-02 2.13774256e+02] [-2.13137240e-01 9.76998847e-01 -6.76540458e-03 -3.42827247e+01] [-3.28588696e-02 -2.47387895e-04 9.99459971e-01 -9.33307655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52264000000002 meters 0.016088026981068874 Centerline is valid? [True, True] Translation: X:213.80, Y:-34.29, Z:-9.34 [[ 9.76475206e-01 2.13108054e-01 3.28805203e-02 2.13804264e+02] [-2.12995675e-01 9.77028607e-01 -6.92413047e-03 -3.42891133e+01] [-3.36007969e-02 -2.42166892e-04 9.99435304e-01 -9.33575405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.55264000000003 meters 0.015962802185402747 Centerline is valid? [True, True] Translation: X:213.84, Y:-34.30, Z:-9.34 [[ 9.76719238e-01 2.12083373e-01 3.22517128e-02 2.13835494e+02] [-2.11974532e-01 9.77251556e-01 -6.79664437e-03 -3.42959127e+01] [-3.29594918e-02 -1.98128401e-04 9.99456669e-01 -9.33961497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58264000000003 meters 0.015669520156442546 Centerline is valid? [True, True] Translation: X:213.87, Y:-34.30, Z:-9.34 [[ 9.76872595e-01 2.11419436e-01 3.19649019e-02 2.13866954e+02] [-2.11311965e-01 9.77395413e-01 -6.74239026e-03 -3.43035680e+01] [-3.26678208e-02 -1.68109960e-04 9.99466250e-01 -9.34138171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.61264000000003 meters 0.015555697690848904 Centerline is valid? [True, True] Translation: X:213.90, Y:-34.31, Z:-9.34 [[ 9.76950584e-01 2.11075890e-01 3.18516024e-02 2.13897895e+02] [-2.10968756e-01 9.77469665e-01 -6.72588836e-03 -3.43104168e+01] [-3.25536480e-02 -1.48832369e-04 9.99469978e-01 -9.34335072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64264000000003 meters 0.015542213966298494 Centerline is valid? [True, True] Translation: X:213.93, Y:-34.31, Z:-9.34 [[ 9.76735307e-01 2.11941258e-01 3.26962195e-02 2.13929195e+02] [-2.11828822e-01 9.77282390e-01 -6.90507150e-03 -3.43149206e+01] [-3.34169090e-02 -1.81574526e-04 9.99441483e-01 -9.34271825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.67264000000003 meters 0.016162694652715498 Centerline is valid? [True, True] Translation: X:213.96, Y:-34.32, Z:-9.34 [[ 9.76463894e-01 2.13179266e-01 3.27546229e-02 2.13960038e+02] [-2.13067096e-01 9.77013076e-01 -6.91822715e-03 -3.43184701e+01] [-3.34765175e-02 -2.23533363e-04 9.99439479e-01 -9.34349390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70264000000003 meters 0.017496016269069957 Centerline is valid? [True, True] Translation: X:213.99, Y:-34.32, Z:-9.35 [[ 9.76066284e-01 2.14979712e-01 3.28379859e-02 2.13990091e+02] [-2.14867946e-01 9.76618473e-01 -6.93709749e-03 -3.43202282e+01] [-3.35615189e-02 -2.84763608e-04 9.99436613e-01 -9.34561255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.73264000000003 meters 0.018894151247209244 Centerline is valid? [True, True] Translation: X:214.02, Y:-34.32, Z:-9.35 [[ 9.75569547e-01 2.17266292e-01 3.25486900e-02 2.14020257e+02] [-2.17157767e-01 9.76112303e-01 -6.87573211e-03 -3.43226654e+01] [-3.32650416e-02 -3.60445994e-04 9.99446500e-01 -9.34669471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76264000000003 meters 0.022219328706562062 Centerline is valid? [True, True] Translation: X:214.05, Y:-34.32, Z:-9.35 [[ 9.74431289e-01 2.22352979e-01 3.22926641e-02 2.14050950e+02] [-2.22248969e-01 9.74966087e-01 -6.82086615e-03 -3.43208410e+01] [-3.30008922e-02 -5.30545904e-04 9.99455181e-01 -9.34693690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.79264000000003 meters 0.024019497258768653 Centerline is valid? [True, True] Translation: X:214.08, Y:-34.32, Z:-9.35 [[ 9.73830513e-01 2.24939027e-01 3.25048564e-02 2.14081114e+02] [-2.24835113e-01 9.74372642e-01 -6.86485321e-03 -3.43219742e+01] [-3.32160162e-02 -6.23029527e-04 9.99448002e-01 -9.34727567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82264000000004 meters 0.027398650176843595 Centerline is valid? [True, True] Translation: X:214.11, Y:-34.32, Z:-9.35 [[ 9.72815506e-01 2.28823567e-01 3.56337925e-02 2.14107923e+02] [-2.28794965e-01 9.73462135e-01 -4.93319052e-03 -3.43223867e+01] [-3.58169779e-02 -3.35374806e-03 9.99352739e-01 -9.34872731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.85264000000004 meters 0.031217011466812442 Centerline is valid? [True, True] Translation: X:214.14, Y:-34.32, Z:-9.35 [[ 9.72145454e-01 2.32084243e-01 3.27127064e-02 2.14141157e+02] [-2.31900478e-01 9.72694518e-01 -9.35645631e-03 -3.43152125e+01] [-3.39909562e-02 1.50974421e-03 9.99421000e-01 -9.34927942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88264000000004 meters 0.03414617107799826 Centerline is valid? [True, True] Translation: X:214.17, Y:-34.32, Z:-9.35 [[ 9.71681918e-01 2.33972323e-01 3.30333469e-02 2.14170301e+02] [-2.33870306e-01 9.72242794e-01 -6.97349265e-03 -3.43162466e+01] [-3.37480377e-02 -9.49502207e-04 9.99429922e-01 -9.35147267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.91264000000004 meters 0.03414617107799826 Centerline is valid? [True, True] Translation: X:214.20, Y:-34.32, Z:-9.35 [[ 9.71698538e-01 2.33903267e-01 3.30335137e-02 2.14197215e+02] [-2.33801237e-01 9.72259411e-01 -6.97270214e-03 -3.43217923e+01] [-3.37480824e-02 -9.47911892e-04 9.99429922e-01 -9.35272690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.94264000000004 meters 0.038117408675635824 Centerline is valid? [True, True] Translation: X:214.23, Y:-34.32, Z:-9.36 [[ 9.71333330e-01 2.35405259e-01 3.31047807e-02 2.14226433e+02] [-2.35303747e-01 9.71896782e-01 -6.98513342e-03 -3.43193352e+01] [-3.38187669e-02 -1.00478603e-03 9.99427477e-01 -9.35570450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.97264000000004 meters 0.03760067468232992 Centerline is valid? [True, True] Translation: X:214.26, Y:-34.32, Z:-9.36 [[ 9.71160450e-01 2.36214073e-01 3.24082165e-02 2.14255201e+02] [-2.36117308e-01 9.71700512e-01 -6.83606764e-03 -3.43231141e+01] [-3.31058560e-02 -1.01322232e-03 9.99451337e-01 -9.35684899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.00264000000004 meters 0.03687791801570494 Centerline is valid? [True, True] Translation: X:214.28, Y:-34.33, Z:-9.36 [[ 9.71111590e-01 2.36514442e-01 3.16733207e-02 2.14284328e+02] [-2.36422225e-01 9.71627457e-01 -6.67955729e-03 -3.43253729e+01] [-3.23544798e-02 -1.00168144e-03 9.99475955e-01 -9.35997749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.03264000000004 meters 0.037688578466123106 Centerline is valid? [True, True] Translation: X:214.31, Y:-34.33, Z:-9.36 [[ 9.71254038e-01 2.35982752e-01 3.12687426e-02 2.14312318e+02] [-2.35892644e-01 9.71756757e-01 -6.59286670e-03 -3.43283653e+01] [-3.19414147e-02 -9.72717959e-04 9.99489269e-01 -9.36243612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.06264000000004 meters 0.03670109774631798 Centerline is valid? [True, True] Translation: X:214.34, Y:-34.33, Z:-9.36 [[ 9.71466096e-01 2.35129344e-01 3.11097434e-02 2.14340939e+02] [-2.35039785e-01 9.71963633e-01 -6.55709135e-03 -3.43343335e+01] [-3.17793038e-02 -9.42035465e-04 9.99494466e-01 -9.36414248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.09264000000002 meters 0.04018893272502807 Centerline is valid? [True, True] Translation: X:214.37, Y:-34.34, Z:-9.36 [[ 9.72204277e-01 2.32137980e-01 3.05090451e-02 2.14369420e+02] [-2.32050408e-01 9.72682513e-01 -6.42939759e-03 -3.43413731e+01] [-3.11681220e-02 -8.28948519e-04 9.99513812e-01 -9.36416018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.12264000000002 meters 0.03215077497300456 Centerline is valid? [True, True] Translation: X:214.40, Y:-34.35, Z:-9.37 [[ 9.72568539e-01 2.30498381e-01 3.13198412e-02 2.14396695e+02] [-2.30405270e-01 9.73072381e-01 -6.59938484e-03 -3.43457087e+01] [-3.19976200e-02 -7.97902395e-04 9.99487627e-01 -9.36677238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.15264000000002 meters 0.028596519555812053 Centerline is valid? [True, True] Translation: X:214.42, Y:-34.35, Z:-9.37 [[ 9.72992780e-01 2.28654956e-01 3.16537731e-02 2.14424594e+02] [-2.28558943e-01 9.73507243e-01 -6.66759683e-03 -3.43537237e+01] [-3.23397564e-02 -7.47229339e-04 9.99476654e-01 -9.36610275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18264000000002 meters 0.025129800029079098 Centerline is valid? [True, True] Translation: X:214.45, Y:-34.36, Z:-9.37 [[ 9.73830692e-01 2.25047049e-01 3.17428630e-02 2.14453125e+02] [-2.24948635e-01 9.74347694e-01 -6.68457476e-03 -3.43602419e+01] [-3.24329292e-02 -6.30869648e-04 9.99473715e-01 -9.36717201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21264000000002 meters 0.026026707338412315 Centerline is valid? [True, True] Translation: X:214.48, Y:-34.36, Z:-9.37 [[ 9.74149093e-01 2.23639393e-01 3.19212458e-02 2.14481120e+02] [-2.23539144e-01 9.74671779e-01 -6.72124845e-03 -3.43635609e+01] [-3.26158733e-02 -5.88149878e-04 9.99467788e-01 -9.37062312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24264000000002 meters 0.024142620429627337 Centerline is valid? [True, True] Translation: X:214.51, Y:-34.37, Z:-9.37 [[ 9.74493479e-01 2.22143545e-01 3.18544350e-02 2.14509283e+02] [-2.22042988e-01 9.75013823e-01 -6.70497872e-03 -3.43706018e+01] [-3.25479822e-02 -5.39095884e-04 9.99470029e-01 -9.37124916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.27264000000002 meters 0.023109347079987734 Centerline is valid? [True, True] Translation: X:214.54, Y:-34.38, Z:-9.37 [[ 9.74783947e-01 2.20861389e-01 3.18826400e-02 2.14537553e+02] [-2.20760020e-01 9.75305080e-01 -6.70934869e-03 -3.43764902e+01] [-3.25771368e-02 -4.98246830e-04 9.99469100e-01 -9.37263329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30264000000003 meters 0.03519760082008439 Centerline is valid? [True, True] Translation: X:214.57, Y:-34.38, Z:-9.37 [[ 9.75293042e-01 2.18627546e-01 3.17092949e-02 2.14565823e+02] [-2.18526144e-01 9.75808289e-01 -6.67135485e-03 -3.43824220e+01] [-3.24007347e-02 -4.22783968e-04 9.99474869e-01 -9.37150271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.33264000000003 meters 0.020435241969965143 Centerline is valid? [True, True] Translation: X:214.59, Y:-34.39, Z:-9.37 [[ 9.75565521e-01 2.17404509e-01 3.17363172e-02 2.14593091e+02] [-2.17302335e-01 9.76081519e-01 -6.67558224e-03 -3.43862793e+01] [-3.24285344e-02 -3.83907948e-04 9.99473983e-01 -9.37483347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36264000000003 meters 0.019080956175015575 Centerline is valid? [True, True] Translation: X:214.62, Y:-34.39, Z:-9.38 [[ 9.75841217e-01 2.16120137e-01 3.20313158e-02 2.14621421e+02] [-2.16015435e-01 9.76366717e-01 -6.73539427e-03 -3.43918542e+01] [-3.27299650e-02 -3.46583280e-04 9.99464171e-01 -9.37530272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.39264000000003 meters 0.016380903317470878 Centerline is valid? [True, True] Translation: X:214.65, Y:-34.40, Z:-9.38 [[ 9.76584772e-01 2.12693022e-01 3.23088582e-02 2.14649368e+02] [-2.12584673e-01 9.77119043e-01 -6.79215415e-03 -3.43999025e+01] [-3.30142444e-02 -2.35253759e-04 9.99454854e-01 -9.37512197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42264000000003 meters 0.016071583227832517 Centerline is valid? [True, True] Translation: X:214.68, Y:-34.41, Z:-9.38 [[ 9.77090752e-01 2.10397151e-01 3.20421854e-02 2.14675832e+02] [-2.10289397e-01 9.77615985e-01 -6.73463180e-03 -3.44074767e+01] [-3.27419000e-02 -1.57785420e-04 9.99463828e-01 -9.37937448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.45264000000003 meters 0.02612819525955531 Centerline is valid? [True, True] Translation: X:214.70, Y:-34.42, Z:-9.38 [[ 9.77662201e-01 2.07780500e-01 3.16841480e-02 2.14703574e+02] [-2.07673837e-01 9.78175474e-01 -6.65724081e-03 -3.44172560e+01] [-3.23759013e-02 -7.14358887e-05 9.99475761e-01 -9.37778523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48264000000003 meters 0.01563834917571355 Centerline is valid? [True, True] Translation: X:214.73, Y:-34.43, Z:-9.38 [[ 9.78758562e-01 2.02511212e-01 3.19512992e-02 2.14728531e+02] [-2.02399981e-01 9.79279939e-01 -6.71187652e-03 -3.44314423e+01] [-3.26484965e-02 1.02364276e-04 9.99466890e-01 -9.38309853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.51264000000003 meters 0.01594870171487396 Centerline is valid? [True, True] Translation: X:214.76, Y:-34.44, Z:-9.38 [[ 9.79263999e-01 2.00018186e-01 3.21674716e-02 2.14756689e+02] [-1.99904182e-01 9.79792167e-01 -6.75475108e-03 -3.44402809e+01] [-3.28685098e-02 1.84272460e-04 9.99459668e-01 -9.38109360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54264000000003 meters 0.018024607503889106 Centerline is valid? [True, True] Translation: X:214.79, Y:-34.45, Z:-9.38 [[ 9.80085358e-01 1.96005599e-01 3.18511438e-02 2.14785344e+02] [-1.95891743e-01 9.80602726e-01 -6.68722350e-03 -3.44530696e+01] [-3.25440517e-02 3.14673766e-04 9.99470253e-01 -9.38237226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.57264000000004 meters 0.019021834654084076 Centerline is valid? [True, True] Translation: X:214.81, Y:-34.46, Z:-9.38 [[ 9.80394208e-01 1.94425181e-01 3.20319434e-02 2.14814741e+02] [-1.94309185e-01 9.80917281e-01 -6.72518280e-03 -3.44629478e+01] [-3.27282317e-02 3.69229474e-04 9.99464220e-01 -9.38310548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60264000000004 meters 0.02001268824213758 Centerline is valid? [True, True] Translation: X:214.84, Y:-34.47, Z:-9.38 [[ 9.80596939e-01 1.93351612e-01 3.23233090e-02 2.14843760e+02] [-1.93232936e-01 9.81129445e-01 -6.78565935e-03 -3.44725607e+01] [-3.30253684e-02 4.08068905e-04 9.99454430e-01 -9.38447598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.63264000000004 meters 0.020933130262555246 Centerline is valid? [True, True] Translation: X:214.87, Y:-34.48, Z:-9.39 [[ 9.80735606e-01 1.92687681e-01 3.20800476e-02 2.14872939e+02] [-1.92570352e-01 9.81260044e-01 -6.73694296e-03 -3.44817145e+01] [-3.27769948e-02 4.29493770e-04 9.99462598e-01 -9.38596343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66264000000004 meters 0.020208431042269027 Centerline is valid? [True, True] Translation: X:214.90, Y:-34.49, Z:-9.39 [[ 9.80748288e-01 1.92643909e-01 3.19549519e-02 2.14904516e+02] [-1.92527527e-01 9.81268639e-01 -6.70894849e-03 -3.44903788e+01] [-3.26488302e-02 4.27581879e-04 9.99466793e-01 -9.38622821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.69264000000004 meters 0.020981716191279885 Centerline is valid? [True, True] Translation: X:214.93, Y:-34.50, Z:-9.39 [[ 9.80638928e-01 1.93137540e-01 3.23293071e-02 2.14934315e+02] [-1.93018481e-01 9.81171602e-01 -6.79362272e-03 -3.44998555e+01] [-3.30327016e-02 4.21937163e-04 9.99454182e-01 -9.38818487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.72264000000004 meters 0.01970944147960006 Centerline is valid? [True, True] Translation: X:214.97, Y:-34.51, Z:-9.39 [[ 9.80499762e-01 1.93901266e-01 3.19768037e-02 2.14965701e+02] [-1.93785030e-01 9.81020969e-01 -6.72461598e-03 -3.45063801e+01] [-3.26738265e-02 3.96858496e-04 9.99465989e-01 -9.38845649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.75264000000004 meters 0.01809855305403643 Centerline is valid? [True, True] Translation: X:215.00, Y:-34.51, Z:-9.39 [[ 9.79973140e-01 1.96741304e-01 3.07490392e-02 2.14996813e+02] [-1.96634992e-01 9.80455390e-01 -6.47372862e-03 -3.45117452e+01] [-3.14217110e-02 2.97743096e-04 9.99506172e-01 -9.39118031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.78264000000004 meters 0.01737952590416023 Centerline is valid? [True, True] Translation: X:215.03, Y:-34.52, Z:-9.39 [[ 9.79503352e-01 1.99029769e-01 3.09892509e-02 2.15026314e+02] [-1.98922898e-01 9.79993418e-01 -6.52544432e-03 -3.45169398e+01] [-3.16680196e-02 2.27222995e-04 9.99498417e-01 -9.39420965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.81264000000004 meters 0.015574511062206088 Centerline is valid? [True, True] Translation: X:215.06, Y:-34.52, Z:-9.39 [[ 9.79011804e-01 2.01449427e-01 3.08871380e-02 2.15056686e+02] [-2.01344462e-01 9.79498906e-01 -6.50394228e-03 -3.45193554e+01] [-3.15641333e-02 1.48482081e-04 9.99501718e-01 -9.39309672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.84264000000002 meters 0.01510001883189336 Centerline is valid? [True, True] Translation: X:215.09, Y:-34.52, Z:-9.40 [[ 9.77687604e-01 2.07707490e-01 3.13775163e-02 2.15086808e+02] [-2.07602366e-01 9.78190981e-01 -6.60771072e-03 -3.45159921e+01] [-3.20656744e-02 -5.37697508e-05 9.99485763e-01 -9.39588541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.87264000000002 meters 0.01589181289488731 Centerline is valid? [True, True] Translation: X:215.12, Y:-34.52, Z:-9.40 [[ 9.77026027e-01 2.10762104e-01 3.16145155e-02 2.15116472e+02] [-2.10657019e-01 9.77537371e-01 -6.65652566e-03 -3.45170150e+01] [-3.23073137e-02 -1.56220755e-04 9.99477970e-01 -9.39700099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.90264000000002 meters 0.017100623449531206 Centerline is valid? [True, True] Translation: X:215.15, Y:-34.52, Z:-9.40 [[ 9.76485869e-01 2.13269699e-01 3.14862259e-02 2.15145581e+02] [-2.13166816e-01 9.76993336e-01 -6.62799656e-03 -3.45193993e+01] [-3.21753837e-02 -2.39673545e-04 9.99482210e-01 -9.39787017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93264000000002 meters 0.020161444244135854 Centerline is valid? [True, True] Translation: X:215.17, Y:-34.52, Z:-9.40 [[ 9.75585531e-01 2.17245450e-01 3.22069359e-02 2.15174577e+02] [-2.17140010e-01 9.76116935e-01 -6.77837659e-03 -3.45185290e+01] [-3.29103071e-02 -3.80528262e-04 9.99458237e-01 -9.39862638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96264000000002 meters 0.019495870631988377 Centerline is valid? [True, True] Translation: X:215.20, Y:-34.52, Z:-9.40 [[ 9.75387101e-01 2.18161618e-01 3.20236170e-02 2.15203326e+02] [-2.18057956e-01 9.75912567e-01 -6.73713175e-03 -3.45244098e+01] [-3.27220338e-02 -4.11693042e-04 9.99464406e-01 -9.39804303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.99264000000002 meters 0.020604702206485012 Centerline is valid? [True, True] Translation: X:215.23, Y:-34.53, Z:-9.40 [[ 9.75250002e-01 2.18835773e-01 3.15964770e-02 2.15230521e+02] [-2.18735255e-01 9.75761610e-01 -6.64593239e-03 -3.45280798e+01] [-3.22849971e-02 -4.29817889e-04 9.99478611e-01 -9.40063919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02264000000002 meters 0.02054009149399065 Centerline is valid? [True, True] Translation: X:215.26, Y:-34.53, Z:-9.40 [[ 9.75241481e-01 2.18929447e-01 3.12081921e-02 2.15259019e+02] [-2.18831513e-01 9.75740597e-01 -6.56177352e-03 -3.45332484e+01] [-3.18876654e-02 -4.30022155e-04 9.99491367e-01 -9.40244868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.05264000000003 meters 0.02107804353601956 Centerline is valid? [True, True] Translation: X:215.29, Y:-34.54, Z:-9.41 [[ 9.75355288e-01 2.18444470e-01 3.10495623e-02 2.15286608e+02] [-2.18347327e-01 9.75849293e-01 -6.52701575e-03 -3.45377286e+01] [-3.17254839e-02 -4.13429616e-04 9.99496535e-01 -9.40514357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08264000000003 meters 0.019926498501374672 Centerline is valid? [True, True] Translation: X:215.31, Y:-34.55, Z:-9.41 [[ 9.75621933e-01 2.17310385e-01 3.06274395e-02 2.15314551e+02] [-2.17215374e-01 9.76102483e-01 -6.43618765e-03 -3.45459997e+01] [-3.12941702e-02 -3.73464886e-04 9.99510148e-01 -9.40655126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.11264000000003 meters 0.01756286536619921 Centerline is valid? [True, True] Translation: X:215.34, Y:-34.56, Z:-9.41 [[ 9.76331851e-01 2.14173261e-01 3.00986798e-02 2.15340920e+02] [-2.14080055e-01 9.76795650e-01 -6.32361364e-03 -3.45594909e+01] [-3.07546084e-02 -2.69581625e-04 9.99526929e-01 -9.40830102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14264000000003 meters 0.017385228967849466 Centerline is valid? [True, True] Translation: X:215.37, Y:-34.57, Z:-9.41 [[ 9.76675927e-01 2.12590022e-01 3.01598531e-02 2.15367408e+02] [-2.12495724e-01 9.77141460e-01 -6.33510156e-03 -3.45669903e+01] [-3.08172223e-02 -2.21498643e-04 9.99525012e-01 -9.41149266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.17264000000003 meters 0.017139522101512823 Centerline is valid? [True, True] Translation: X:215.39, Y:-34.57, Z:-9.41 [[ 9.77006712e-01 2.11096526e-01 2.99356168e-02 2.15393939e+02] [-2.11002983e-01 9.77465205e-01 -6.28607419e-03 -3.45741698e+01] [-3.05879922e-02 -1.74967776e-04 9.99532063e-01 -9.41419237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20264000000003 meters 0.016068075433894175 Centerline is valid? [True, True] Translation: X:215.42, Y:-34.58, Z:-9.41 [[ 9.77341190e-01 2.09567252e-01 2.97618194e-02 2.15421965e+02] [-2.09474144e-01 9.77794227e-01 -6.24760841e-03 -3.45832505e+01] [-3.04102293e-02 -1.28286603e-04 9.99537494e-01 -9.41496764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.23264000000003 meters 0.014952025205711063 Centerline is valid? [True, True] Translation: X:215.45, Y:-34.60, Z:-9.41 [[ 9.77887319e-01 2.06880826e-01 3.06058124e-02 2.15449213e+02] [-2.06781093e-01 9.78366149e-01 -6.42323768e-03 -3.45950999e+01] [-3.12725356e-02 -4.75006862e-05 9.99510894e-01 -9.41336306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26264000000003 meters 0.014238797308857088 Centerline is valid? [True, True] Translation: X:215.48, Y:-34.60, Z:-9.41 [[ 9.78140599e-01 2.05601885e-01 3.11260871e-02 2.15478147e+02] [-2.05498144e-01 9.78635716e-01 -6.53054568e-03 -3.46037735e+01] [-3.18037931e-02 -8.56127596e-06 9.99494131e-01 -9.41187494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.29264000000003 meters 0.014359196977274632 Centerline is valid? [True, True] Translation: X:215.51, Y:-34.61, Z:-9.41 [[ 9.78368083e-01 2.04454672e-01 3.15306422e-02 2.15506785e+02] [-2.04347653e-01 9.78876032e-01 -6.61442529e-03 -3.46120601e+01] [-3.22169401e-02 2.81298623e-05 9.99480899e-01 -9.41354285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32264000000004 meters 0.014634900929526238 Centerline is valid? [True, True] Translation: X:215.54, Y:-34.62, Z:-9.42 [[ 9.78614667e-01 2.03334014e-01 3.11225417e-02 2.15535037e+02] [-2.03229188e-01 9.79109429e-01 -6.52858690e-03 -3.46206668e+01] [-3.17998578e-02 6.39620141e-05 9.99494255e-01 -9.41568361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.35264000000004 meters 0.015252460871885015 Centerline is valid? [True, True] Translation: X:215.56, Y:-34.63, Z:-9.42 [[ 9.78975194e-01 2.01514106e-01 3.16169909e-02 2.15562795e+02] [-2.01405014e-01 9.79485605e-01 -6.63100676e-03 -3.46340528e+01] [-3.23046289e-02 1.23770618e-04 9.99478062e-01 -9.41751630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38264000000004 meters 0.015184247381544136 Centerline is valid? [True, True] Translation: X:215.59, Y:-34.64, Z:-9.42 [[ 9.79107546e-01 2.00854365e-01 3.17165127e-02 2.15592972e+02] [-2.00744232e-01 9.79621102e-01 -6.65210897e-03 -3.46428871e+01] [-3.24062703e-02 1.46223107e-04 9.99474768e-01 -9.41746993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.41264000000004 meters 0.015370920511862247 Centerline is valid? [True, True] Translation: X:215.62, Y:-34.65, Z:-9.42 [[ 9.79230988e-01 2.00337892e-01 3.11673016e-02 2.15623585e+02] [-2.00231316e-01 9.79726852e-01 -6.53576571e-03 -3.46511176e+01] [-3.18448038e-02 1.59354500e-04 9.99492813e-01 -9.41891454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.44264000000004 meters 0.015498495994211655 Centerline is valid? [True, True] Translation: X:215.65, Y:-34.66, Z:-9.42 [[ 9.79222841e-01 2.00344519e-01 3.13799407e-02 2.15653839e+02] [-2.00236316e-01 9.79725495e-01 -6.58571699e-03 -3.46601716e+01] [-3.20631403e-02 1.65480788e-04 9.99485832e-01 -9.42100995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.47264000000004 meters 0.015552686348728337 Centerline is valid? [True, True] Translation: X:215.68, Y:-34.67, Z:-9.42 [[ 9.79074605e-01 2.00999048e-01 3.18166835e-02 2.15683868e+02] [-2.00887978e-01 9.79591425e-01 -6.68286065e-03 -3.46686562e+01] [-3.25105989e-02 1.51429927e-04 9.99471379e-01 -9.42305065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.50264000000004 meters 0.015641835084091466 Centerline is valid? [True, True] Translation: X:215.71, Y:-34.68, Z:-9.43 [[ 9.78968140e-01 2.01492256e-01 3.19726771e-02 2.15712668e+02] [-2.01380121e-01 9.79490097e-01 -6.72285820e-03 -3.46766616e+01] [-3.26715245e-02 1.42802421e-04 9.99466133e-01 -9.42510247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.53264000000004 meters 0.014659983248770126 Centerline is valid? [True, True] Translation: X:215.74, Y:-34.68, Z:-9.43 [[ 9.78563696e-01 2.03584721e-01 3.10862464e-02 2.15743652e+02] [-2.03479768e-01 9.79057330e-01 -6.53665908e-03 -3.46816973e+01] [-3.17659813e-02 7.11150807e-05 9.99495331e-01 -9.42568966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.56264000000004 meters 0.02028441657692655 Centerline is valid? [True, True] Translation: X:215.77, Y:-34.69, Z:-9.43 [[ 9.78334529e-01 2.04824781e-01 3.01389769e-02 2.15773157e+02] [-2.04726688e-01 9.78798656e-01 -6.33839140e-03 -3.46865110e+01] [-3.07982497e-02 3.08142640e-05 9.99525621e-01 -9.42753502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.59264000000002 meters 0.014923457084569852 Centerline is valid? [True, True] Translation: X:215.80, Y:-34.69, Z:-9.43 [[ 9.77725969e-01 2.07614435e-01 3.07924614e-02 2.15802618e+02] [-2.07513399e-01 9.78210736e-01 -6.47657414e-03 -3.46913115e+01] [-3.14661466e-02 -5.75336160e-05 9.99504817e-01 -9.43099923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.62264000000002 meters 0.015051870574357588 Centerline is valid? [True, True] Translation: X:215.83, Y:-34.70, Z:-9.43 [[ 9.77516391e-01 2.08625104e-01 3.06148957e-02 2.15832146e+02] [-2.08525733e-01 9.77995684e-01 -6.43902417e-03 -3.46963872e+01] [-3.12845780e-02 -8.97419040e-05 9.99510514e-01 -9.43179928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.65264000000002 meters 0.01522794017844831 Centerline is valid? [True, True] Translation: X:215.86, Y:-34.70, Z:-9.43 [[ 9.77325234e-01 2.09578042e-01 3.02064837e-02 2.15861833e+02] [-2.09481787e-01 9.77791916e-01 -6.35221137e-03 -3.47010587e+01] [-3.08669396e-02 -1.19531736e-04 9.99523495e-01 -9.43264205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68264000000002 meters 0.015938525795301958 Centerline is valid? [True, True] Translation: X:215.89, Y:-34.70, Z:-9.44 [[ 9.77176856e-01 2.10276073e-01 3.01556775e-02 2.15890303e+02] [-2.10180478e-01 9.77642037e-01 -6.34140953e-03 -3.47048336e+01] [-3.08149047e-02 -1.41456104e-04 9.99525098e-01 -9.43602902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.71264000000002 meters 0.01586642121951741 Centerline is valid? [True, True] Translation: X:215.92, Y:-34.71, Z:-9.44 [[ 9.77078740e-01 2.10671067e-01 3.05750954e-02 2.15919039e+02] [-2.10573020e-01 9.77556994e-01 -6.42856051e-03 -3.47111355e+01] [-3.12432100e-02 -1.57080371e-04 9.99511799e-01 -9.43693787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74264000000002 meters 0.015275764634821649 Centerline is valid? [True, True] Translation: X:215.95, Y:-34.72, Z:-9.44 [[ 9.77195956e-01 2.10141779e-01 3.04712492e-02 2.15948381e+02] [-2.10044174e-01 9.77670912e-01 -6.40562642e-03 -3.47193083e+01] [-3.11369438e-02 -1.40756162e-04 9.99515118e-01 -9.43631700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.77264000000002 meters 0.015444343894212188 Centerline is valid? [True, True] Translation: X:215.98, Y:-34.73, Z:-9.44 [[ 9.77281773e-01 2.09664669e-01 3.10010234e-02 2.15977199e+02] [-2.09563394e-01 9.77773343e-01 -6.51716748e-03 -3.47262417e+01] [-3.16783940e-02 -1.27570696e-04 9.99498106e-01 -9.43877614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80264000000003 meters 0.014707884327378906 Centerline is valid? [True, True] Translation: X:216.01, Y:-34.74, Z:-9.44 [[ 9.77655650e-01 2.07775004e-01 3.19214417e-02 2.16005981e+02] [-2.07666637e-01 9.78176642e-01 -6.71007927e-03 -3.47360806e+01] [-3.26189954e-02 -6.88715309e-05 9.99467857e-01 -9.43865940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.83264000000003 meters 0.014707884327378906 Centerline is valid? [True, True] Translation: X:216.03, Y:-34.74, Z:-9.44 [[ 9.77660534e-01 2.07752029e-01 3.19213789e-02 2.16034505e+02] [-2.07643640e-01 9.78181522e-01 -6.71037809e-03 -3.47420292e+01] [-3.26189977e-02 -6.77994762e-05 9.99467857e-01 -9.43998935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86264000000003 meters 0.014345976770351446 Centerline is valid? [True, True] Translation: X:216.06, Y:-34.75, Z:-9.44 [[ 9.77864702e-01 2.06724075e-01 3.23385381e-02 2.16063831e+02] [-2.06612308e-01 9.78399282e-01 -6.79696069e-03 -3.47507851e+01] [-3.30450979e-02 -3.50320546e-05 9.99453861e-01 -9.44054613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.89264000000003 meters 0.014127606025630228 Centerline is valid? [True, True] Translation: X:216.09, Y:-34.76, Z:-9.44 [[ 9.78103292e-01 2.05498298e-01 3.29302335e-02 2.16094108e+02] [-2.05381717e-01 9.78657473e-01 -6.92103563e-03 -3.47604325e+01] [-3.36496802e-02 6.21981778e-06 9.99433689e-01 -9.44028922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92264000000003 meters 0.013989070268793395 Centerline is valid? [True, True] Translation: X:216.13, Y:-34.77, Z:-9.44 [[ 9.78400791e-01 2.04033235e-01 3.32013822e-02 2.16126060e+02] [-2.03913924e-01 9.78963960e-01 -6.97679511e-03 -3.47707340e+01] [-3.39264546e-02 5.58777284e-05 9.99424331e-01 -9.43954467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.95264000000003 meters 0.027946615141626538 Centerline is valid? [True, True] Translation: X:216.15, Y:-34.78, Z:-9.44 [[ 9.79119893e-01 2.00777900e-01 3.18193315e-02 2.16154608e+02] [-2.00666351e-01 9.79636773e-01 -6.69399331e-03 -3.47836643e+01] [-3.25153932e-02 1.69152868e-04 9.99471220e-01 -9.44254683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98264000000003 meters 0.016299476778103242 Centerline is valid? [True, True] Translation: X:216.19, Y:-34.80, Z:-9.44 [[ 9.79465641e-01 1.99011554e-01 3.22716449e-02 2.16186063e+02] [-1.98895801e-01 9.79997116e-01 -6.79068210e-03 -3.47950844e+01] [-3.29775431e-02 2.32545150e-04 9.99456066e-01 -9.44461202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.01264000000003 meters 0.017067170590261013 Centerline is valid? [True, True] Translation: X:216.22, Y:-34.81, Z:-9.45 [[ 9.79764210e-01 1.97554007e-01 3.21637446e-02 2.16217072e+02] [-1.97438017e-01 9.80291963e-01 -6.77477529e-03 -3.48059673e+01] [-3.28682443e-02 2.87336401e-04 9.99459652e-01 -9.44640876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04264000000003 meters 0.0195577994875437 Centerline is valid? [True, True] Translation: X:216.25, Y:-34.82, Z:-9.45 [[ 9.80206294e-01 1.95400422e-01 3.18480200e-02 2.16245142e+02] [-1.95285342e-01 9.80723480e-01 -6.71501071e-03 -3.48217600e+01] [-3.25462169e-02 3.62644280e-04 9.99470166e-01 -9.44987405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.07264000000004 meters 0.020013168043791066 Centerline is valid? [True, True] Translation: X:216.28, Y:-34.83, Z:-9.45 [[ 9.80242675e-01 1.95269041e-01 3.15325302e-02 2.16276452e+02] [-1.95156108e-01 9.80749646e-01 -6.65017078e-03 -3.48315713e+01] [-3.22240903e-02 3.65015312e-04 9.99480602e-01 -9.45223648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.10264000000004 meters 0.01927647190015074 Centerline is valid? [True, True] Translation: X:216.31, Y:-34.84, Z:-9.45 [[ 9.80050351e-01 1.96359252e-01 3.07303328e-02 2.16307776e+02] [-1.96252349e-01 9.80531967e-01 -6.48676982e-03 -3.48403522e+01] [-3.14058110e-02 3.26461044e-04 9.99506663e-01 -9.45446114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.13264000000004 meters 0.01801785736150296 Centerline is valid? [True, True] Translation: X:216.34, Y:-34.85, Z:-9.46 [[ 9.79727662e-01 1.97976318e-01 3.06445171e-02 2.16339764e+02] [-1.97870602e-01 9.80206763e-01 -6.47501845e-03 -3.48464383e+01] [-3.13198633e-02 2.80105645e-04 9.99509373e-01 -9.45569144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16264000000004 meters 0.016654988727792617 Centerline is valid? [True, True] Translation: X:216.37, Y:-34.85, Z:-9.46 [[ 9.79226350e-01 2.00453013e-01 3.05670492e-02 2.16371565e+02] [-2.00348869e-01 9.79703296e-01 -6.46400598e-03 -3.48519330e+01] [-3.12423683e-02 2.05651244e-04 9.99511817e-01 -9.45704772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.19264000000004 meters 0.015512527005115559 Centerline is valid? [True, True] Translation: X:216.40, Y:-34.86, Z:-9.46 [[ 9.78683551e-01 2.03117822e-01 3.03587994e-02 2.16403002e+02] [-2.03016209e-01 9.79154296e-01 -6.42524685e-03 -3.48565976e+01] [-3.10310310e-02 1.24955026e-04 9.99518414e-01 -9.45843336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.22264000000004 meters 0.025270262950731027 Centerline is valid? [True, True] Translation: X:216.43, Y:-34.86, Z:-9.46 [[ 9.77428843e-01 2.09275906e-01 2.89214875e-02 2.16434554e+02] [-2.09186224e-01 9.77856631e-01 -6.12638355e-03 -3.48557228e+01] [-2.95631729e-02 -6.18727794e-05 9.99562912e-01 -9.45954210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.25264000000004 meters 0.015811359929735883 Centerline is valid? [True, True] Translation: X:216.47, Y:-34.86, Z:-9.46 [[ 9.76749049e-01 2.12298488e-01 2.98437036e-02 2.16465439e+02] [-2.12204220e-01 9.77204855e-01 -6.32774970e-03 -3.48589662e+01] [-3.05067837e-02 -1.52336343e-04 9.99534548e-01 -9.46187686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.28264000000004 meters 0.01951751518413411 Centerline is valid? [True, True] Translation: X:216.50, Y:-34.86, Z:-9.46 [[ 9.75406232e-01 2.18394734e-01 2.97728629e-02 2.16496049e+02] [-2.18303709e-01 9.75860453e-01 -6.31403219e-03 -3.48580128e+01] [-3.04331108e-02 -3.40780031e-04 9.99536748e-01 -9.46352177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.31264000000004 meters 0.02266392841779393 Centerline is valid? [True, True] Translation: X:216.53, Y:-34.86, Z:-9.47 [[ 9.74816377e-01 2.20994606e-01 2.99067614e-02 2.16525428e+02] [-2.20903994e-01 9.75274938e-01 -6.34205033e-03 -3.48593993e+01] [-3.05688738e-02 -4.24188500e-04 9.99532573e-01 -9.46623075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.34264000000005 meters 0.02335796437160997 Centerline is valid? [True, True] Translation: X:216.56, Y:-34.86, Z:-9.47 [[ 9.74316718e-01 2.23163437e-01 3.00834264e-02 2.16555032e+02] [-2.23072789e-01 9.74780916e-01 -6.37931644e-03 -3.48640390e+01] [-3.07483801e-02 -4.95319175e-04 9.99527034e-01 -9.46535771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.37264000000002 meters 0.031537193621452936 Centerline is valid? [True, True] Translation: X:216.58, Y:-34.87, Z:-9.46 [[ 9.73899149e-01 2.25031934e-01 2.96829387e-02 2.16584404e+02] [-2.24944573e-01 9.74351235e-01 -6.29368471e-03 -3.48686588e+01] [-3.03378880e-02 -5.47601790e-04 9.99539550e-01 -9.46472616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.40264000000002 meters 0.027078812290343406 Centerline is valid? [True, True] Translation: X:216.61, Y:-34.87, Z:-9.47 [[ 9.73273747e-01 2.27703290e-01 2.98232480e-02 2.16612542e+02] [-2.27616365e-01 9.73730358e-01 -6.32304263e-03 -3.48711739e+01] [-3.04795795e-02 -6.34207887e-04 9.99535188e-01 -9.46769416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43264000000002 meters 0.028311993469031734 Centerline is valid? [True, True] Translation: X:216.64, Y:-34.88, Z:-9.47 [[ 9.73032041e-01 2.28729539e-01 2.98570736e-02 2.16642232e+02] [-2.28642957e-01 9.73489779e-01 -6.32832584e-03 -3.48758427e+01] [-3.05130311e-02 -6.68945794e-04 9.99534145e-01 -9.46917693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46264000000002 meters 0.030509477355795747 Centerline is valid? [True, True] Translation: X:216.67, Y:-34.88, Z:-9.47 [[ 9.72822852e-01 2.29462367e-01 3.10277360e-02 2.16670418e+02] [-2.29369243e-01 9.73317268e-01 -6.57613793e-03 -3.48784195e+01] [-3.17088074e-02 -7.19391069e-04 9.99496890e-01 -9.47006780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.49264000000002 meters 0.02914413402779449 Centerline is valid? [True, True] Translation: X:216.70, Y:-34.89, Z:-9.47 [[ 9.72859015e-01 2.29250615e-01 3.14561981e-02 2.16698022e+02] [-2.29154859e-01 9.73367161e-01 -6.66480218e-03 -3.48867944e+01] [-3.21463403e-02 -7.24427775e-04 9.99482910e-01 -9.46995428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52264000000002 meters 0.02881836435753478 Centerline is valid? [True, True] Translation: X:216.73, Y:-34.89, Z:-9.47 [[ 9.72960158e-01 2.28779966e-01 3.17530790e-02 2.16726760e+02] [-2.28682205e-01 9.73477895e-01 -6.72580607e-03 -3.48943717e+01] [-3.24496502e-02 -7.17422792e-04 9.99473114e-01 -9.47088708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.55264000000003 meters 0.030567282103923434 Centerline is valid? [True, True] Translation: X:216.76, Y:-34.90, Z:-9.47 [[ 9.73115227e-01 2.28156053e-01 3.14892242e-02 2.16755225e+02] [-2.28059604e-01 9.73624331e-01 -6.66931277e-03 -3.48985463e+01] [-3.21803189e-02 -6.91410178e-04 9.99481840e-01 -9.47449104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58264000000003 meters 0.02764057947061554 Centerline is valid? [True, True] Translation: X:216.78, Y:-34.91, Z:-9.48 [[ 9.73440226e-01 2.26801375e-01 3.12292073e-02 2.16783296e+02] [-2.26705856e-01 9.73940821e-01 -6.61294519e-03 -3.49081581e+01] [-3.19152249e-02 -6.42537338e-04 9.99490373e-01 -9.47531202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.61264000000003 meters 0.02684071265307054 Centerline is valid? [True, True] Translation: X:216.81, Y:-34.92, Z:-9.48 [[ 9.73653758e-01 2.25935695e-01 3.08451218e-02 2.16811486e+02] [-2.25842101e-01 9.74142029e-01 -6.53088155e-03 -3.49161314e+01] [-3.15230888e-02 -6.07309762e-04 9.99502839e-01 -9.47733842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64264000000003 meters 0.02982185238637525 Centerline is valid? [True, True] Translation: X:216.84, Y:-34.92, Z:-9.48 [[ 9.73847758e-01 2.25151062e-01 3.04555822e-02 2.16840329e+02] [-2.25059457e-01 9.74323698e-01 -6.44767746e-03 -3.49237691e+01] [-3.11252969e-02 -5.75260555e-04 9.99515325e-01 -9.47840851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.67264000000003 meters 0.03355053027849513 Centerline is valid? [True, True] Translation: X:216.87, Y:-34.93, Z:-9.48 [[ 9.73960628e-01 2.24667930e-01 3.04140883e-02 2.16869183e+02] [-2.24576362e-01 9.74435225e-01 -6.43815577e-03 -3.49311974e+01] [-3.10830061e-02 -5.59775057e-04 9.99516650e-01 -9.47836827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70264000000003 meters 0.03488160958477175 Centerline is valid? [True, True] Translation: X:216.90, Y:-34.93, Z:-9.48 [[ 9.73850731e-01 2.25048801e-01 3.11093462e-02 2.16898327e+02] [-2.24953211e-01 9.74347317e-01 -6.58470621e-03 -3.49341389e+01] [-3.17931882e-02 -5.85626371e-04 9.99494297e-01 -9.47975111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.73264000000003 meters 0.026546855732123002 Centerline is valid? [True, True] Translation: X:216.93, Y:-34.94, Z:-9.48 [[ 9.73659382e-01 2.25752768e-01 3.19858611e-02 2.16927075e+02] [-2.25652140e-01 9.74184425e-01 -6.76886543e-03 -3.49399859e+01] [-3.26882178e-02 -6.27108668e-04 9.99465401e-01 -9.47916333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76264000000003 meters 0.03672881536412388 Centerline is valid? [True, True] Translation: X:216.96, Y:-34.94, Z:-9.48 [[ 9.73294466e-01 2.27355655e-01 3.17378151e-02 2.16956146e+02] [-2.27257453e-01 9.73811557e-01 -6.71576122e-03 -3.49403589e+01] [-3.24335174e-02 -6.76241786e-04 9.99473666e-01 -9.48036662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.79264000000003 meters 0.03352398390706052 Centerline is valid? [True, True] Translation: X:216.99, Y:-34.94, Z:-9.48 [[ 9.72500129e-01 2.30637379e-01 3.24021389e-02 2.16986008e+02] [-2.30536876e-01 9.73039441e-01 -6.85523544e-03 -3.49367248e+01] [-3.31096327e-02 -8.03170542e-04 9.99451403e-01 -9.48287778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82264000000004 meters 0.03518868233146519 Centerline is valid? [True, True] Translation: X:217.02, Y:-34.94, Z:-9.48 [[ 9.72180206e-01 2.32004361e-01 3.22432105e-02 2.17015290e+02] [-2.31905642e-01 9.72714377e-01 -6.82012334e-03 -3.49386776e+01] [-3.29457327e-02 -8.46993495e-04 9.99456783e-01 -9.48492828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.85264000000004 meters 0.03696408246242482 Centerline is valid? [True, True] Translation: X:217.04, Y:-34.94, Z:-9.49 [[ 9.71941927e-01 2.33060865e-01 3.18044616e-02 2.17043282e+02] [-2.32965423e-01 9.72461759e-01 -6.72600586e-03 -3.49403364e+01] [-3.24961914e-02 -8.72052746e-04 9.99471479e-01 -9.48713157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88264000000004 meters 0.03844227826549274 Centerline is valid? [True, True] Translation: X:217.07, Y:-34.94, Z:-9.49 [[ 9.71890128e-01 2.33479330e-01 3.02816942e-02 2.17071831e+02] [-2.33393063e-01 9.72361398e-01 -6.40233621e-03 -3.49400040e+01] [-3.09395637e-02 -8.45170001e-04 9.99520900e-01 -9.49189985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.91264000000004 meters 0.03796191774562439 Centerline is valid? [True, True] Translation: X:217.10, Y:-34.94, Z:-9.49 [[ 9.72078860e-01 2.32760705e-01 2.97513719e-02 2.17100418e+02] [-2.32677153e-01 9.72533701e-01 -6.28837474e-03 -3.49443411e+01] [-3.03978983e-02 -8.09668375e-04 9.99537549e-01 -9.49453241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.94264000000004 meters 0.03682871033358266 Centerline is valid? [True, True] Translation: X:217.13, Y:-34.95, Z:-9.50 [[ 9.72380022e-01 2.31508730e-01 2.96783074e-02 2.17127549e+02] [-2.31425041e-01 9.72832522e-01 -6.27174530e-03 -3.49494944e+01] [-3.03239865e-02 -7.69783691e-04 9.99539826e-01 -9.49649754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.97264000000004 meters 0.03296023277966158 Centerline is valid? [True, True] Translation: X:217.16, Y:-34.96, Z:-9.50 [[ 9.73184568e-01 2.28066957e-01 2.99542764e-02 2.17155417e+02] [-2.27980143e-01 9.73645219e-01 -6.32783098e-03 -3.49572824e+01] [-3.06080072e-02 -6.70832766e-04 9.99531240e-01 -9.49746602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.00264000000004 meters 0.030720424461388604 Centerline is valid? [True, True] Translation: X:217.18, Y:-34.96, Z:-9.50 [[ 9.73696472e-01 2.25835838e-01 3.02217621e-02 2.17183837e+02] [-2.25746413e-01 9.74165184e-01 -6.38364097e-03 -3.49645797e+01] [-3.08826434e-02 -6.06725703e-04 9.99522833e-01 -9.49860350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.03264000000004 meters 0.02819595409980403 Centerline is valid? [True, True] Translation: X:217.21, Y:-34.97, Z:-9.50 [[ 9.74182218e-01 2.23650141e-01 3.08159244e-02 2.17211675e+02] [-2.23556084e-01 9.74669336e-01 -6.50874210e-03 -3.49727892e+01] [-3.14910177e-02 -5.48386565e-04 9.99503884e-01 -9.49914071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.06264000000004 meters 0.03496652739283684 Centerline is valid? [True, True] Translation: X:217.24, Y:-34.99, Z:-9.49 [[ 9.74815786e-01 2.20910139e-01 3.05433006e-02 2.17239484e+02] [-2.20816445e-01 9.75294059e-01 -6.44952038e-03 -3.49868406e+01] [-3.12134641e-02 -4.57368784e-04 9.99512636e-01 -9.49391718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.09264000000005 meters 0.01818123282990764 Centerline is valid? [True, True] Translation: X:217.27, Y:-35.00, Z:-9.50 [[ 9.76048583e-01 2.15265480e-01 3.14632570e-02 2.17267006e+02] [-2.15163147e-01 9.76555524e-01 -6.64294322e-03 -3.49967130e+01] [-3.21556138e-02 -2.85898081e-04 9.99482834e-01 -9.49673717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.12264000000002 meters 0.01599704054892593 Centerline is valid? [True, True] Translation: X:217.30, Y:-35.01, Z:-9.50 [[ 9.76630299e-01 2.12620604e-01 3.13964541e-02 2.17295891e+02] [-2.12517375e-01 9.77134811e-01 -6.62771460e-03 -3.50065759e+01] [-3.20877570e-02 -1.99465107e-04 9.99485035e-01 -9.49650425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.15264000000002 meters 0.014993398149038915 Centerline is valid? [True, True] Translation: X:217.32, Y:-35.02, Z:-9.50 [[ 9.77175793e-01 2.10045666e-01 3.17535399e-02 2.17324939e+02] [-2.09938720e-01 9.77691569e-01 -6.70293175e-03 -3.50155305e+01] [-3.24530901e-02 -1.16354873e-04 9.99473253e-01 -9.49742043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18264000000002 meters 0.014906400275149796 Centerline is valid? [True, True] Translation: X:217.35, Y:-35.03, Z:-9.50 [[ 9.78121733e-01 2.05641244e-01 3.14571652e-02 2.17354058e+02] [-2.05534031e-01 9.78627446e-01 -6.63960580e-03 -3.50260359e+01] [-3.21502220e-02 2.88247711e-05 9.99483048e-01 -9.49926537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.21264000000002 meters 0.01533674854620331 Centerline is valid? [True, True] Translation: X:217.38, Y:-35.03, Z:-9.50 [[ 9.78530007e-01 2.03727332e-01 3.12121698e-02 2.17383869e+02] [-2.03620677e-01 9.79027663e-01 -6.59201562e-03 -3.50341652e+01] [-3.19005514e-02 9.50419396e-05 9.99491043e-01 -9.50083502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24264000000002 meters 0.0156800326683506 Centerline is valid? [True, True] Translation: X:217.42, Y:-35.04, Z:-9.50 [[ 9.78913817e-01 2.01898549e-01 3.10598642e-02 2.17415330e+02] [-2.01792054e-01 9.79406429e-01 -6.55851831e-03 -3.50428145e+01] [-3.17443860e-02 1.52590395e-04 9.99496008e-01 -9.50065103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.27264000000002 meters 0.016380987319356707 Centerline is valid? [True, True] Translation: X:217.45, Y:-35.05, Z:-9.50 [[ 9.79241324e-01 2.00262566e-01 3.13262393e-02 2.17447341e+02] [-2.00153228e-01 9.79742241e-01 -6.62011222e-03 -3.50523682e+01] [-3.20174006e-02 2.12639540e-04 9.99487289e-01 -9.50183429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30264000000003 meters 0.01839099650938719 Centerline is valid? [True, True] Translation: X:217.48, Y:-35.06, Z:-9.50 [[ 9.79845788e-01 1.97298069e-01 3.12362455e-02 2.17476856e+02] [-1.97187600e-01 9.80343497e-01 -6.60895411e-03 -3.50637623e+01] [-3.19261841e-02 3.16355556e-04 9.99490179e-01 -9.50353782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.33264000000003 meters 0.01980916924017887 Centerline is valid? [True, True] Translation: X:217.51, Y:-35.07, Z:-9.50 [[ 9.80043000e-01 1.96239794e-01 3.17121638e-02 2.17507249e+02] [-1.96125318e-01 9.80555870e-01 -6.71153084e-03 -3.50733001e+01] [-3.24126178e-02 3.58030626e-04 9.99474509e-01 -9.50482383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36264000000003 meters 0.019786846746156193 Centerline is valid? [True, True] Translation: X:217.54, Y:-35.08, Z:-9.50 [[ 9.80236244e-01 1.95161503e-01 3.23866266e-02 2.17539704e+02] [-1.95041313e-01 9.80771034e-01 -6.86039474e-03 -3.50815415e+01] [-3.31027502e-02 4.08077393e-04 9.99451870e-01 -9.50389838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.39264000000003 meters 0.02203077660609625 Centerline is valid? [True, True] Translation: X:217.57, Y:-35.09, Z:-9.51 [[ 9.80616880e-01 1.93275208e-01 3.21749564e-02 2.17569232e+02] [-1.93155339e-01 9.81144468e-01 -6.82253476e-03 -3.50938431e+01] [-3.28869073e-02 4.75528130e-04 9.99458966e-01 -9.50576261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42264000000003 meters 0.027421950235233018 Centerline is valid? [True, True] Translation: X:217.60, Y:-35.10, Z:-9.51 [[ 9.80821493e-01 1.92283228e-01 3.18803799e-02 2.17598623e+02] [-1.92164852e-01 9.81339340e-01 -6.76526398e-03 -3.51036091e+01] [-3.25863177e-02 5.09227858e-04 9.99468795e-01 -9.50828024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.45264000000003 meters 0.02807509450083255 Centerline is valid? [True, True] Translation: X:217.63, Y:-35.12, Z:-9.51 [[ 9.81181807e-01 1.90565742e-01 3.10959798e-02 2.17627476e+02] [-1.90452104e-01 9.81674278e-01 -6.60367644e-03 -3.51161115e+01] [-3.17845580e-02 5.57112404e-04 9.99494588e-01 -9.51193416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48264000000003 meters 0.026568621285333303 Centerline is valid? [True, True] Translation: X:217.66, Y:-35.13, Z:-9.51 [[ 9.81318460e-01 1.89946295e-01 3.05693646e-02 2.17657914e+02] [-1.89836032e-01 9.81794316e-01 -6.49636606e-03 -3.51257850e+01] [-3.12467891e-02 5.71837046e-04 9.99511536e-01 -9.51449808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.51264000000003 meters 0.026766800293416104 Centerline is valid? [True, True] Translation: X:217.69, Y:-35.13, Z:-9.52 [[ 9.81365796e-01 1.89691464e-01 3.06320623e-02 2.17689677e+02] [-1.89580471e-01 9.81843575e-01 -6.51458748e-03 -3.51347677e+01] [-3.13116552e-02 5.85952510e-04 9.99509498e-01 -9.51578415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54264000000003 meters 0.025532474335231658 Centerline is valid? [True, True] Translation: X:217.72, Y:-35.14, Z:-9.52 [[ 9.81278746e-01 1.90161955e-01 3.05033325e-02 2.17722050e+02] [-1.90051938e-01 9.81752566e-01 -6.49305588e-03 -3.51422526e+01] [-3.11814572e-02 5.74280264e-04 9.99513575e-01 -9.51616858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.57264000000004 meters 0.02422780050407629 Centerline is valid? [True, True] Translation: X:217.75, Y:-35.15, Z:-9.52 [[ 9.81120358e-01 1.91092299e-01 2.97754196e-02 2.17754488e+02] [-1.90987726e-01 9.81571925e-01 -6.34380310e-03 -3.51479652e+01] [-3.04389678e-02 5.37294697e-04 9.99536483e-01 -9.51804631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60264000000004 meters 0.027812882796849306 Centerline is valid? [True, True] Translation: X:217.79, Y:-35.15, Z:-9.52 [[ 9.80931082e-01 1.92193062e-01 2.89143560e-02 2.17785931e+02] [-1.92094755e-01 9.81357011e-01 -6.16624407e-03 -3.51544257e+01] [-2.95604153e-02 4.94364317e-04 9.99562873e-01 -9.52044639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.63264000000004 meters 0.024083147282972242 Centerline is valid? [True, True] Translation: X:217.82, Y:-35.16, Z:-9.52 [[ 9.80629572e-01 1.93726888e-01 2.89056148e-02 2.17816378e+02] [-1.93629131e-01 9.81055394e-01 -6.17032200e-03 -3.51623088e+01] [-2.95533666e-02 4.53831158e-04 9.99563101e-01 -9.52443387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.66264000000004 meters 0.01920127988215055 Centerline is valid? [True, True] Translation: X:217.85, Y:-35.16, Z:-9.52 [[ 9.79820710e-01 1.97806208e-01 2.87067982e-02 2.17848785e+02] [-1.97711411e-01 9.80241089e-01 -6.13225298e-03 -3.51644736e+01] [-2.93525808e-02 3.32846900e-04 9.99569065e-01 -9.52323654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.69264000000004 meters 0.01918327964980051 Centerline is valid? [True, True] Translation: X:217.88, Y:-35.17, Z:-9.53 [[ 9.79324869e-01 2.00226395e-01 2.88477278e-02 2.17879542e+02] [-2.00131556e-01 9.79749621e-01 -6.16772091e-03 -3.51712632e+01] [-2.94984909e-02 2.66861809e-04 9.99564789e-01 -9.52735635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.72264000000004 meters 0.01918327964980051 Centerline is valid? [True, True] Translation: X:217.91, Y:-35.18, Z:-9.53 [[ 9.79287179e-01 2.00410804e-01 2.88466911e-02 2.17911258e+02] [-2.00315902e-01 9.79711916e-01 -6.17256504e-03 -3.51782530e+01] [-2.94984957e-02 2.66262842e-04 9.99564789e-01 -9.52883926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.75264000000004 meters 0.01684402805362782 Centerline is valid? [True, True] Translation: X:217.94, Y:-35.18, Z:-9.53 [[ 9.78773683e-01 2.02824843e-01 2.93966075e-02 2.17943559e+02] [-2.02727188e-01 9.79215013e-01 -6.29643805e-03 -3.51817773e+01] [-3.00626735e-02 2.03296269e-04 9.99547995e-01 -9.52713311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.78264000000004 meters 0.01652531107649453 Centerline is valid? [True, True] Translation: X:217.97, Y:-35.19, Z:-9.53 [[ 9.78293925e-01 2.05066721e-01 2.98099881e-02 2.17974029e+02] [-2.04967167e-01 9.78747986e-01 -6.39067110e-03 -3.51865910e+01] [-3.04869798e-02 1.41885913e-04 9.99535154e-01 -9.52985868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.81264000000004 meters 0.015134345058953067 Centerline is valid? [True, True] Translation: X:218.01, Y:-35.19, Z:-9.53 [[ 9.77502039e-01 2.08762877e-01 3.01301415e-02 2.18005341e+02] [-2.08662705e-01 9.77966288e-01 -6.46649038e-03 -3.51880659e+01] [-3.08162258e-02 3.39706891e-05 9.99525067e-01 -9.53023617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.84264000000005 meters 0.014781407787056161 Centerline is valid? [True, True] Translation: X:218.04, Y:-35.19, Z:-9.53 [[ 9.77150127e-01 2.10384894e-01 3.02626262e-02 2.18038086e+02] [-2.10284673e-01 9.77618635e-01 -6.49307908e-03 -3.51935160e+01] [-3.09513531e-02 -1.90534205e-05 9.99520892e-01 -9.53012765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.87264000000002 meters 0.014893773945030298 Centerline is valid? [True, True] Translation: X:218.07, Y:-35.20, Z:-9.53 [[ 9.76920768e-01 2.11462930e-01 3.01536382e-02 2.18069010e+02] [-2.11363746e-01 9.77386017e-01 -6.47608577e-03 -3.51996178e+01] [-3.08411965e-02 -4.67632584e-05 9.99524296e-01 -9.53251121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.90264000000002 meters 0.014766433162000051 Centerline is valid? [True, True] Translation: X:218.10, Y:-35.21, Z:-9.53 [[ 9.76697786e-01 2.12370958e-01 3.09840574e-02 2.18099818e+02] [-2.12266488e-01 9.77189117e-01 -6.66085057e-03 -3.52084915e+01] [-3.16918549e-02 -7.12390405e-05 9.99497684e-01 -9.53278875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93264000000002 meters 0.014548996229071345 Centerline is valid? [True, True] Translation: X:218.13, Y:-35.22, Z:-9.53 [[ 9.76640426e-01 2.12532163e-01 3.16789750e-02 2.18130606e+02] [-2.12422849e-01 9.77154069e-01 -6.81606292e-03 -3.52168700e+01] [-3.24038720e-02 -7.24955360e-05 9.99474854e-01 -9.53317279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96264000000002 meters 0.014668003212464479 Centerline is valid? [True, True] Translation: X:218.16, Y:-35.22, Z:-9.53 [[ 9.76655986e-01 2.12399329e-01 3.20875287e-02 2.18161206e+02] [-2.12286908e-01 9.77182952e-01 -6.90997097e-03 -3.52246499e+01] [-3.28230592e-02 -6.30977231e-05 9.99461176e-01 -9.53467500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99264000000002 meters 0.014468677949191286 Centerline is valid? [True, True] Translation: X:218.19, Y:-35.23, Z:-9.54 [[ 9.76695818e-01 2.12159806e-01 3.24576050e-02 2.18191153e+02] [-2.12044460e-01 9.77234984e-01 -6.99520090e-03 -3.52318134e+01] [-3.32028076e-02 -5.02718736e-05 9.99448634e-01 -9.53602950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02264000000002 meters 0.018320564736447473 Centerline is valid? [True, True] Translation: X:218.22, Y:-35.24, Z:-9.54 [[ 9.76768585e-01 2.11897930e-01 3.19749650e-02 2.18222899e+02] [-2.11785705e-01 9.77291802e-01 -6.89557222e-03 -3.52399444e+01] [-3.27100286e-02 -3.64621917e-05 9.99464883e-01 -9.53560593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.05264000000003 meters 0.014426765785668674 Centerline is valid? [True, True] Translation: X:218.25, Y:-35.25, Z:-9.54 [[ 9.76989760e-01 2.10848620e-01 3.21538238e-02 2.18253542e+02] [-2.10734343e-01 9.77518726e-01 -6.94096987e-03 -3.52512759e+01] [-3.28944588e-02 5.34154998e-06 9.99458831e-01 -9.53913325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08264000000003 meters 0.014518282850999369 Centerline is valid? [True, True] Translation: X:218.28, Y:-35.26, Z:-9.54 [[ 9.77065334e-01 2.10407467e-01 3.27418807e-02 2.18284015e+02] [-2.10288494e-01 9.77613777e-01 -7.07475206e-03 -3.52598140e+01] [-3.34974943e-02 2.72541979e-05 9.99438801e-01 -9.54046026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.11264000000003 meters 0.014293879171584398 Centerline is valid? [True, True] Translation: X:218.32, Y:-35.27, Z:-9.54 [[ 9.77087320e-01 2.10297920e-01 3.27895410e-02 2.18315705e+02] [-2.10178377e-01 9.77637348e-01 -7.08985927e-03 -3.52680083e+01] [-3.35472625e-02 3.57590892e-05 9.99437132e-01 -9.54057627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14264000000003 meters 0.014342568020791743 Centerline is valid? [True, True] Translation: X:218.35, Y:-35.28, Z:-9.54 [[ 9.77079894e-01 2.10289657e-01 3.30626826e-02 2.18346644e+02] [-2.10167878e-01 9.77639125e-01 -7.15576554e-03 -3.52760548e+01] [-3.38281556e-02 4.30407863e-05 9.99427663e-01 -9.54211873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.17264000000003 meters 0.014410380000725897 Centerline is valid? [True, True] Translation: X:218.38, Y:-35.28, Z:-9.54 [[ 9.76944172e-01 2.11085922e-01 3.19815307e-02 2.18378187e+02] [-2.10972213e-01 9.77467510e-01 -6.92763887e-03 -3.52835667e+01] [-3.27232342e-02 2.07021190e-05 9.99464451e-01 -9.54491566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20264000000003 meters 0.016916513685308644 Centerline is valid? [True, True] Translation: X:218.41, Y:-35.29, Z:-9.55 [[ 9.76793259e-01 2.11901635e-01 3.11869624e-02 2.18408314e+02] [-2.11793748e-01 9.77290999e-01 -6.76098058e-03 -3.52892593e+01] [-3.19114004e-02 -1.12340703e-06 9.99490702e-01 -9.54750265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.23264000000003 meters 0.02336182881853996 Centerline is valid? [True, True] Translation: X:218.44, Y:-35.30, Z:-9.55 [[ 9.76634215e-01 2.12743785e-01 3.04251752e-02 2.18440225e+02] [-2.12641376e-01 9.77108019e-01 -6.60030942e-03 -3.52954412e+01] [-3.11328575e-02 -2.35631001e-05 9.99515255e-01 -9.54709056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26264000000003 meters 0.014662204297321551 Centerline is valid? [True, True] Translation: X:218.47, Y:-35.30, Z:-9.55 [[ 9.76442114e-01 2.13576624e-01 3.07542438e-02 2.18471492e+02] [-2.13472226e-01 9.76926314e-01 -6.67720544e-03 -3.53016211e+01] [-3.14707251e-02 -4.52722990e-05 9.99504673e-01 -9.55053578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.29264000000003 meters 0.015270001401687404 Centerline is valid? [True, True] Translation: X:218.50, Y:-35.31, Z:-9.55 [[ 9.75865678e-01 2.16164601e-01 3.09684203e-02 2.18503241e+02] [-2.16059851e-01 9.76356928e-01 -6.72984909e-03 -3.53052017e+01] [-3.16909868e-02 -1.23603515e-04 9.99497707e-01 -9.55214419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32264000000004 meters 0.016293637668077388 Centerline is valid? [True, True] Translation: X:218.53, Y:-35.31, Z:-9.55 [[ 9.75492916e-01 2.17814516e-01 3.11513685e-02 2.18534865e+02] [-2.17709137e-01 9.75990168e-01 -6.77675358e-03 -3.53084129e+01] [-3.18795047e-02 -1.71262456e-04 9.99491705e-01 -9.55445985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.35264000000004 meters 0.01659259703068882 Centerline is valid? [True, True] Translation: X:218.57, Y:-35.31, Z:-9.55 [[ 9.75107341e-01 2.19501526e-01 3.13807720e-02 2.18566086e+02] [-2.19395331e-01 9.75612131e-01 -6.83073247e-03 -3.53119113e+01] [-3.21148180e-02 -2.24097483e-04 9.99484161e-01 -9.55411559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38264000000004 meters 0.02069166917682291 Centerline is valid? [True, True] Translation: X:218.60, Y:-35.31, Z:-9.56 [[ 9.74338395e-01 2.22946495e-01 3.09766297e-02 2.18597463e+02] [-2.22844723e-01 9.74830626e-01 -6.74384262e-03 -3.53098115e+01] [-3.17004834e-02 -3.32193659e-04 9.99497358e-01 -9.55543063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.41264000000004 meters 0.019797585854670566 Centerline is valid? [True, True] Translation: X:218.63, Y:-35.31, Z:-9.56 [[ 9.73954340e-01 2.24569799e-01 3.13264834e-02 2.18627314e+02] [-2.24466543e-01 9.74457928e-01 -6.82034006e-03 -3.53125161e+01] [-3.20579826e-02 -3.89047631e-04 9.99485935e-01 -9.55662811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.44264000000004 meters 0.021987840758768664 Centerline is valid? [True, True] Translation: X:218.66, Y:-35.31, Z:-9.56 [[ 9.73545021e-01 2.26315538e-01 3.14860239e-02 2.18656505e+02] [-2.26212160e-01 9.74053939e-01 -6.85443896e-03 -3.53131103e+01] [-3.22203516e-02 -4.49416549e-04 9.99480689e-01 -9.55891244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.47264000000004 meters 0.023552882530014318 Centerline is valid? [True, True] Translation: X:218.69, Y:-35.31, Z:-9.56 [[ 9.72883133e-01 2.29182469e-01 3.12058418e-02 2.18686818e+02] [-2.29082438e-01 9.73383328e-01 -6.79213292e-03 -3.53145520e+01] [-3.19318839e-02 -5.40758761e-04 9.99489901e-01 -9.56005495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.50264000000004 meters 0.02413910322146085 Centerline is valid? [True, True] Translation: X:218.72, Y:-35.32, Z:-9.56 [[ 9.72678076e-01 2.30083883e-01 3.09639777e-02 2.18715656e+02] [-2.29985867e-01 9.73170636e-01 -6.73906581e-03 -3.53186433e+01] [-3.16837843e-02 -5.66335697e-04 9.99497782e-01 -9.56122823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.53264000000004 meters 0.02638636585287212 Centerline is valid? [True, True] Translation: X:218.74, Y:-35.32, Z:-9.56 [[ 9.72542593e-01 2.30595633e-01 3.14095397e-02 2.18743923e+02] [-2.30495089e-01 9.73049486e-01 -6.83457747e-03 -3.53194728e+01] [-3.21390602e-02 -5.92826942e-04 9.99483231e-01 -9.56392118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.56264000000004 meters 0.025273521488009758 Centerline is valid? [True, True] Translation: X:218.77, Y:-35.32, Z:-9.56 [[ 9.72735026e-01 2.29719517e-01 3.18671098e-02 2.18772785e+02] [-2.29615625e-01 9.73256705e-01 -6.93190176e-03 -3.53226510e+01] [-3.26072714e-02 -5.74282687e-04 9.99468077e-01 -9.56398171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.59264000000005 meters 0.022899265893921814 Centerline is valid? [True, True] Translation: X:218.80, Y:-35.33, Z:-9.56 [[ 9.73053658e-01 2.28320327e-01 3.21932640e-02 2.18800473e+02] [-2.28213583e-01 9.73585920e-01 -7.00128588e-03 -3.53302268e+01] [-3.29414444e-02 -5.34313272e-04 9.99457141e-01 -9.56353193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.62264000000002 meters 0.021076835815772087 Centerline is valid? [True, True] Translation: X:218.83, Y:-35.34, Z:-9.57 [[ 9.73823752e-01 2.24927989e-01 3.27826225e-02 2.18828219e+02] [-2.24815439e-01 9.74375295e-01 -7.12761896e-03 -3.53359214e+01] [-3.35457785e-02 -4.28995019e-04 9.99437090e-01 -9.56562056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.65264000000002 meters 0.020041898479155298 Centerline is valid? [True, True] Translation: X:218.85, Y:-35.34, Z:-9.57 [[ 9.74243380e-01 2.23144630e-01 3.25009421e-02 2.18854953e+02] [-2.23033044e-01 9.74785279e-01 -7.06543395e-03 -3.53419791e+01] [-3.32580536e-02 -3.65331813e-04 9.99446731e-01 -9.56823377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68264000000002 meters 0.01767950216653464 Centerline is valid? [True, True] Translation: X:218.88, Y:-35.35, Z:-9.57 [[ 9.74695717e-01 2.21201275e-01 3.22219807e-02 2.18883395e+02] [-2.21090612e-01 9.75228131e-01 -7.00246002e-03 -3.53511100e+01] [-3.29727351e-02 -2.98709656e-04 9.99456207e-01 -9.56872627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71264000000002 meters 0.016697603675562188 Centerline is valid? [True, True] Translation: X:218.91, Y:-35.36, Z:-9.57 [[ 9.75142163e-01 2.19230976e-01 3.21798140e-02 2.18911146e+02] [-2.19119551e-01 9.75672960e-01 -6.99264506e-03 -3.53589611e+01] [-3.29299788e-02 -2.32403357e-04 9.99457634e-01 -9.57135694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74264000000002 meters 0.015682761041812328 Centerline is valid? [True, True] Translation: X:218.94, Y:-35.37, Z:-9.58 [[ 9.76013661e-01 2.15413065e-01 3.15364002e-02 2.18938315e+02] [-2.15304118e-01 9.76523016e-01 -6.85098612e-03 -3.53697640e+01] [-3.22718125e-02 -1.03260767e-04 9.99479124e-01 -9.57611017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.77264000000002 meters 0.015010971094829819 Centerline is valid? [True, True] Translation: X:218.97, Y:-35.38, Z:-9.58 [[ 9.76409063e-01 2.13681818e-01 3.10712524e-02 2.18967583e+02] [-2.13575162e-01 9.76903311e-01 -6.75065148e-03 -3.53790242e+01] [-3.17961008e-02 -4.46504877e-05 9.99494375e-01 -9.57647741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80264000000003 meters 0.015259229224272981 Centerline is valid? [True, True] Translation: X:219.00, Y:-35.39, Z:-9.58 [[ 9.76784410e-01 2.11988332e-01 3.08733378e-02 2.18996182e+02] [-2.11882180e-01 9.77272197e-01 -6.70782093e-03 -3.53879917e+01] [-3.15936344e-02 1.05847949e-05 9.99500796e-01 -9.57884434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.83264000000003 meters 0.017448131008690245 Centerline is valid? [True, True] Translation: X:219.03, Y:-35.40, Z:-9.58 [[ 9.77109381e-01 2.10585815e-01 3.01806743e-02 2.19025280e+02] [-2.10483721e-01 9.77575374e-01 -6.55678825e-03 -3.53963918e+01] [-3.08846505e-02 5.41586868e-05 9.99522954e-01 -9.57989637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86264000000003 meters 0.015336738387042376 Centerline is valid? [True, True] Translation: X:219.06, Y:-35.40, Z:-9.58 [[ 9.77441165e-01 2.08916952e-01 3.10238082e-02 2.19056376e+02] [-2.08808252e-01 9.77933380e-01 -6.73933381e-03 -3.54034660e+01] [-3.17471787e-02 1.09275144e-04 9.99495925e-01 -9.57961854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.89264000000003 meters 0.015438939689628079 Centerline is valid? [True, True] Translation: X:219.09, Y:-35.41, Z:-9.58 [[ 9.77468163e-01 2.08654220e-01 3.19281564e-02 2.19085775e+02] [-2.08538885e-01 9.77989469e-01 -6.93774881e-03 -3.54101991e+01] [-3.26729913e-02 1.23166457e-04 9.99466088e-01 -9.58119806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92264000000003 meters 0.01580801201238617 Centerline is valid? [True, True] Translation: X:219.11, Y:-35.42, Z:-9.58 [[ 9.77480482e-01 2.08488828e-01 3.26238527e-02 2.19114585e+02] [-2.08368304e-01 9.78024740e-01 -7.08934987e-03 -3.54179903e+01] [-3.33849853e-02 1.31924275e-04 9.99442557e-01 -9.58329273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.95264000000003 meters 0.015053143149502542 Centerline is valid? [True, True] Translation: X:219.15, Y:-35.42, Z:-9.58 [[ 9.77357495e-01 2.08979950e-01 3.31618310e-02 2.19145907e+02] [-2.08855690e-01 9.77919918e-01 -7.20652918e-03 -3.54240359e+01] [-3.39356352e-02 1.17318206e-04 9.99424014e-01 -9.58172142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98264000000003 meters 0.024980984814165146 Centerline is valid? [True, True] Translation: X:219.18, Y:-35.43, Z:-9.58 [[ 9.77231693e-01 2.09811914e-01 3.15781513e-02 2.19177371e+02] [-2.09699717e-01 9.77741762e-01 -6.86110681e-03 -3.54291105e+01] [-3.23148193e-02 8.29616243e-05 9.99477736e-01 -9.58137306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.01264000000003 meters 0.01460176995720071 Centerline is valid? [True, True] Translation: X:219.21, Y:-35.43, Z:-9.58 [[ 9.77048555e-01 2.10531494e-01 3.24439588e-02 2.19207947e+02] [-2.10413194e-01 9.77587073e-01 -7.05707560e-03 -3.54339943e+01] [-3.32025314e-02 6.84685123e-05 9.99448642e-01 -9.58436324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04264000000003 meters 0.014923886483406664 Centerline is valid? [True, True] Translation: X:219.24, Y:-35.44, Z:-9.59 [[ 9.76451156e-01 2.13282079e-01 3.24637548e-02 2.19238858e+02] [-2.13165120e-01 9.76990662e-01 -7.06236909e-03 -3.54355321e+01] [-3.32230621e-02 -2.40817514e-05 9.99447961e-01 -9.58859876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.07264000000004 meters 0.02293391739594921 Centerline is valid? [True, True] Translation: X:219.27, Y:-35.44, Z:-9.59 [[ 9.76038770e-01 2.15293406e-01 3.15763897e-02 2.19268402e+02] [-2.15183780e-01 9.76549405e-01 -6.87020250e-03 -3.54380555e+01] [-3.23150139e-02 -8.91428886e-05 9.99477730e-01 -9.58608319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10264000000004 meters 0.01530475809377517 Centerline is valid? [True, True] Translation: X:219.30, Y:-35.44, Z:-9.59 [[ 9.75627772e-01 2.16942759e-01 3.29589213e-02 2.19297099e+02] [-2.16824280e-01 9.76184315e-01 -7.17042255e-03 -3.54404491e+01] [-3.37295532e-02 -1.50631005e-04 9.99430985e-01 -9.58819714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.13264000000004 meters 0.016185116286802515 Centerline is valid? [True, True] Translation: X:219.33, Y:-35.44, Z:-9.59 [[ 9.75208007e-01 2.18825491e-01 3.29354985e-02 2.19325875e+02] [-2.18708309e-01 9.75763986e-01 -7.16368850e-03 -3.54424210e+01] [-3.37048709e-02 -2.17180788e-04 9.99431806e-01 -9.58889809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16264000000004 meters 0.019857833973755915 Centerline is valid? [True, True] Translation: X:219.35, Y:-35.44, Z:-9.59 [[ 9.74307058e-01 2.22799720e-01 3.29551509e-02 2.19354662e+02] [-2.22684714e-01 9.74864174e-01 -7.16659776e-03 -3.54381891e+01] [-3.37235120e-02 -3.56141585e-04 9.99431137e-01 -9.59217950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.19264000000004 meters 0.020632482862377278 Centerline is valid? [True, True] Translation: X:219.38, Y:-35.44, Z:-9.59 [[ 9.73899778e-01 2.24631439e-01 3.25567045e-02 2.19383104e+02] [-2.24520305e-01 9.74443709e-01 -7.07740861e-03 -3.54410662e+01] [-3.33144844e-02 -4.16954566e-04 9.99444832e-01 -9.59256602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.22264000000004 meters 0.02222933314006823 Centerline is valid? [True, True] Translation: X:219.41, Y:-35.44, Z:-9.59 [[ 9.73549608e-01 2.26184590e-01 3.22752462e-02 2.19412110e+02] [-2.26076293e-01 9.74084346e-01 -7.01410328e-03 -3.54424419e+01] [-3.30252941e-02 -4.68090502e-04 9.99454407e-01 -9.59455000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.25264000000004 meters 0.022548165418179496 Centerline is valid? [True, True] Translation: X:219.44, Y:-35.45, Z:-9.59 [[ 9.73255243e-01 2.27512174e-01 3.18188964e-02 2.19440932e+02] [-2.27407677e-01 9.73775104e-01 -6.91341994e-03 -3.54455586e+01] [-3.25573363e-02 -5.07339090e-04 9.99469741e-01 -9.59498899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.28264000000004 meters 0.024858241429439026 Centerline is valid? [True, True] Translation: X:219.47, Y:-35.44, Z:-9.60 [[ 9.72961201e-01 2.28724724e-01 3.21170119e-02 2.19470019e+02] [-2.28618969e-01 9.73490982e-01 -6.97669313e-03 -3.54438580e+01] [-3.28613636e-02 -5.54506395e-04 9.99459766e-01 -9.59771731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.31264000000004 meters 0.02491472729779724 Centerline is valid? [True, True] Translation: X:219.50, Y:-35.45, Z:-9.60 [[ 9.72973166e-01 2.28632995e-01 3.24063568e-02 2.19498969e+02] [-2.28525349e-01 9.73512528e-01 -7.03729532e-03 -3.54485915e+01] [-3.31569522e-02 -5.58574472e-04 9.99450001e-01 -9.59839871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.34264000000005 meters 0.02279020329451513 Centerline is valid? [True, True] Translation: X:219.53, Y:-35.46, Z:-9.60 [[ 9.73139285e-01 2.27845239e-01 3.29617919e-02 2.19527130e+02] [-2.27733473e-01 9.73697208e-01 -7.15629622e-03 -3.54562810e+01] [-3.37253328e-02 -5.42430357e-04 9.99430992e-01 -9.59798082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.37264000000002 meters 0.02146234691060397 Centerline is valid? [True, True] Translation: X:219.56, Y:-35.46, Z:-9.60 [[ 9.73495002e-01 2.26251374e-01 3.34334728e-02 2.19555887e+02] [-2.26135504e-01 9.74068822e-01 -7.25697480e-03 -3.54614184e+01] [-3.42084040e-02 -4.95866524e-04 9.99414598e-01 -9.59828484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.40264000000002 meters 0.022912521219686996 Centerline is valid? [True, True] Translation: X:219.58, Y:-35.46, Z:-9.60 [[ 9.73674202e-01 2.25465366e-01 3.35248638e-02 2.19583346e+02] [-2.25348450e-01 9.74251070e-01 -7.27524399e-03 -3.54635391e+01] [-3.43019499e-02 -4.71058691e-04 9.99411404e-01 -9.60135771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43264000000002 meters 0.020885611025808683 Centerline is valid? [True, True] Translation: X:219.61, Y:-35.47, Z:-9.60 [[ 9.73861757e-01 2.24644564e-01 3.35871643e-02 2.19611447e+02] [-2.24526803e-01 9.74440671e-01 -7.28648358e-03 -3.54711662e+01] [-3.43655678e-02 -4.45190929e-04 9.99409230e-01 -9.60141257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46264000000002 meters 0.020468362389525853 Centerline is valid? [True, True] Translation: X:219.64, Y:-35.48, Z:-9.60 [[ 9.74077401e-01 2.23777852e-01 3.31163016e-02 2.19639260e+02] [-2.23662924e-01 9.74640090e-01 -7.18272677e-03 -3.54768464e+01] [-3.38838103e-02 -4.10357039e-04 9.99425695e-01 -9.60364340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.49264000000002 meters 0.01984829638238658 Centerline is valid? [True, True] Translation: X:219.67, Y:-35.48, Z:-9.61 [[ 9.74450787e-01 2.22296825e-01 3.20902615e-02 2.19666390e+02] [-2.22188148e-01 9.74978974e-01 -6.95894788e-03 -3.54809883e+01] [-3.28342822e-02 -3.48923540e-04 9.99460749e-01 -9.60773716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52264000000002 meters 0.019206862751175672 Centerline is valid? [True, True] Translation: X:219.70, Y:-35.49, Z:-9.61 [[ 9.74625555e-01 2.21547309e-01 3.19658760e-02 2.19695182e+02] [-2.21439136e-01 9.75149570e-01 -6.92998844e-03 -3.54863621e+01] [-3.27068306e-02 -3.24352121e-04 9.99464936e-01 -9.60930322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.55264000000003 meters 0.018028513829442757 Centerline is valid? [True, True] Translation: X:219.72, Y:-35.49, Z:-9.61 [[ 9.74795454e-01 2.20866945e-01 3.14899336e-02 2.19723321e+02] [-2.20761725e-01 9.75303902e-01 -6.82338715e-03 -3.54925979e+01] [-3.22193158e-02 -3.00365280e-04 9.99480778e-01 -9.60949490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58264000000003 meters 0.026394384535670164 Centerline is valid? [True, True] Translation: X:219.75, Y:-35.50, Z:-9.61 [[ 9.74872823e-01 2.20674357e-01 3.04270772e-02 2.19750707e+02] [-2.20576069e-01 9.75347500e-01 -6.59176104e-03 -3.54957341e+01] [-3.11316064e-02 -2.85356387e-04 9.99515253e-01 -9.61393961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.61264000000003 meters 0.018578850870385258 Centerline is valid? [True, True] Translation: X:219.78, Y:-35.50, Z:-9.62 [[ 9.75092557e-01 2.19718059e-01 3.03064419e-02 2.19779407e+02] [-2.19620153e-01 9.75563380e-01 -6.56347137e-03 -3.54998360e+01] [-3.10079681e-02 -2.55913331e-04 9.99519105e-01 -9.61705442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64264000000003 meters 0.018578850870385258 Centerline is valid? [True, True] Translation: X:219.81, Y:-35.51, Z:-9.62 [[ 9.75108020e-01 2.19649389e-01 3.03066773e-02 2.19806283e+02] [-2.19551484e-01 9.75578844e-01 -6.56238405e-03 -3.55055138e+01] [-3.10079769e-02 -2.54842665e-04 9.99519105e-01 -9.61830823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.67264000000003 meters 0.017861622357487974 Centerline is valid? [True, True] Translation: X:219.83, Y:-35.51, Z:-9.62 [[ 9.75168772e-01 2.19390406e-01 3.02277266e-02 2.19833126e+02] [-2.19292954e-01 9.75637119e-01 -6.54311338e-03 -3.55116009e+01] [-3.09267884e-02 -2.48087616e-04 9.99521622e-01 -9.61841880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70264000000003 meters 0.017695118169221116 Centerline is valid? [True, True] Translation: X:219.86, Y:-35.52, Z:-9.62 [[ 9.75158689e-01 2.19398963e-01 3.04897777e-02 2.19861642e+02] [-2.19299903e-01 9.75635193e-01 -6.59710408e-03 -3.55161742e+01] [-3.11942979e-02 -2.53181926e-04 9.99513307e-01 -9.61937255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.73264000000003 meters 0.017609681264335347 Centerline is valid? [True, True] Translation: X:219.89, Y:-35.52, Z:-9.62 [[ 9.75167732e-01 2.19313732e-01 3.08120466e-02 2.19889770e+02] [-2.19212574e-01 9.75654356e-01 -6.66522637e-03 -3.55207830e+01] [-3.15236831e-02 -2.54674378e-04 9.99502973e-01 -9.62001280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76264000000003 meters 0.01773130863387397 Centerline is valid? [True, True] Translation: X:219.92, Y:-35.52, Z:-9.62 [[ 9.75145429e-01 2.19361164e-01 3.11780542e-02 2.19917947e+02] [-2.19257665e-01 9.75643691e-01 -6.74277397e-03 -3.55247736e+01] [-3.18977746e-02 -2.60842126e-04 9.99491102e-01 -9.62119307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.79264000000003 meters 0.018459386466064206 Centerline is valid? [True, True] Translation: X:219.95, Y:-35.53, Z:-9.62 [[ 9.75171320e-01 2.19210183e-01 3.14291525e-02 2.19945339e+02] [-2.19104977e-01 9.75677625e-01 -6.79561330e-03 -3.55281939e+01] [-3.21543885e-02 -2.59396542e-04 9.99482880e-01 -9.62440978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82264000000004 meters 0.017629028915942983 Centerline is valid? [True, True] Translation: X:219.97, Y:-35.53, Z:-9.62 [[ 9.75162333e-01 2.19261522e-01 3.13497757e-02 2.19973299e+02] [-2.19156943e-01 9.75666088e-01 -6.77629622e-03 -3.55346795e+01] [-3.20726941e-02 -2.62532178e-04 9.99485504e-01 -9.62405817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.85264000000004 meters 0.01795555822399074 Centerline is valid? [True, True] Translation: X:220.00, Y:-35.54, Z:-9.62 [[ 9.75117858e-01 2.19290248e-01 3.25107788e-02 2.20001214e+02] [-2.19177844e-01 9.75659629e-01 -7.02575124e-03 -3.55378997e+01] [-3.32601331e-02 -2.74706890e-04 9.99446691e-01 -9.62483545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88264000000004 meters 0.01818000565492919 Centerline is valid? [True, True] Translation: X:220.03, Y:-35.53, Z:-9.62 [[ 9.74760567e-01 2.21399425e-01 2.87076869e-02 2.20025876e+02] [-2.20836081e-01 9.75073086e-01 -2.15383721e-02 -3.55328606e+01] [-3.27606761e-02 1.46550627e-02 9.99355776e-01 -9.62278262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.91264000000004 meters 0.025979319304947204 Centerline is valid? [True, True] Translation: X:220.06, Y:-35.55, Z:-9.63 [[ 9.74916352e-01 2.19717020e-01 3.55322147e-02 2.20055462e+02] [-2.20126077e-01 9.75438676e-01 7.99366433e-03 -3.55547315e+01] [-3.29031524e-02 -1.56147211e-02 9.99336561e-01 -9.62598110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.94264000000004 meters 0.020260871073498662 Centerline is valid? [True, True] Translation: X:220.09, Y:-35.54, Z:-9.63 [[ 9.74407495e-01 2.22293058e-01 3.34040297e-02 2.20085883e+02] [-2.22176386e-01 9.74979816e-01 -7.21197637e-03 -3.55447425e+01] [-3.41714270e-02 -3.94182780e-04 9.99415909e-01 -9.62711282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.97264000000004 meters 0.02084489302762839 Centerline is valid? [True, True] Translation: X:220.11, Y:-35.55, Z:-9.63 [[ 9.74073128e-01 2.23686936e-01 3.38481448e-02 2.20114838e+02] [-2.23568061e-01 9.74660942e-01 -7.30556195e-03 -3.55480774e+01] [-3.46246235e-02 -4.51212522e-04 9.99400286e-01 -9.62728766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.00264000000004 meters 0.021917018777140956 Centerline is valid? [True, True] Translation: X:220.14, Y:-35.55, Z:-9.63 [[ 9.73749989e-01 2.25077046e-01 3.39305640e-02 2.20143174e+02] [-2.24958488e-01 9.74340839e-01 -7.32177418e-03 -3.55509870e+01] [-3.47078975e-02 -5.03390861e-04 9.99397373e-01 -9.62842444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.03264000000004 meters 0.02492380728448106 Centerline is valid? [True, True] Translation: X:220.17, Y:-35.55, Z:-9.63 [[ 9.73161273e-01 2.27665224e-01 3.35511967e-02 2.20171866e+02] [-2.27550912e-01 9.73739286e-01 -7.23782125e-03 -3.55493467e+01] [-3.43179185e-02 -5.91038057e-04 9.99410792e-01 -9.63083331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.06264000000004 meters 0.025160038336609312 Centerline is valid? [True, True] Translation: X:220.20, Y:-35.55, Z:-9.63 [[ 9.72893925e-01 2.28850518e-01 3.32393085e-02 2.20201005e+02] [-2.28739087e-01 9.73461373e-01 -7.16834316e-03 -3.55521167e+01] [-3.39976620e-02 -6.29091588e-04 9.99421714e-01 -9.63199822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.09264000000005 meters 0.029643026204920948 Centerline is valid? [True, True] Translation: X:220.23, Y:-35.55, Z:-9.64 [[ 9.72650380e-01 2.29879548e-01 3.32660637e-02 2.20230028e+02] [-2.29768592e-01 9.73218859e-01 -7.17256079e-03 -3.55483070e+01] [-3.40239856e-02 -6.67102657e-04 9.99420794e-01 -9.63625960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.12264000000002 meters 0.02853501354786235 Centerline is valid? [True, True] Translation: X:220.26, Y:-35.55, Z:-9.64 [[ 9.72325946e-01 2.31233252e-01 3.33682025e-02 2.20259337e+02] [-2.31122488e-01 9.72898076e-01 -7.19230897e-03 -3.55505174e+01] [-3.41269610e-02 -7.18873354e-04 9.99417247e-01 -9.63598161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.15264000000002 meters 0.02880160423213087 Centerline is valid? [True, True] Translation: X:220.29, Y:-35.55, Z:-9.64 [[ 9.72333444e-01 2.31179209e-01 3.35238366e-02 2.20287042e+02] [-2.31067425e-01 9.72910917e-01 -7.22445881e-03 -3.55540171e+01] [-3.42858512e-02 -7.21683670e-04 9.99411807e-01 -9.63720626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18264000000002 meters 0.027224874772989627 Centerline is valid? [True, True] Translation: X:220.31, Y:-35.56, Z:-9.64 [[ 9.72350222e-01 2.31102190e-01 3.35681863e-02 2.20314274e+02] [-2.30990148e-01 9.72929214e-01 -7.23156719e-03 -3.55598974e+01] [-3.43307002e-02 -7.22304361e-04 9.99410267e-01 -9.63744860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21264000000002 meters 0.027149263871526365 Centerline is valid? [True, True] Translation: X:220.34, Y:-35.56, Z:-9.64 [[ 9.72629521e-01 2.29893299e-01 3.37770053e-02 2.20342475e+02] [-2.29779214e-01 9.73215598e-01 -7.27412414e-03 -3.55614274e+01] [-3.45445808e-02 -6.86225841e-04 9.99402922e-01 -9.63954257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24264000000002 meters 0.026809966415560094 Centerline is valid? [True, True] Translation: X:220.37, Y:-35.57, Z:-9.64 [[ 9.72967871e-01 2.28502209e-01 3.34703223e-02 2.20369565e+02] [-2.28389483e-01 9.73543187e-01 -7.20459997e-03 -3.55656651e+01] [-3.42310713e-02 -6.34425318e-04 9.99413744e-01 -9.64212682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.27264000000002 meters 0.023628581178921186 Centerline is valid? [True, True] Translation: X:220.40, Y:-35.57, Z:-9.64 [[ 9.73396683e-01 2.26703373e-01 3.32336758e-02 2.20397362e+02] [-2.26591261e-01 9.73963683e-01 -7.15149534e-03 -3.55743074e+01] [-3.39896614e-02 -5.69218648e-04 9.99422022e-01 -9.64224372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30264000000003 meters 0.021230750825213196 Centerline is valid? [True, True] Translation: X:220.43, Y:-35.58, Z:-9.64 [[ 9.73874022e-01 2.24606491e-01 3.34860128e-02 2.20425139e+02] [-2.24491489e-01 9.74449420e-01 -7.20408469e-03 -3.55817424e+01] [-3.42485099e-02 -5.01453928e-04 9.99413222e-01 -9.64242761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.33264000000003 meters 0.02448268895170511 Centerline is valid? [True, True] Translation: X:220.45, Y:-35.59, Z:-9.65 [[ 9.75060929e-01 2.19478783e-01 3.29431048e-02 2.20451424e+02] [-2.19364603e-01 9.75617222e-01 -7.08575874e-03 -3.55905209e+01] [-3.36950341e-02 -3.17504592e-04 9.99432111e-01 -9.64656453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36264000000003 meters 0.016242031693442655 Centerline is valid? [True, True] Translation: X:220.48, Y:-35.60, Z:-9.65 [[ 9.75709233e-01 2.16632632e-01 3.25852005e-02 2.20478325e+02] [-2.16519407e-01 9.76253171e-01 -7.00655322e-03 -3.56004722e+01] [-3.33292534e-02 -2.18969609e-04 9.99444402e-01 -9.64724916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.39264000000003 meters 0.01452421522964559 Centerline is valid? [True, True] Translation: X:220.50, Y:-35.61, Z:-9.65 [[ 9.76974592e-01 2.10863513e-01 3.25149908e-02 2.20504786e+02] [-2.10747632e-01 9.77515513e-01 -6.98979547e-03 -3.56135069e+01] [-3.32578008e-02 -2.36047510e-05 9.99446806e-01 -9.64907723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42264000000003 meters 0.016857031304237075 Centerline is valid? [True, True] Translation: X:220.53, Y:-35.62, Z:-9.65 [[ 9.77532336e-01 2.08269054e-01 3.24735828e-02 2.20530778e+02] [-2.08152076e-01 9.78071571e-01 -6.97969239e-03 -3.56219139e+01] [-3.32151420e-02 6.34313463e-05 9.99448223e-01 -9.65109164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.45264000000003 meters 0.015152705724524174 Centerline is valid? [True, True] Translation: X:220.56, Y:-35.64, Z:-9.65 [[ 9.78155876e-01 2.03109285e-01 4.42459191e-02 2.20558486e+02] [-2.03730998e-01 9.78976042e-01 9.97942730e-03 -3.56407568e+01] [-4.12887804e-02 -1.87757007e-02 9.98970825e-01 -9.65282689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48264000000003 meters 0.01588385889113127 Centerline is valid? [True, True] Translation: X:220.59, Y:-35.63, Z:-9.65 [[ 9.78475622e-01 2.04392061e-01 2.84489404e-02 2.20588101e+02] [-2.03687630e-01 9.78695679e-01 -2.58092697e-02 -3.56270727e+01] [-3.31180649e-02 1.94590440e-02 9.99261997e-01 -9.65171123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.51264000000003 meters 0.022423735721775553 Centerline is valid? [True, True] Translation: X:220.61, Y:-35.65, Z:-9.65 [[ 9.79072451e-01 2.00965781e-01 3.20919150e-02 2.20612973e+02] [-2.00847851e-01 9.79598216e-01 -6.89029559e-03 -3.56463936e+01] [-3.28218963e-02 3.00506445e-04 9.99461171e-01 -9.65365163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54264000000003 meters 0.02547641940268056 Centerline is valid? [True, True] Translation: X:220.64, Y:-35.66, Z:-9.66 [[ 9.78984770e-01 2.00130252e-01 3.92007857e-02 2.20639842e+02] [-2.00153064e-01 9.79758804e-01 -3.38195830e-03 -3.56564075e+01] [-3.90841471e-02 -4.53527170e-03 9.99225631e-01 -9.65727411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.57264000000004 meters 0.018550019999625064 Centerline is valid? [True, True] Translation: X:220.67, Y:-35.66, Z:-9.66 [[ 9.79350577e-01 1.99755259e-01 3.11493825e-02 2.20669053e+02] [-1.99482654e-01 9.79832006e-01 -1.16581133e-02 -3.56574710e+01] [-3.28499314e-02 5.20361847e-03 9.99446749e-01 -9.65744846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.60264000000004 meters 0.031370932069037905 Centerline is valid? [True, True] Translation: X:220.70, Y:-35.67, Z:-9.66 [[ 9.79473836e-01 1.99090438e-01 3.15277972e-02 2.20695057e+02] [-1.98975772e-01 9.79981057e-01 -6.76531287e-03 -3.56673309e+01] [-3.22435532e-02 3.53179170e-04 9.99479979e-01 -9.65959592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.63264000000004 meters 0.01905322048176727 Centerline is valid? [True, True] Translation: X:220.72, Y:-35.67, Z:-9.66 [[ 9.79551111e-01 1.98591466e-01 3.22653295e-02 2.20723333e+02] [-1.98471190e-01 9.80082287e-01 -6.92082565e-03 -3.56717064e+01] [-3.29970948e-02 3.75564104e-04 9.99455377e-01 -9.65958913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.66264000000004 meters 0.03661283494484034 Centerline is valid? [True, True] Translation: X:220.75, Y:-35.68, Z:-9.66 [[ 9.79675352e-01 1.98119499e-01 3.13826234e-02 2.20750027e+02] [-1.98005517e-01 9.80177800e-01 -6.73014096e-03 -3.56788321e+01] [-3.20939229e-02 3.79420641e-04 9.99484785e-01 -9.66208440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.69264000000004 meters 0.020688758151035703 Centerline is valid? [True, True] Translation: X:220.78, Y:-35.69, Z:-9.66 [[ 9.79815348e-01 1.97309907e-01 3.21042635e-02 2.20776212e+02] [-1.97190246e-01 9.80341078e-01 -6.88312247e-03 -3.56862268e+01] [-3.28312365e-02 4.13541420e-04 9.99460824e-01 -9.66370502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.72264000000004 meters 0.021181050644016933 Centerline is valid? [True, True] Translation: X:220.80, Y:-35.70, Z:-9.66 [[ 9.80128517e-01 1.95774344e-01 3.19452093e-02 2.20803299e+02] [-1.95655153e-01 9.80648864e-01 -6.84589173e-03 -3.56957037e+01] [-3.26672831e-02 4.59608895e-04 9.99466176e-01 -9.66382377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.75264000000004 meters 0.031450398554607045 Centerline is valid? [True, True] Translation: X:220.83, Y:-35.70, Z:-9.67 [[ 9.80376038e-01 1.94713708e-01 3.08122637e-02 2.20830821e+02] [-1.94602345e-01 9.80860003e-01 -6.60166030e-03 -3.57042436e+01] [-3.15079508e-02 4.75970794e-04 9.99503388e-01 -9.66609496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.78264000000004 meters 0.023173416921934673 Centerline is valid? [True, True] Translation: X:220.86, Y:-35.71, Z:-9.67 [[ 9.80511221e-01 1.93941777e-01 3.13740603e-02 2.20857194e+02] [-1.93825966e-01 9.81012909e-01 -6.72059720e-03 -3.57119325e+01] [-3.20817628e-02 5.08513418e-04 9.99485118e-01 -9.66785312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.81264000000004 meters 0.024534008239251406 Centerline is valid? [True, True] Translation: X:220.88, Y:-35.72, Z:-9.67 [[ 9.80654021e-01 1.93313617e-01 3.07820955e-02 2.20883980e+02] [-1.93201885e-01 9.81136880e-01 -6.59193322e-03 -3.57213397e+01] [-3.14757596e-02 5.17246937e-04 9.99504382e-01 -9.67030332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.84264000000005 meters 0.023508557931929665 Centerline is valid? [True, True] Translation: X:220.91, Y:-35.73, Z:-9.67 [[ 9.80572447e-01 1.93770944e-01 3.05040488e-02 2.20912800e+02] [-1.93661506e-01 9.81046673e-01 -6.53039813e-03 -3.57263753e+01] [-3.11912970e-02 4.96068462e-04 9.99513310e-01 -9.67125253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.87264000000002 meters 0.022088300421233872 Centerline is valid? [True, True] Translation: X:220.94, Y:-35.73, Z:-9.67 [[ 9.80364795e-01 1.94875032e-01 3.01428368e-02 2.20940848e+02] [-1.94768737e-01 9.80827975e-01 -6.45163582e-03 -3.57308035e+01] [-3.08222003e-02 4.54074389e-04 9.99524780e-01 -9.67197620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.90264000000002 meters 0.028693894932830033 Centerline is valid? [True, True] Translation: X:220.97, Y:-35.74, Z:-9.67 [[ 9.80145605e-01 1.96101440e-01 2.93055908e-02 2.20967760e+02] [-1.96001553e-01 9.80583532e-01 -6.27122982e-03 -3.57369538e+01] [-2.99663769e-02 4.02777043e-04 9.99550826e-01 -9.67394520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93264000000002 meters 0.017598585373553112 Centerline is valid? [True, True] Translation: X:221.00, Y:-35.74, Z:-9.67 [[ 9.79244578e-01 2.00232711e-01 3.14152538e-02 2.20998166e+02] [-2.00120128e-01 9.79748322e-01 -6.72005533e-03 -3.57373781e+01] [-3.21246171e-02 2.93753150e-04 9.99483828e-01 -9.67154602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96264000000002 meters 0.016537616192978822 Centerline is valid? [True, True] Translation: X:221.03, Y:-35.74, Z:-9.67 [[ 9.78831573e-01 2.02279130e-01 3.11754017e-02 2.21025842e+02] [-2.02169306e-01 9.79327883e-01 -6.66847891e-03 -3.57396317e+01] [-3.18798342e-02 2.24608370e-04 9.99491684e-01 -9.67311341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.99264000000002 meters 0.015496464528562877 Centerline is valid? [True, True] Translation: X:221.05, Y:-35.74, Z:-9.67 [[ 9.78421349e-01 2.04272800e-01 3.10529859e-02 2.21054797e+02] [-2.04164906e-01 9.78913989e-01 -6.64023983e-03 -3.57421497e+01] [-3.17546227e-02 1.57022481e-04 9.99495682e-01 -9.67450272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02264000000002 meters 0.015134917156055163 Centerline is valid? [True, True] Translation: X:221.08, Y:-35.75, Z:-9.68 [[ 9.78071815e-01 2.05880261e-01 3.14458716e-02 2.21082823e+02] [-2.05770495e-01 9.78577185e-01 -6.72282407e-03 -3.57459795e+01] [-3.21563093e-02 1.04772175e-04 9.99482847e-01 -9.67651773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.05264000000003 meters 0.014320761935497955 Centerline is valid? [True, True] Translation: X:221.11, Y:-35.75, Z:-9.68 [[ 9.77426411e-01 2.08925989e-01 3.14251737e-02 2.21111729e+02] [-2.08818008e-01 9.77931455e-01 -6.71630113e-03 -3.57467930e+01] [-3.21348757e-02 2.54794812e-06 9.99483542e-01 -9.67635356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08264000000003 meters 0.01440960974427832 Centerline is valid? [True, True] Translation: X:221.14, Y:-35.75, Z:-9.68 [[ 9.77187018e-01 2.10106636e-01 3.09956985e-02 2.21140458e+02] [-2.10002227e-01 9.77678475e-01 -6.62302639e-03 -3.57503897e+01] [-3.16953690e-02 -3.72303023e-05 9.99497575e-01 -9.67757063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.11264000000003 meters 0.0149095547313878 Centerline is valid? [True, True] Translation: X:221.17, Y:-35.75, Z:-9.68 [[ 9.77015766e-01 2.10950488e-01 3.06608026e-02 2.21168054e+02] [-2.10848782e-01 9.77496745e-01 -6.55010465e-03 -3.57549169e+01] [-3.13525826e-02 -6.52373698e-05 9.99508385e-01 -9.68086822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14264000000003 meters 0.017259785381765966 Centerline is valid? [True, True] Translation: X:221.19, Y:-35.76, Z:-9.68 [[ 9.76806123e-01 2.11890193e-01 3.08600683e-02 2.21194787e+02] [-2.11787681e-01 9.77293475e-01 -6.59100767e-03 -3.57605908e+01] [-3.15559132e-02 -9.76456514e-05 9.99501983e-01 -9.68190389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.17264000000003 meters 0.015533274550381755 Centerline is valid? [True, True] Translation: X:221.22, Y:-35.77, Z:-9.68 [[ 9.76715779e-01 2.12141998e-01 3.19696760e-02 2.21222756e+02] [-2.12032226e-01 9.77238845e-01 -6.82462003e-03 -3.57652396e+01] [-3.26897977e-02 -1.12887490e-04 9.99465539e-01 -9.68333590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20264000000003 meters 0.014798661045370648 Centerline is valid? [True, True] Translation: X:221.25, Y:-35.77, Z:-9.68 [[ 9.76731602e-01 2.12057924e-01 3.20439307e-02 2.21250351e+02] [-2.11947636e-01 9.77257092e-01 -6.83924022e-03 -3.57712893e+01] [-3.27654736e-02 -1.11533299e-04 9.99463061e-01 -9.68177663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.23264000000003 meters 0.014797126502697676 Centerline is valid? [True, True] Translation: X:221.28, Y:-35.78, Z:-9.68 [[ 9.76853920e-01 2.11477654e-01 3.21499676e-02 2.21276609e+02] [-2.11366395e-01 9.77382828e-01 -6.85960558e-03 -3.57771325e+01] [-3.28734796e-02 -9.45901451e-05 9.99459517e-01 -9.68315656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26264000000003 meters 0.014253937168733211 Centerline is valid? [True, True] Translation: X:221.30, Y:-35.79, Z:-9.68 [[ 9.77181156e-01 2.10014693e-01 3.17933343e-02 2.21303012e+02] [-2.09905208e-01 9.77698229e-01 -6.78066623e-03 -3.57867630e+01] [-3.25083262e-02 -4.76471732e-05 9.99471464e-01 -9.68366219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.29264000000003 meters 0.014346219884297635 Centerline is valid? [True, True] Translation: X:221.33, Y:-35.79, Z:-9.69 [[ 9.77353794e-01 2.09206901e-01 3.18124642e-02 2.21329205e+02] [-2.09096931e-01 9.77871398e-01 -6.78244107e-03 -3.57944772e+01] [-3.25274324e-02 -2.30441208e-05 9.99470843e-01 -9.68559455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32264000000004 meters 0.014240660531053898 Centerline is valid? [True, True] Translation: X:221.36, Y:-35.80, Z:-9.69 [[ 9.77483162e-01 2.08593935e-01 3.18628086e-02 2.21356407e+02] [-2.08483389e-01 9.78002337e-01 -6.79015408e-03 -3.58017097e+01] [-3.25782862e-02 -5.60503196e-06 9.99469187e-01 -9.68654802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.35264000000004 meters 0.014193443332993577 Centerline is valid? [True, True] Translation: X:221.38, Y:-35.81, Z:-9.69 [[ 9.77511346e-01 2.08424238e-01 3.21077194e-02 2.21384338e+02] [-2.08311985e-01 9.78038515e-01 -6.83956073e-03 -3.58087082e+01] [-3.28281164e-02 -2.67455610e-06 9.99461012e-01 -9.68683119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38264000000004 meters 0.014275271727936063 Centerline is valid? [True, True] Translation: X:221.41, Y:-35.82, Z:-9.69 [[ 9.77279374e-01 2.09496015e-01 3.21938745e-02 2.21411888e+02] [-2.09383784e-01 9.77809500e-01 -6.85658809e-03 -3.58150661e+01] [-3.29159042e-02 -4.00731703e-05 9.99458124e-01 -9.68733439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.41264000000004 meters 0.014539403907230132 Centerline is valid? [True, True] Translation: X:221.44, Y:-35.82, Z:-9.69 [[ 9.77011977e-01 2.10753569e-01 3.21018732e-02 2.21440303e+02] [-2.10642747e-01 9.77539220e-01 -6.83425551e-03 -3.58198554e+01] [-3.28211838e-02 -8.48772855e-05 9.99461236e-01 -9.68837016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.44264000000004 meters 0.015142605309803254 Centerline is valid? [True, True] Translation: X:221.47, Y:-35.82, Z:-9.69 [[ 9.76587369e-01 2.12676510e-01 3.23390264e-02 2.21469339e+02] [-2.12565153e-01 9.77122653e-01 -6.88307304e-03 -3.58232443e+01] [-3.30630632e-02 -1.52227917e-04 9.99453256e-01 -9.68918766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.47264000000004 meters 0.018383002183344037 Centerline is valid? [True, True] Translation: X:221.50, Y:-35.82, Z:-9.69 [[ 9.75318392e-01 2.18320006e-01 3.30213313e-02 2.21498465e+02] [-2.18207183e-01 9.75877170e-01 -7.02670380e-03 -3.58201871e+01] [-3.37588333e-02 -3.52218217e-04 9.99429946e-01 -9.68944880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.50264000000004 meters 0.021714157236514937 Centerline is valid? [True, True] Translation: X:221.53, Y:-35.82, Z:-9.69 [[ 9.74579342e-01 2.21595937e-01 3.30203919e-02 2.21526488e+02] [-2.21485050e-01 9.75138463e-01 -7.02494585e-03 -3.58198071e+01] [-3.37561537e-02 -4.67156053e-04 9.99429989e-01 -9.69141520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.53264000000004 meters 0.021714157236514937 Centerline is valid? [True, True] Translation: X:221.55, Y:-35.83, Z:-9.69 [[ 9.74595159e-01 2.21526238e-01 3.30212229e-02 2.21553382e+02] [-2.21415444e-01 9.75154299e-01 -7.02103735e-03 -3.58253869e+01] [-3.37561314e-02 -4.68739711e-04 9.99429989e-01 -9.69266949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.56264000000004 meters 0.02368640370726881 Centerline is valid? [True, True] Translation: X:221.58, Y:-35.83, Z:-9.69 [[ 9.73889625e-01 2.24712106e-01 3.23027545e-02 2.21582994e+02] [-2.24607930e-01 9.74425033e-01 -6.86533486e-03 -3.58276215e+01] [-3.30193365e-02 -5.69376415e-04 9.99454551e-01 -9.69362827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.59264000000005 meters 0.02487624574745342 Centerline is valid? [True, True] Translation: X:221.61, Y:-35.83, Z:-9.69 [[ 9.72958593e-01 2.28274458e-01 3.52469436e-02 2.21612513e+02] [-2.28208673e-01 9.73594171e-01 -5.93222172e-03 -3.58319554e+01] [-3.56703935e-02 -2.27185211e-03 9.99361027e-01 -9.69484759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.62264000000002 meters 0.0325106767595607 Centerline is valid? [True, True] Translation: X:221.64, Y:-35.82, Z:-9.70 [[ 9.72328376e-01 2.31444835e-01 3.17933514e-02 2.21642530e+02] [-2.31294520e-01 9.72847707e-01 -8.37757968e-03 -3.58230824e+01] [-3.28690365e-02 7.92130489e-04 9.99459353e-01 -9.69913929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.65264000000002 meters 0.031321582811053 Centerline is valid? [True, True] Translation: X:221.67, Y:-35.83, Z:-9.70 [[ 9.72151890e-01 2.32236542e-01 3.14148201e-02 2.21670816e+02] [-2.32142116e-01 9.72659003e-01 -6.67094552e-03 -3.58304243e+01] [-3.21051450e-02 -8.07530534e-04 9.99484171e-01 -9.69978333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68264000000002 meters 0.03175255150045515 Centerline is valid? [True, True] Translation: X:221.70, Y:-35.84, Z:-9.70 [[ 9.72037509e-01 2.32769340e-01 3.10083134e-02 2.21698722e+02] [-2.32677822e-01 9.72531624e-01 -6.57804357e-03 -3.58353708e+01] [-3.16877323e-02 -8.20841757e-04 9.99497481e-01 -9.70143335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71264000000002 meters 0.03373322149752052 Centerline is valid? [True, True] Translation: X:221.73, Y:-35.84, Z:-9.71 [[ 9.72236184e-01 2.31950405e-01 3.09162202e-02 2.21726226e+02] [-2.31859123e-01 9.72727288e-01 -6.55511693e-03 -3.58381546e+01] [-3.15935131e-02 -7.95085846e-04 9.99500484e-01 -9.70537822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74264000000002 meters 0.030169944901640055 Centerline is valid? [True, True] Translation: X:221.75, Y:-35.85, Z:-9.71 [[ 9.72159910e-01 2.32302710e-01 3.06685449e-02 2.21752847e+02] [-2.32113937e-01 9.72640956e-01 -9.62765185e-03 -3.58477859e+01] [-3.20660125e-02 2.24102045e-03 9.99483241e-01 -9.70604578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.77264000000002 meters 0.028580775606114217 Centerline is valid? [True, True] Translation: X:221.78, Y:-35.86, Z:-9.71 [[ 9.73099333e-01 2.28371734e-01 3.03980164e-02 2.21780532e+02] [-2.28378638e-01 9.73566827e-01 -3.29114943e-03 -3.58579081e+01] [-3.03461059e-02 -3.73964227e-03 9.99532455e-01 -9.70852325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80264000000003 meters 0.02665239644517439 Centerline is valid? [True, True] Translation: X:221.81, Y:-35.87, Z:-9.71 [[ 9.73616859e-01 2.26239948e-01 2.97606776e-02 2.21807961e+02] [-2.26152957e-01 9.74071420e-01 -6.30145192e-03 -3.58650552e+01] [-3.04146657e-02 -5.95265436e-04 9.99537190e-01 -9.71028511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.83264000000003 meters 0.022646381995271747 Centerline is valid? [True, True] Translation: X:221.84, Y:-35.88, Z:-9.71 [[ 9.74593921e-01 2.21891709e-01 3.05083211e-02 2.21835512e+02] [-2.21798222e-01 9.75071200e-01 -6.45778759e-03 -3.58775910e+01] [-3.11807148e-02 -4.72970855e-04 9.99513651e-01 -9.71022212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86264000000003 meters 0.020451733540242708 Centerline is valid? [True, True] Translation: X:221.86, Y:-35.89, Z:-9.71 [[ 9.74395792e-01 2.22702613e-01 3.09254851e-02 2.21861157e+02] [-2.22525229e-01 9.74884391e-01 -9.10752183e-03 -3.58861115e+01] [-3.21770416e-02 1.99263029e-03 9.99480199e-01 -9.70817612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.89264000000003 meters 0.02027104074054834 Centerline is valid? [True, True] Translation: X:221.89, Y:-35.89, Z:-9.71 [[ 9.75136531e-01 2.19238012e-01 3.23023333e-02 2.21889822e+02] [-2.19218546e-01 9.75666798e-01 -4.18659823e-03 -3.58932647e+01] [-3.24341756e-02 -2.99876568e-03 9.99469375e-01 -9.71011339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92264000000003 meters 0.020294152106156257 Centerline is valid? [True, True] Translation: X:221.92, Y:-35.90, Z:-9.71 [[ 9.75220044e-01 2.18873746e-01 3.22513553e-02 2.21917471e+02] [-2.18767911e-01 9.75753103e-01 -6.81783794e-03 -3.58974643e+01] [-3.29616058e-02 -4.06669423e-04 9.99456536e-01 -9.71073923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.95264000000003 meters 0.0207021260558756 Centerline is valid? [True, True] Translation: X:221.94, Y:-35.90, Z:-9.71 [[ 9.74676794e-01 2.21491563e-01 3.07674341e-02 2.21944711e+02] [-2.21163814e-01 9.75140179e-01 -1.37185806e-02 -3.59002009e+01] [-3.30411110e-02 6.56653914e-03 9.99432422e-01 -9.71059648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98264000000003 meters 0.02016859132245332 Centerline is valid? [True, True] Translation: X:221.97, Y:-35.91, Z:-9.71 [[ 9.74609962e-01 2.21664778e-01 3.16251091e-02 2.21972800e+02] [-2.21549220e-01 9.75122928e-01 -7.15666953e-03 -3.59097496e+01] [-3.24247506e-02 -3.15568422e-05 9.99474179e-01 -9.71147865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.01264000000003 meters 0.023567785570325385 Centerline is valid? [True, True] Translation: X:222.00, Y:-35.91, Z:-9.72 [[ 9.74756125e-01 2.20728888e-01 3.36043945e-02 2.22001523e+02] [-2.20827479e-01 9.75312561e-01 -7.95113081e-04 -3.59115361e+01] [-3.29502925e-02 -6.64573237e-03 9.99434897e-01 -9.71655026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04264000000003 meters 0.02351852587024005 Centerline is valid? [True, True] Translation: X:222.03, Y:-35.91, Z:-9.72 [[ 9.74527213e-01 2.21940733e-01 3.22338632e-02 2.22030273e+02] [-2.21836908e-01 9.75060021e-01 -6.80748572e-03 -3.59127075e+01] [-3.29408097e-02 -5.16580469e-04 9.99457171e-01 -9.71605624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.07264000000004 meters 0.023693709363039203 Centerline is valid? [True, True] Translation: X:222.06, Y:-35.92, Z:-9.72 [[ 9.74247295e-01 2.23154388e-01 3.23160595e-02 2.22059217e+02] [-2.23050720e-01 9.74782953e-01 -6.82424520e-03 -3.59168159e+01] [-3.30240041e-02 -5.59617909e-04 9.99454402e-01 -9.71660397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10264000000004 meters 0.026131504563405933 Centerline is valid? [True, True] Translation: X:222.09, Y:-35.92, Z:-9.72 [[ 9.73974699e-01 2.24379928e-01 3.20457982e-02 2.22087097e+02] [-2.24278882e-01 9.74501557e-01 -6.76008088e-03 -3.59175860e+01] [-3.27455067e-02 -6.03048037e-04 9.99463540e-01 -9.71936492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.13264000000004 meters 0.032389473820144586 Centerline is valid? [True, True] Translation: X:222.12, Y:-35.92, Z:-9.72 [[ 9.73573986e-01 2.26348654e-01 3.03311922e-02 2.22116901e+02] [-2.26259159e-01 9.74046140e-01 -6.39608183e-03 -3.59198937e+01] [-3.09917252e-02 -6.35651164e-04 9.99519439e-01 -9.72131912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16264000000004 meters 0.031199070721715714 Centerline is valid? [True, True] Translation: X:222.14, Y:-35.92, Z:-9.73 [[ 9.72616240e-01 2.29588413e-01 3.61498308e-02 2.22143307e+02] [-2.29662328e-01 9.73267995e-01 -2.15060303e-03 -3.59221548e+01] [-3.56772269e-02 -6.21054288e-03 9.99344067e-01 -9.72680927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.19264000000004 meters 0.03144875814396291 Centerline is valid? [True, True] Translation: X:222.17, Y:-35.92, Z:-9.73 [[ 9.73097033e-01 2.28392542e-01 3.03151877e-02 2.22173752e+02] [-2.28134389e-01 9.73558582e-01 -1.17638157e-02 -3.59177765e+01] [-3.22003789e-02 4.53139737e-03 9.99471161e-01 -9.72526400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.22264000000004 meters 0.03359781735893333 Centerline is valid? [True, True] Translation: X:222.20, Y:-35.92, Z:-9.73 [[ 9.73012032e-01 2.28589422e-01 3.15350892e-02 2.22200866e+02] [-2.28494149e-01 9.73522636e-01 -6.64086537e-03 -3.59212726e+01] [-3.22181548e-02 -7.43941482e-04 9.99480584e-01 -9.72819492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.25264000000004 meters 0.037545877082373696 Centerline is valid? [True, True] Translation: X:222.23, Y:-35.93, Z:-9.74 [[ 9.72314632e-01 2.30030537e-01 4.11121484e-02 2.22231503e+02] [-2.30321356e-01 9.73111619e-01 2.41863915e-03 -3.59251213e+01] [-3.94503485e-02 -1.18206840e-02 9.99151611e-01 -9.73663255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.28264000000004 meters 0.02928930581001171 Centerline is valid? [True, True] Translation: X:222.25, Y:-35.93, Z:-9.73 [[ 9.72041847e-01 2.31706171e-01 3.80381054e-02 2.22253914e+02] [-2.31558595e-01 9.72785539e-01 -8.30135935e-03 -3.59340941e+01] [-3.89263950e-02 -7.38781557e-04 9.99241808e-01 -9.73128823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.31264000000004 meters 0.02852816080040868 Centerline is valid? [True, True] Translation: X:222.29, Y:-35.93, Z:-9.73 [[ 9.72972995e-01 2.28720815e-01 3.17858449e-02 2.22286601e+02] [-2.28247091e-01 9.73439459e-01 -1.78573462e-02 -3.59311692e+01] [-3.50259425e-02 1.01196890e-02 9.99335167e-01 -9.73121369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.34264000000005 meters 0.032546449295505896 Centerline is valid? [True, True] Translation: X:222.31, Y:-35.94, Z:-9.74 [[ 9.73208858e-01 2.27398255e-01 3.39787113e-02 2.22314380e+02] [-2.27286638e-01 9.73801555e-01 -7.16343948e-03 -3.59352788e+01] [-3.47174755e-02 -7.51384305e-04 9.99396884e-01 -9.73801493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.37264000000002 meters 0.03342951436410326 Centerline is valid? [True, True] Translation: X:222.34, Y:-35.94, Z:-9.74 [[ 9.72928216e-01 2.28346743e-01 3.56153165e-02 2.22344035e+02] [-2.28277708e-01 9.73577279e-01 -6.04734384e-03 -3.59379988e+01] [-3.60551542e-02 -2.24655136e-03 9.99347276e-01 -9.74346632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40264000000002 meters 0.028438157573213253 Centerline is valid? [True, True] Translation: X:222.37, Y:-35.94, Z:-9.74 [[ 9.73964332e-01 2.24276585e-01 3.30680132e-02 2.22371005e+02] [-2.24117417e-01 9.74525153e-01 -8.49168363e-03 -3.59432557e+01] [-3.41300965e-02 8.59479261e-04 9.99417029e-01 -9.74150656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43264000000002 meters 0.02339998769918084 Centerline is valid? [True, True] Translation: X:222.40, Y:-35.95, Z:-9.74 [[ 9.74396701e-01 2.22414287e-01 3.29082555e-02 2.22397849e+02] [-2.22307239e-01 9.74952081e-01 -6.92325222e-03 -3.59544062e+01] [-3.36238024e-02 -5.69749281e-04 9.99434398e-01 -9.74043882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46264000000002 meters 0.020860103305607863 Centerline is valid? [True, True] Translation: X:222.42, Y:-35.96, Z:-9.74 [[ 9.75217333e-01 2.18757727e-01 3.31090675e-02 2.22424968e+02] [-2.18647515e-01 9.75779099e-01 -6.95797214e-03 -3.59595857e+01] [-3.38292463e-02 -4.53680295e-04 9.99427524e-01 -9.74210959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.49264000000002 meters 0.019371708242533325 Centerline is valid? [True, True] Translation: X:222.45, Y:-35.97, Z:-9.74 [[ 9.75707837e-01 2.16530505e-01 3.32980048e-02 2.22452045e+02] [-2.16417808e-01 9.76275778e-01 -6.99551151e-03 -3.59657313e+01] [-3.40227772e-02 -3.80705804e-04 9.99420985e-01 -9.74353540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52264000000002 meters 0.01863573048055634 Centerline is valid? [True, True] Translation: X:222.47, Y:-35.97, Z:-9.74 [[ 9.75425215e-01 2.17536850e-01 3.49766962e-02 2.22474786e+02] [-2.17460461e-01 9.76050568e-01 -6.01970313e-03 -3.59735719e+01] [-3.54485315e-02 -1.73427825e-03 9.99369998e-01 -9.74448812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.55264000000003 meters 0.016020891465371175 Centerline is valid? [True, True] Translation: X:222.51, Y:-35.98, Z:-9.74 [[ 9.76600704e-01 2.12362900e-01 3.39567950e-02 2.22508290e+02] [-2.12205824e-01 9.77190537e-01 -8.20628363e-03 -3.59796466e+01] [-3.49249689e-02 8.08432697e-04 9.99389610e-01 -9.74378172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58264000000003 meters 0.014552764807956357 Centerline is valid? [True, True] Translation: X:222.53, Y:-35.99, Z:-9.75 [[ 9.77484467e-01 2.08125427e-01 3.47551821e-02 2.22534871e+02] [-2.07997406e-01 9.78102141e-01 -7.29940339e-03 -3.59874958e+01] [-3.55133095e-02 -9.39343026e-05 9.99369199e-01 -9.74504334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.61264000000003 meters 0.014088000747162564 Centerline is valid? [True, True] Translation: X:222.56, Y:-35.99, Z:-9.75 [[ 9.77889020e-01 2.06227420e-01 3.46888291e-02 2.22562199e+02] [-2.06098767e-01 9.78504088e-01 -7.28338959e-03 -3.59943586e+01] [-3.54451957e-02 -2.69781915e-05 9.99371621e-01 -9.74557708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64264000000003 meters 0.013927457908970436 Centerline is valid? [True, True] Translation: X:222.59, Y:-36.00, Z:-9.75 [[ 9.78166214e-01 2.04901649e-01 3.47299754e-02 2.22589543e+02] [-2.04771948e-01 9.78782567e-01 -7.28940313e-03 -3.60002049e+01] [-3.54867052e-02 1.85231379e-05 9.99370148e-01 -9.74613238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.67264000000003 meters 0.014216207917864638 Centerline is valid? [True, True] Translation: X:222.62, Y:-36.01, Z:-9.75 [[ 9.78560533e-01 2.03138289e-01 3.39723346e-02 2.22617326e+02] [-2.03013223e-01 9.79150055e-01 -7.12754036e-03 -3.60056174e+01] [-3.47118896e-02 7.78965448e-05 9.99397358e-01 -9.74883982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70264000000003 meters 0.014524168677657332 Centerline is valid? [True, True] Translation: X:222.64, Y:-36.01, Z:-9.75 [[ 9.78738783e-01 2.02345547e-01 3.35659521e-02 2.22644234e+02] [-2.02223043e-01 9.79314183e-01 -7.04074163e-03 -3.60111667e+01] [-3.42962757e-02 1.03237913e-04 9.99411704e-01 -9.75116977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.73264000000003 meters 0.023559444080375858 Centerline is valid? [True, True] Translation: X:222.67, Y:-36.02, Z:-9.75 [[ 9.79068223e-01 2.00936238e-01 3.24043558e-02 2.22672252e+02] [-2.00821366e-01 9.79604312e-01 -6.79496274e-03 -3.60179927e+01] [-3.31088009e-02 1.45245089e-04 9.99451743e-01 -9.75193331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76264000000003 meters 0.01611068902259626 Centerline is valid? [True, True] Translation: X:222.70, Y:-36.03, Z:-9.75 [[ 9.79551200e-01 1.98397507e-01 3.34346437e-02 2.22698010e+02] [-1.98273758e-01 9.80121611e-01 -7.01030241e-03 -3.60264816e+01] [-3.41608434e-02 2.37737693e-04 9.99416320e-01 -9.75463149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.79264000000003 meters 0.016960411524285464 Centerline is valid? [True, True] Translation: X:222.73, Y:-36.03, Z:-9.75 [[ 9.79975465e-01 1.96250431e-01 3.36727780e-02 2.22725390e+02] [-1.96123826e-01 9.80553758e-01 -7.05494652e-03 -3.60341252e+01] [-3.44025053e-02 3.09640437e-04 9.99408011e-01 -9.75467150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82264000000004 meters 0.030248333279115497 Centerline is valid? [True, True] Translation: X:222.75, Y:-36.04, Z:-9.75 [[ 9.80492173e-01 1.93800728e-01 3.28081663e-02 2.22752234e+02] [-1.93679281e-01 9.81040841e-01 -6.87052581e-03 -3.60427967e+01] [-3.35176639e-02 3.82234719e-04 9.99438052e-01 -9.75494039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.85264000000004 meters 0.02009407946836149 Centerline is valid? [True, True] Translation: X:222.78, Y:-36.05, Z:-9.76 [[ 9.80765809e-01 1.92090463e-01 3.46364286e-02 2.22778309e+02] [-1.91954106e-01 9.81377114e-01 -7.25134159e-03 -3.60518951e+01] [-3.53843119e-02 4.63263214e-04 9.99373672e-01 -9.75695754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88264000000004 meters 0.028274405653095705 Centerline is valid? [True, True] Translation: X:222.81, Y:-36.06, Z:-9.76 [[ 9.81453812e-01 1.88766666e-01 3.33999983e-02 2.22806001e+02] [-1.88638068e-01 9.82021809e-01 -6.98897926e-03 -3.60633389e+01] [-3.41188131e-02 5.58849196e-04 9.99417628e-01 -9.75778641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.91264000000004 meters 0.022700708836123924 Centerline is valid? [True, True] Translation: X:222.83, Y:-36.07, Z:-9.76 [[ 9.81476842e-01 1.88505855e-01 3.41869909e-02 2.22833658e+02] [-1.88370986e-01 9.82071894e-01 -7.15308465e-03 -3.60700609e+01] [-3.49224813e-02 5.80749757e-04 9.99389855e-01 -9.75960366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.94264000000004 meters 0.023089668460397502 Centerline is valid? [True, True] Translation: X:222.86, Y:-36.08, Z:-9.76 [[ 9.81553999e-01 1.88134857e-01 3.40150353e-02 2.22861807e+02] [-1.88001176e-01 9.82143028e-01 -7.11542713e-03 -3.60780442e+01] [-3.47462896e-02 5.89309310e-04 9.99395992e-01 -9.76150221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.97264000000004 meters 0.023202936190060572 Centerline is valid? [True, True] Translation: X:222.89, Y:-36.09, Z:-9.76 [[ 9.81533791e-01 1.88261115e-01 3.38993989e-02 2.22888672e+02] [-1.88128465e-01 9.82118839e-01 -7.08987407e-03 -3.60852844e+01] [-3.46279859e-02 5.81509077e-04 9.99400102e-01 -9.76338048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.00264000000004 meters 0.02521639887916678 Centerline is valid? [True, True] Translation: X:222.92, Y:-36.09, Z:-9.76 [[ 9.81284609e-01 1.89643860e-01 3.34024202e-02 2.22917675e+02] [-1.89515967e-01 9.81852807e-01 -6.98316163e-03 -3.60889043e+01] [-3.41205738e-02 5.22177052e-04 9.99417587e-01 -9.76196345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.03264000000004 meters 0.020521163839617346 Centerline is valid? [True, True] Translation: X:222.95, Y:-36.09, Z:-9.76 [[ 9.80981837e-01 1.91061480e-01 3.42073921e-02 2.22945190e+02] [-1.90928265e-01 9.81577953e-01 -7.14981762e-03 -3.60945482e+01] [-3.49432767e-02 4.82683213e-04 9.99389181e-01 -9.76491822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.06264000000004 meters 0.01956327298645429 Centerline is valid? [True, True] Translation: X:222.97, Y:-36.10, Z:-9.77 [[ 9.80787644e-01 1.92005866e-01 3.44868646e-02 2.22973742e+02] [-1.91871130e-01 9.81393675e-01 -7.20590289e-03 -3.60997134e+01] [-3.52287664e-02 4.50426824e-04 9.99379173e-01 -9.76585346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.09264000000005 meters 0.01791096147241612 Centerline is valid? [True, True] Translation: X:223.00, Y:-36.11, Z:-9.77 [[ 9.80421242e-01 1.93797071e-01 3.48838534e-02 2.23002151e+02] [-1.93660410e-01 9.81041561e-01 -7.28708858e-03 -3.61052081e+01] [-3.56347264e-02 3.88795094e-04 9.99364806e-01 -9.76604758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.12264000000002 meters 0.017759766719759353 Centerline is valid? [True, True] Translation: X:223.03, Y:-36.11, Z:-9.77 [[ 9.80346072e-01 1.94162510e-01 3.49642371e-02 2.23029441e+02] [-1.94025500e-01 9.80969306e-01 -7.30249140e-03 -3.61125226e+01] [-3.57167134e-02 3.75015188e-04 9.99361884e-01 -9.76758523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15264000000002 meters 0.018244138479119494 Centerline is valid? [True, True] Translation: X:223.06, Y:-36.12, Z:-9.77 [[ 9.80320057e-01 1.94309589e-01 3.48764853e-02 2.23055010e+02] [-1.94173464e-01 9.80940187e-01 -7.28120924e-03 -3.61210649e+01] [-3.56265548e-02 3.65827479e-04 9.99365106e-01 -9.77043805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18264000000002 meters 0.01805303258017898 Centerline is valid? [True, True] Translation: X:223.08, Y:-36.13, Z:-9.77 [[ 9.80287807e-01 1.94486712e-01 3.47956005e-02 2.23082256e+02] [-1.94351443e-01 9.80905088e-01 -7.26114256e-03 -3.61294597e+01] [-3.55433773e-02 3.55434373e-04 9.99368071e-01 -9.77230574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21264000000002 meters 0.01744615312753509 Centerline is valid? [True, True] Translation: X:223.11, Y:-36.14, Z:-9.77 [[ 9.80197178e-01 1.95004913e-01 3.44467018e-02 2.23108236e+02] [-1.94872751e-01 9.80802210e-01 -7.18586212e-03 -3.61399327e+01] [-3.51866797e-02 3.30838237e-04 9.99380702e-01 -9.77394609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24264000000002 meters 0.01707571254865046 Centerline is valid? [True, True] Translation: X:223.13, Y:-36.15, Z:-9.78 [[ 9.80052146e-01 1.95695136e-01 3.46584075e-02 2.23134638e+02] [-1.95561872e-01 9.80664734e-01 -7.22728198e-03 -3.61473452e+01] [-3.54026219e-02 3.05250163e-04 9.99373084e-01 -9.77529656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.27264000000002 meters 0.0167377580478898 Centerline is valid? [True, True] Translation: X:223.16, Y:-36.15, Z:-9.78 [[ 9.79826802e-01 1.96818597e-01 3.46681186e-02 2.23161711e+02] [-1.96686038e-01 9.80439886e-01 -7.22716227e-03 -3.61540125e+01] [-3.54124462e-02 2.62632417e-04 9.99372748e-01 -9.77699918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30264000000003 meters 0.014698094231670433 Centerline is valid? [True, True] Translation: X:223.19, Y:-36.16, Z:-9.78 [[ 9.79072432e-01 2.00540691e-01 3.46497201e-02 2.23190806e+02] [-2.00410685e-01 9.79685365e-01 -7.22095307e-03 -3.61581246e+01] [-3.53939186e-02 1.25661970e-04 9.99373431e-01 -9.77649628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.33264000000003 meters 0.014222039996268025 Centerline is valid? [True, True] Translation: X:223.22, Y:-36.16, Z:-9.78 [[ 9.78613817e-01 2.02754753e-01 3.47204271e-02 2.23219194e+02] [-2.02625648e-01 9.79229548e-01 -7.23453645e-03 -3.61629957e+01] [-3.54661048e-02 4.45682980e-05 9.99370879e-01 -9.77785598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36264000000003 meters 0.014160350903456095 Centerline is valid? [True, True] Translation: X:223.25, Y:-36.17, Z:-9.78 [[ 9.78066865e-01 2.05339150e-01 3.49433898e-02 2.23246556e+02] [-2.05210082e-01 9.78690876e-01 -7.27952093e-03 -3.61671128e+01] [-3.56935475e-02 -5.08776884e-05 9.99362781e-01 -9.77852085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.39264000000003 meters 0.01488744943461327 Centerline is valid? [True, True] Translation: X:223.27, Y:-36.17, Z:-9.78 [[ 9.77447670e-01 2.08200923e-01 3.53331092e-02 2.23274528e+02] [-2.08070919e-01 9.78086065e-01 -7.35815292e-03 -3.61704091e+01] [-3.60907960e-02 -1.59583083e-04 9.99348502e-01 -9.77939683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42264000000003 meters 0.01870792249354946 Centerline is valid? [True, True] Translation: X:223.30, Y:-36.17, Z:-9.78 [[ 9.76005988e-01 2.14812288e-01 3.56088822e-02 2.23304348e+02] [-2.14684773e-01 9.76655268e-01 -7.41186619e-03 -3.61688555e+01] [-3.63697623e-02 -4.10659015e-04 9.99338317e-01 -9.78041471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.45264000000003 meters 0.01870792249354946 Centerline is valid? [True, True] Translation: X:223.33, Y:-36.17, Z:-9.78 [[ 9.76021770e-01 2.14740518e-01 3.56091906e-02 2.23331261e+02] [-2.14613010e-01 9.76671051e-01 -7.41038427e-03 -3.61743199e+01] [-3.63697754e-02 -4.09499201e-04 9.99338317e-01 -9.78170288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48264000000003 meters 0.02252082625844497 Centerline is valid? [True, True] Translation: X:223.36, Y:-36.17, Z:-9.78 [[ 9.75303634e-01 2.17998668e-01 3.54880672e-02 2.23359996e+02] [-2.17874272e-01 9.75948922e-01 -7.38266436e-03 -3.61736220e+01] [-3.62439519e-02 -5.31597411e-04 9.99342831e-01 -9.78440294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.51264000000003 meters 0.02430392754540922 Centerline is valid? [True, True] Translation: X:223.39, Y:-36.18, Z:-9.78 [[ 9.74641131e-01 2.20910496e-01 3.56821923e-02 2.23388977e+02] [-2.20786778e-01 9.75293871e-01 -7.42045191e-03 -3.61760102e+01] [-3.64398792e-02 -6.45878645e-04 9.99335638e-01 -9.78451817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54264000000003 meters 0.03228148485589877 Centerline is valid? [True, True] Translation: X:223.42, Y:-36.17, Z:-9.79 [[ 9.73565391e-01 2.25649843e-01 3.53917820e-02 2.23418494e+02] [-2.25531531e-01 9.74208124e-01 -7.35247604e-03 -3.61725190e+01] [-3.61380467e-02 -8.23846589e-04 9.99346468e-01 -9.78645745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.57264000000004 meters 0.03041823325561025 Centerline is valid? [True, True] Translation: X:223.45, Y:-36.17, Z:-9.79 [[ 9.73245066e-01 2.27254872e-01 3.39008072e-02 2.23449952e+02] [-2.26786057e-01 9.73793812e-01 -1.71375546e-02 -3.61725094e+01] [-3.69069891e-02 8.99081008e-03 9.99278259e-01 -9.78718555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.60264000000004 meters 0.033587214855141045 Centerline is valid? [True, True] Translation: X:223.47, Y:-36.19, Z:-9.79 [[ 9.73084477e-01 2.27439049e-01 3.71224938e-02 2.23472973e+02] [-2.27675931e-01 9.73734414e-01 2.22736299e-03 -3.61850352e+01] [-3.56408604e-02 -1.06193107e-02 9.99308240e-01 -9.79296245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.63264000000004 meters 0.03009404413946591 Centerline is valid? [True, True] Translation: X:223.51, Y:-36.19, Z:-9.79 [[ 9.73176328e-01 2.27391377e-01 3.49427492e-02 2.23505864e+02] [-2.27053528e-01 9.73790045e-01 -1.34030831e-02 -3.61860235e+01] [-3.70746469e-02 5.10968864e-03 9.99299435e-01 -9.79159318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66264000000004 meters 0.029076049672537872 Centerline is valid? [True, True] Translation: X:223.53, Y:-36.20, Z:-9.80 [[ 9.73648068e-01 2.25001270e-01 3.72003887e-02 2.23532842e+02] [-2.24942834e-01 9.74354680e-01 -5.80329961e-03 -3.61966172e+01] [-3.75521227e-02 -2.71758943e-03 9.99290975e-01 -9.79506475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.69264000000004 meters 0.026570123447596204 Centerline is valid? [True, True] Translation: X:223.56, Y:-36.20, Z:-9.80 [[ 9.74139994e-01 2.22822843e-01 3.74333061e-02 2.23561039e+02] [-2.22710817e-01 9.74858042e-01 -7.18950037e-03 -3.62046486e+01] [-3.80941444e-02 -1.33322235e-03 9.99273265e-01 -9.79589745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.72264000000004 meters 0.030825467133437666 Centerline is valid? [True, True] Translation: X:223.59, Y:-36.21, Z:-9.80 [[ 9.74610507e-01 2.20989242e-01 3.60293482e-02 2.23585093e+02] [-2.20966071e-01 9.75270297e-01 -4.67365145e-03 -3.62119971e+01] [-3.61711799e-02 -3.40627372e-03 9.99339804e-01 -9.79793457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.75264000000004 meters 0.01964342634717606 Centerline is valid? [True, True] Translation: X:223.62, Y:-36.23, Z:-9.80 [[ 9.75833847e-01 2.15148522e-01 3.82023157e-02 2.23615755e+02] [-2.15095831e-01 9.76577274e-01 -5.53276288e-03 -3.62284496e+01] [-3.84978791e-02 -2.81810156e-03 9.99254708e-01 -9.80015805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.78264000000004 meters 0.02174322312096443 Centerline is valid? [True, True] Translation: X:223.64, Y:-36.23, Z:-9.80 [[ 9.76361357e-01 2.13401649e-01 3.43254540e-02 2.23638565e+02] [-2.13189622e-01 9.76962037e-01 -9.76538714e-03 -3.62338579e+01] [-3.56186152e-02 2.21671607e-03 9.99362997e-01 -9.80110670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.81264000000004 meters 0.016944150706354476 Centerline is valid? [True, True] Translation: X:223.67, Y:-36.24, Z:-9.80 [[ 9.76912927e-01 2.10808671e-01 3.46530983e-02 2.23665964e+02] [-2.10687019e-01 9.77527296e-01 -7.16697908e-03 -3.62449021e+01] [-3.53852108e-02 -2.99443460e-04 9.99373702e-01 -9.80367988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.84264000000005 meters 0.015703619109986723 Centerline is valid? [True, True] Translation: X:223.69, Y:-36.25, Z:-9.81 [[ 9.77442818e-01 2.08386894e-01 3.43575286e-02 2.23693511e+02] [-2.08265873e-01 9.78046450e-01 -7.10411292e-03 -3.62540764e+01] [-3.50836629e-02 -2.11636534e-04 9.99384356e-01 -9.80548980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.87264000000002 meters 0.014744222530691825 Centerline is valid? [True, True] Translation: X:223.72, Y:-36.27, Z:-9.81 [[ 9.78406123e-01 2.03929013e-01 3.36810995e-02 2.23719635e+02] [-2.03810121e-01 9.78985677e-01 -6.96272903e-03 -3.62656079e+01] [-3.43932164e-02 -5.21722388e-05 9.99408377e-01 -9.80981812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90264000000002 meters 0.029527915058970455 Centerline is valid? [True, True] Translation: X:223.75, Y:-36.27, Z:-9.81 [[ 9.78818549e-01 2.01945246e-01 3.36506307e-02 2.23746543e+02] [-2.01825464e-01 9.79396813e-01 -6.95447765e-03 -3.62745032e+01] [-3.43617441e-02 1.56175899e-05 9.99409461e-01 -9.80834070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.93264000000002 meters 0.014441640886258251 Centerline is valid? [True, True] Translation: X:223.77, Y:-36.28, Z:-9.81 [[ 9.79140929e-01 2.00341408e-01 3.38579604e-02 2.23772559e+02] [-2.00219272e-01 9.79726143e-01 -6.99485409e-03 -3.62819082e+01] [-3.45728879e-02 6.99317550e-05 9.99402177e-01 -9.81018870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96264000000002 meters 0.014673334721722874 Centerline is valid? [True, True] Translation: X:223.80, Y:-36.29, Z:-9.81 [[ 9.79408470e-01 1.98916180e-01 3.45167075e-02 2.23799391e+02] [-1.98788480e-01 9.80016499e-01 -7.12750591e-03 -3.62892669e+01] [-3.52447191e-02 1.19215849e-04 9.99378705e-01 -9.81172750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.99264000000002 meters 0.014601500458884139 Centerline is valid? [True, True] Translation: X:223.83, Y:-36.30, Z:-9.81 [[ 9.79659432e-01 1.97533728e-01 3.53245363e-02 2.23827211e+02] [-1.97399167e-01 9.80296076e-01 -7.29189449e-03 -3.62954618e+01] [-3.60688994e-02 1.70539176e-04 9.99349291e-01 -9.81010483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02264000000002 meters 0.02486743934673252 Centerline is valid? [True, True] Translation: X:223.85, Y:-36.30, Z:-9.81 [[ 9.79674419e-01 1.97308227e-01 3.61593174e-02 2.23854076e+02] [-1.97167141e-01 9.80341487e-01 -7.46243424e-03 -3.63008918e+01] [-3.69208787e-02 1.81326703e-04 9.99318175e-01 -9.81027459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.05264000000003 meters 0.014458608178663915 Centerline is valid? [True, True] Translation: X:223.88, Y:-36.31, Z:-9.81 [[ 9.79539317e-01 1.97944758e-01 3.63400583e-02 2.23881867e+02] [-1.97802782e-01 9.80213165e-01 -7.49739101e-03 -3.63058589e+01] [-3.71050728e-02 1.55824637e-04 9.99311358e-01 -9.81276969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08264000000003 meters 0.013741530712324588 Centerline is valid? [True, True] Translation: X:223.91, Y:-36.31, Z:-9.81 [[ 9.79330592e-01 1.99047053e-01 3.59424803e-02 2.23909576e+02] [-1.98908985e-01 9.79989928e-01 -7.41331796e-03 -3.63084866e+01] [-3.66988677e-02 1.10806795e-04 9.99326364e-01 -9.81392827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.11264000000003 meters 0.02259388076879382 Centerline is valid? [True, True] Translation: X:223.94, Y:-36.31, Z:-9.82 [[ 9.79251840e-01 1.99434299e-01 3.59415278e-02 2.23935966e+02] [-1.99296597e-01 9.79911196e-01 -7.41043421e-03 -3.63126629e+01] [-3.66974003e-02 9.36571392e-05 9.99326419e-01 -9.81628302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14264000000003 meters 0.013682290981316361 Centerline is valid? [True, True] Translation: X:223.96, Y:-36.32, Z:-9.82 [[ 9.79082323e-01 2.00270460e-01 3.59102685e-02 2.23963741e+02] [-2.00133684e-01 9.79740649e-01 -7.40060227e-03 -3.63163255e+01] [-3.66648718e-02 5.89445210e-05 9.99327616e-01 -9.81760020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.17264000000003 meters 0.013704125563320655 Centerline is valid? [True, True] Translation: X:223.99, Y:-36.32, Z:-9.82 [[ 9.78788694e-01 2.01629971e-01 3.63049278e-02 2.23991887e+02] [-2.01491216e-01 9.79461768e-01 -7.47896838e-03 -3.63191028e+01] [-3.70672730e-02 5.20564031e-06 9.99312772e-01 -9.82009816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20264000000003 meters 0.013632639839564418 Centerline is valid? [True, True] Translation: X:224.02, Y:-36.32, Z:-9.82 [[ 9.78655359e-01 2.02344519e-01 3.59219246e-02 2.24020993e+02] [-2.02209247e-01 9.79314400e-01 -7.39765446e-03 -3.63229241e+01] [-3.66757329e-02 -2.39911638e-05 9.99327219e-01 -9.82026673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.23264000000003 meters 0.013936800191701999 Centerline is valid? [True, True] Translation: X:224.05, Y:-36.33, Z:-9.82 [[ 9.78474508e-01 2.03228364e-01 3.58590074e-02 2.24047405e+02] [-2.03094198e-01 9.79131364e-01 -7.38365870e-03 -3.63254664e+01] [-3.66112477e-02 -5.80345187e-05 9.99329582e-01 -9.82300851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26264000000003 meters 0.014591418064030241 Centerline is valid? [True, True] Translation: X:224.08, Y:-36.33, Z:-9.83 [[ 9.78029234e-01 2.05543968e-01 3.47921508e-02 2.24076567e+02] [-2.05419313e-01 9.78647871e-01 -7.15891015e-03 -3.63258554e+01] [-3.55207351e-02 -1.45356296e-04 9.99368929e-01 -9.82507488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.29264000000003 meters 0.015346230111122214 Centerline is valid? [True, True] Translation: X:224.10, Y:-36.33, Z:-9.83 [[ 9.77770228e-01 2.06734149e-01 3.50196145e-02 2.24104721e+02] [-2.06608680e-01 9.78397136e-01 -7.20404955e-03 -3.63286032e+01] [-3.57524136e-02 -1.91451144e-04 9.99360660e-01 -9.82725603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32264000000004 meters 0.015839822758007292 Centerline is valid? [True, True] Translation: X:224.13, Y:-36.33, Z:-9.83 [[ 9.77642923e-01 2.07322161e-01 3.50975434e-02 2.24132692e+02] [-2.07196592e-01 9.78272700e-01 -7.21781419e-03 -3.63321645e+01] [-3.58313814e-02 -2.15646437e-04 9.99357827e-01 -9.82909555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.35264000000004 meters 0.015519961763266192 Centerline is valid? [True, True] Translation: X:224.16, Y:-36.33, Z:-9.83 [[ 9.77559842e-01 2.07748350e-01 3.48909536e-02 2.24161177e+02] [-2.07624607e-01 9.78182278e-01 -7.17310777e-03 -3.63349989e+01] [-3.56199138e-02 -2.32078444e-04 9.99365383e-01 -9.82843085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38264000000004 meters 0.015897228724826355 Centerline is valid? [True, True] Translation: X:224.19, Y:-36.34, Z:-9.83 [[ 9.77567514e-01 2.07709179e-01 3.49091986e-02 2.24187823e+02] [-2.07585330e-01 9.78190597e-01 -7.17548786e-03 -3.63379085e+01] [-3.56382645e-02 -2.32113682e-04 9.99364728e-01 -9.83031742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.41264000000004 meters 0.016271553390110424 Centerline is valid? [True, True] Translation: X:224.22, Y:-36.34, Z:-9.83 [[ 9.77536866e-01 2.07767097e-01 3.54190422e-02 2.24215323e+02] [-2.07639768e-01 9.78178294e-01 -7.27677024e-03 -3.63409244e+01] [-3.61580117e-02 -2.41090549e-04 9.99346056e-01 -9.83208581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.44264000000004 meters 0.016137691168716963 Centerline is valid? [True, True] Translation: X:224.24, Y:-36.34, Z:-9.83 [[ 9.77457402e-01 2.08125529e-01 3.55076354e-02 2.24243538e+02] [-2.07997883e-01 9.78102090e-01 -7.29263714e-03 -3.63448438e+01] [-3.62478764e-02 -2.57270869e-04 9.99342797e-01 -9.83184746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.47264000000004 meters 0.01709965243655208 Centerline is valid? [True, True] Translation: X:224.27, Y:-36.35, Z:-9.83 [[ 9.77191270e-01 2.09351331e-01 3.56264195e-02 2.24272120e+02] [-2.09223692e-01 9.77840441e-01 -7.31570278e-03 -3.63450251e+01] [-3.63685059e-02 -3.05050139e-04 9.99338401e-01 -9.83348754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.50264000000004 meters 0.017813941896552006 Centerline is valid? [True, True] Translation: X:224.30, Y:-36.35, Z:-9.84 [[ 9.77022145e-01 2.10206395e-01 3.52278202e-02 2.24301125e+02] [-2.10082237e-01 9.77656974e-01 -7.23151654e-03 -3.63476931e+01] [-3.59608351e-02 -3.35387455e-04 9.99353144e-01 -9.83533782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.53264000000004 meters 0.01894263781852248 Centerline is valid? [True, True] Translation: X:224.33, Y:-36.35, Z:-9.84 [[ 9.76785258e-01 2.11340616e-01 3.50100579e-02 2.24329494e+02] [-2.11218973e-01 9.77412399e-01 -7.17964872e-03 -3.63491357e+01] [-3.57366161e-02 -3.81813458e-04 9.99361170e-01 -9.83760024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.56264000000004 meters 0.019537956748878867 Centerline is valid? [True, True] Translation: X:224.36, Y:-36.35, Z:-9.84 [[ 9.76626198e-01 2.12103017e-01 3.48364611e-02 2.24358849e+02] [-2.11983093e-01 9.77247227e-01 -7.14316838e-03 -3.63511865e+01] [-3.55589225e-02 -4.08535400e-04 9.99367498e-01 -9.83939168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.59264000000005 meters 0.020121315721158665 Centerline is valid? [True, True] Translation: X:224.39, Y:-36.35, Z:-9.84 [[ 9.76477518e-01 2.12796027e-01 3.47779717e-02 2.24388097e+02] [-2.12677157e-01 9.77096545e-01 -7.12522596e-03 -3.63535205e+01] [-3.54976557e-02 -4.38857165e-04 9.99369663e-01 -9.84099278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.62264000000002 meters 0.020368055967895343 Centerline is valid? [True, True] Translation: X:224.42, Y:-36.35, Z:-9.84 [[ 9.76361017e-01 2.13268796e-01 3.51509019e-02 2.24416105e+02] [-2.13147878e-01 9.76993451e-01 -7.19577516e-03 -3.63537359e+01] [-3.58768353e-02 -4.66665824e-04 9.99356110e-01 -9.84173479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65264000000002 meters 0.030142136369875887 Centerline is valid? [True, True] Translation: X:224.45, Y:-36.37, Z:-9.85 [[ 9.76199831e-01 2.12577606e-01 4.29494006e-02 2.24446025e+02] [-2.12976469e-01 9.77045132e-01 4.88195571e-03 -3.63650936e+01] [-4.09257083e-02 -1.39129760e-02 9.99065321e-01 -9.84617623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68264000000002 meters 0.0212051106690801 Centerline is valid? [True, True] Translation: X:224.47, Y:-36.35, Z:-9.84 [[ 9.76449470e-01 2.13276756e-01 3.25493084e-02 2.24474692e+02] [-2.12692548e-01 9.76904019e-01 -2.05041139e-02 -3.63505553e+01] [-3.61706010e-02 1.30982358e-02 9.99259788e-01 -9.84395551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71264000000002 meters 0.0184434780776013 Centerline is valid? [True, True] Translation: X:224.50, Y:-36.36, Z:-9.85 [[ 9.77090576e-01 2.09719940e-01 3.62153626e-02 2.24501776e+02] [-2.09589605e-01 9.77761432e-01 -7.40130341e-03 -3.63646997e+01] [-3.69621857e-02 -3.58619734e-04 9.99316601e-01 -9.84526540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74264000000002 meters 0.016079372142116435 Centerline is valid? [True, True] Translation: X:224.53, Y:-36.37, Z:-9.84 [[ 9.77553484e-01 2.07500848e-01 3.65045768e-02 2.24529131e+02] [-2.07367080e-01 9.78234797e-01 -7.45492701e-03 -3.63734848e+01] [-3.72569510e-02 -2.82257626e-04 9.99305679e-01 -9.84484257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.77264000000002 meters 0.015125050772288212 Centerline is valid? [True, True] Translation: X:224.56, Y:-36.38, Z:-9.85 [[ 9.78115617e-01 2.04837000e-01 3.64917008e-02 2.24555539e+02] [-2.04701749e-01 9.78796081e-01 -7.44485262e-03 -3.63807764e+01] [-3.72429150e-02 -1.87988367e-04 9.99306224e-01 -9.84787535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80264000000003 meters 0.01359088776755932 Centerline is valid? [True, True] Translation: X:224.58, Y:-36.39, Z:-9.85 [[ 9.78767934e-01 2.01737560e-01 3.62669143e-02 2.24582596e+02] [-2.01601929e-01 9.79439611e-01 -7.39664801e-03 -3.63907840e+01] [-3.70134342e-02 -7.18779943e-05 9.99314765e-01 -9.84732159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.83264000000003 meters 0.014111746058321545 Centerline is valid? [True, True] Translation: X:224.61, Y:-36.40, Z:-9.85 [[ 9.80054810e-01 1.95441529e-01 3.59885937e-02 2.24608587e+02] [-1.95303786e-01 9.80715342e-01 -7.33819304e-03 -3.64042845e+01] [-3.67287536e-02 1.63122776e-04 9.99325258e-01 -9.84940029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86264000000003 meters 0.015961964334385265 Centerline is valid? [True, True] Translation: X:224.63, Y:-36.41, Z:-9.85 [[ 9.80674349e-01 1.92417187e-01 3.54040608e-02 2.24634743e+02] [-1.92281980e-01 9.81313178e-01 -7.21712537e-03 -3.64144053e+01] [-3.61311704e-02 2.70086807e-04 9.99347020e-01 -9.85270044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.89264000000003 meters 0.019140860560763195 Centerline is valid? [True, True] Translation: X:224.66, Y:-36.43, Z:-9.86 [[ 9.81251996e-01 1.89549591e-01 3.48636195e-02 2.24660307e+02] [-1.89416793e-01 9.81871080e-01 -7.10355738e-03 -3.64259372e+01] [-3.55780562e-02 3.66624872e-04 9.99366833e-01 -9.85752904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92264000000003 meters 0.020302572474416258 Centerline is valid? [True, True] Translation: X:224.69, Y:-36.44, Z:-9.86 [[ 9.82065806e-01 1.85284685e-01 3.48760391e-02 2.24687649e+02] [-1.85149182e-01 9.82684749e-01 -7.10384215e-03 -3.64358050e+01] [-3.55883849e-02 5.19170368e-04 9.99366398e-01 -9.85555307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.95264000000003 meters 0.022411698922089385 Centerline is valid? [True, True] Translation: X:224.71, Y:-36.45, Z:-9.86 [[ 9.82329669e-01 1.83895368e-01 3.47982038e-02 2.24714057e+02] [-1.83759655e-01 9.82945661e-01 -7.08638090e-03 -3.64455746e+01] [-3.55078961e-02 5.66656268e-04 9.99369235e-01 -9.85767977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98264000000003 meters 0.021799877861378644 Centerline is valid? [True, True] Translation: X:224.74, Y:-36.45, Z:-9.86 [[ 9.82509605e-01 1.82902748e-01 3.49493939e-02 2.24742656e+02] [-1.82765308e-01 9.83130826e-01 -7.11483445e-03 -3.64518029e+01] [-3.56611493e-02 6.02856454e-04 9.99363757e-01 -9.85759481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.01264000000003 meters 0.023121330453328714 Centerline is valid? [True, True] Translation: X:224.77, Y:-36.46, Z:-9.86 [[ 9.82596424e-01 1.82393843e-01 3.51674960e-02 2.24768732e+02] [-1.82254415e-01 9.83225354e-01 -7.15757211e-03 -3.64614304e+01] [-3.58830708e-02 6.23573343e-04 9.99355801e-01 -9.85909595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04264000000003 meters 0.021854907649541285 Centerline is valid? [True, True] Translation: X:224.80, Y:-36.47, Z:-9.86 [[ 9.82525250e-01 1.82734745e-01 3.53856876e-02 2.24796770e+02] [-1.82593887e-01 9.83162061e-01 -7.19962040e-03 -3.64665504e+01] [-3.61054863e-02 6.12598587e-04 9.99347797e-01 -9.85964346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.07264000000004 meters 0.02253281139413988 Centerline is valid? [True, True] Translation: X:224.82, Y:-36.47, Z:-9.86 [[ 9.82413034e-01 1.83390208e-01 3.51093050e-02 2.24823252e+02] [-1.83252019e-01 9.83040026e-01 -7.14176595e-03 -3.64746343e+01] [-3.58235821e-02 5.82312919e-04 9.99357960e-01 -9.86242485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.10264000000004 meters 0.024282903102171117 Centerline is valid? [True, True] Translation: X:224.85, Y:-36.48, Z:-9.86 [[ 9.82032660e-01 1.85560685e-01 3.43378439e-02 2.24852057e+02] [-1.85429910e-01 9.82632684e-01 -6.98258064e-03 -3.64784668e+01] [-3.50371802e-02 4.89858935e-04 9.99385889e-01 -9.86349821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.13264000000004 meters 0.019016395516184573 Centerline is valid? [True, True] Translation: X:224.88, Y:-36.48, Z:-9.87 [[ 9.81694167e-01 1.87275510e-01 3.47051282e-02 2.24878995e+02] [-1.87143048e-01 9.82307333e-01 -7.05565594e-03 -3.64837093e+01] [-3.54124535e-02 4.31672800e-04 9.99372689e-01 -9.86549273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16264000000004 meters 0.017630097198919135 Centerline is valid? [True, True] Translation: X:224.91, Y:-36.49, Z:-9.87 [[ 9.81362029e-01 1.88967400e-01 3.49269267e-02 2.24907793e+02] [-1.88834394e-01 9.81983291e-01 -7.09841749e-03 -3.64887613e+01] [-3.56390279e-02 3.70712347e-04 9.99364659e-01 -9.86647712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.19264000000004 meters 0.015310134384574087 Centerline is valid? [True, True] Translation: X:224.94, Y:-36.49, Z:-9.87 [[ 9.80609041e-01 1.92820933e-01 3.50142448e-02 2.24936759e+02] [-1.92689776e-01 9.81233935e-01 -7.11443413e-03 -3.64910041e+01] [-3.57289770e-02 2.29591458e-04 9.99361490e-01 -9.86726596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.22264000000004 meters 0.0145011033752202 Centerline is valid? [True, True] Translation: X:224.96, Y:-36.49, Z:-9.87 [[ 9.80144944e-01 1.95077862e-01 3.55037529e-02 2.24964445e+02] [-1.94944550e-01 9.80787748e-01 -7.21224531e-03 -3.64942165e+01] [-3.62285952e-02 1.47782649e-04 9.99343518e-01 -9.86949320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.25264000000004 meters 0.013586743078535048 Centerline is valid? [True, True] Translation: X:224.99, Y:-36.50, Z:-9.87 [[ 9.79672746e-01 1.97396720e-01 3.57189934e-02 2.24993680e+02] [-1.97263411e-01 9.80323687e-01 -7.25364315e-03 -3.64971506e+01] [-3.64480207e-02 6.01460013e-05 9.99335548e-01 -9.86910171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.28264000000004 meters 0.015705544562671234 Centerline is valid? [True, True] Translation: X:225.03, Y:-36.49, Z:-9.87 [[ 9.78700729e-01 2.03151975e-01 2.95661545e-02 2.25028047e+02] [-2.02656620e-01 9.79067165e-01 -1.89150723e-02 -3.64894992e+01] [-3.27898853e-02 1.25204181e-02 9.99383841e-01 -9.86990218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.31264000000004 meters 0.014970607978498479 Centerline is valid? [True, True] Translation: X:225.05, Y:-36.51, Z:-9.87 [[ 9.78242765e-01 2.03853320e-01 3.85346215e-02 2.25049916e+02] [-2.04184638e-01 9.78920501e-01 4.82555142e-03 -3.65069385e+01] [-3.67386263e-02 -1.25887385e-02 9.99245614e-01 -9.87256635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.34264000000005 meters 0.014970607978498479 Centerline is valid? [True, True] Translation: X:225.08, Y:-36.51, Z:-9.87 [[ 9.78229073e-01 2.04368002e-01 3.60777011e-02 2.25078347e+02] [-2.04237207e-01 9.78894108e-01 -7.31362491e-03 -3.65051692e+01] [-3.68109199e-02 -2.14008384e-04 9.99322225e-01 -9.87270961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.37264000000002 meters 0.016560513304459283 Centerline is valid? [True, True] Translation: X:225.11, Y:-36.51, Z:-9.87 [[ 9.77716430e-01 2.06756425e-01 3.63643138e-02 2.25106971e+02] [-2.06625289e-01 9.78392398e-01 -7.36917168e-03 -3.65063680e+01] [-3.71021918e-02 -3.08826610e-04 9.99311429e-01 -9.87384787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40264000000002 meters 0.018168674094580162 Centerline is valid? [True, True] Translation: X:225.13, Y:-36.51, Z:-9.88 [[ 9.77298718e-01 2.08662354e-01 3.67047450e-02 2.25134625e+02] [-2.08530232e-01 9.77987664e-01 -7.43443944e-03 -3.65084779e+01] [-3.74480755e-02 -3.88380875e-04 9.99298499e-01 -9.87522279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43264000000002 meters 0.020736037633939216 Centerline is valid? [True, True] Translation: X:225.16, Y:-36.51, Z:-9.88 [[ 9.76741267e-01 2.11250421e-01 3.67390467e-02 2.25162388e+02] [-2.11119967e-01 9.77431849e-01 -7.43910710e-03 -3.65098671e+01] [-3.74814289e-02 -4.90263437e-04 9.99297204e-01 -9.87720210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46264000000002 meters 0.02118257979465639 Centerline is valid? [True, True] Translation: X:225.19, Y:-36.51, Z:-9.88 [[ 9.76617082e-01 2.11823417e-01 3.67412016e-02 2.25190898e+02] [-2.11693398e-01 9.77307821e-01 -7.43832845e-03 -3.65144864e+01] [-3.74830758e-02 -5.13471198e-04 9.99297131e-01 -9.87872521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.49264000000002 meters 0.023678704600237546 Centerline is valid? [True, True] Translation: X:225.22, Y:-36.51, Z:-9.88 [[ 9.76165846e-01 2.14232555e-01 3.47081273e-02 2.25218411e+02] [-2.13943089e-01 9.76773722e-01 -1.18932847e-02 -3.65149613e+01] [-3.64499154e-02 4.18425440e-03 9.99326721e-01 -9.88111631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52264000000002 meters 0.022034107443079144 Centerline is valid? [True, True] Translation: X:225.25, Y:-36.53, Z:-9.88 [[ 9.76609867e-01 2.11696932e-01 3.76507314e-02 2.25247606e+02] [-2.11753335e-01 9.77319870e-01 -2.52909334e-03 -3.65269549e+01] [-3.73322092e-02 -5.50273042e-03 9.99287759e-01 -9.88353697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.55264000000003 meters 0.019824105370329498 Centerline is valid? [True, True] Translation: X:225.28, Y:-36.53, Z:-9.88 [[ 9.76878725e-01 2.10578263e-01 3.69425424e-02 2.25276264e+02] [-2.10446458e-01 9.77576883e-01 -7.46495045e-03 -3.65334568e+01] [-3.76861318e-02 -4.82075933e-04 9.99289509e-01 -9.88334970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58264000000003 meters 0.023611480444862238 Centerline is valid? [True, True] Translation: X:225.30, Y:-36.54, Z:-9.88 [[ 9.77206384e-01 2.09180010e-01 3.62133360e-02 2.25302804e+02] [-2.09052647e-01 9.77877059e-01 -7.31087975e-03 -3.65401321e+01] [-3.69414803e-02 -4.26255382e-04 9.99317340e-01 -9.88445344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.61264000000003 meters 0.026447643546091987 Centerline is valid? [True, True] Translation: X:225.33, Y:-36.55, Z:-9.88 [[ 9.78097752e-01 2.04995156e-01 3.60801070e-02 2.25329755e+02] [-2.04865966e-01 9.78762951e-01 -7.28164875e-03 -3.65534804e+01] [-3.68065747e-02 -2.69421705e-04 9.99322372e-01 -9.88428504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64264000000003 meters 0.014239907158821626 Centerline is valid? [True, True] Translation: X:225.36, Y:-36.56, Z:-9.89 [[ 9.78571332e-01 2.02547241e-01 3.70508164e-02 2.25356418e+02] [-2.02409320e-01 9.79272475e-01 -7.47569949e-03 -3.65632975e+01] [-3.77970270e-02 -1.83925335e-04 9.99285420e-01 -9.88653248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.67264000000003 meters 0.01371602892665714 Centerline is valid? [True, True] Translation: X:225.38, Y:-36.58, Z:-9.89 [[ 9.78674028e-01 2.01636144e-01 3.92429968e-02 2.25379990e+02] [-2.01659820e-01 9.79449738e-01 -3.39526556e-03 -3.65759105e+01] [-3.91211511e-02 -4.59087743e-03 9.99223929e-01 -9.88900919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70264000000003 meters 0.013345080743306745 Centerline is valid? [True, True] Translation: X:225.41, Y:-36.58, Z:-9.89 [[ 9.79650107e-01 1.97463441e-01 3.59702423e-02 2.25409878e+02] [-1.97170882e-01 9.80301191e-01 -1.15420517e-02 -3.65809101e+01] [-3.75408046e-02 4.21488781e-03 9.99286207e-01 -9.88973956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.73264000000003 meters 0.013935973863877286 Centerline is valid? [True, True] Translation: X:225.44, Y:-36.59, Z:-9.89 [[ 9.80228081e-01 1.94477611e-01 3.64879123e-02 2.25435951e+02] [-1.94338516e-01 9.80906950e-01 -7.35504692e-03 -3.65937738e+01] [-3.72216387e-02 1.18616817e-04 9.99307028e-01 -9.89275431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76264000000003 meters 0.015846421677105805 Centerline is valid? [True, True] Translation: X:225.46, Y:-36.61, Z:-9.89 [[ 9.81076252e-01 1.90126609e-01 3.66232349e-02 2.25462714e+02] [-1.89983574e-01 9.81759540e-01 -7.37890591e-03 -3.66083659e+01] [-3.73581366e-02 2.81456300e-04 9.99301902e-01 -9.89364980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.79264000000003 meters 0.017078612280172004 Centerline is valid? [True, True] Translation: X:225.49, Y:-36.62, Z:-9.89 [[ 9.81401492e-01 1.88412532e-01 3.67672295e-02 2.25489075e+02] [-1.88267230e-01 9.82089913e-01 -7.40621989e-03 -3.66177813e+01] [-3.75041498e-02 3.46410791e-04 9.99296412e-01 -9.89481665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82264000000004 meters 0.028163364451312914 Centerline is valid? [True, True] Translation: X:225.52, Y:-36.63, Z:-9.90 [[ 9.81738056e-01 1.86846450e-01 3.57602173e-02 2.25516335e+02] [-1.86708044e-01 9.82389052e-01 -7.20115488e-03 -3.66270381e+01] [-3.64759562e-02 3.92927559e-04 9.99334454e-01 -9.89587410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.85264000000004 meters 0.027953023809643082 Centerline is valid? [True, True] Translation: X:225.54, Y:-36.64, Z:-9.90 [[ 9.82076727e-01 1.84878006e-01 3.66800409e-02 2.25543371e+02] [-1.84731081e-01 9.82761363e-01 -7.38455490e-03 -3.66391414e+01] [-3.74129688e-02 4.76255892e-04 9.99299776e-01 -9.89645273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88264000000004 meters 0.01951355066129675 Centerline is valid? [True, True] Translation: X:225.57, Y:-36.65, Z:-9.90 [[ 9.82076398e-01 1.84617469e-01 3.79781345e-02 2.25571669e+02] [-1.84459836e-01 9.82810327e-01 -7.64397113e-03 -3.66468181e+01] [-3.87365134e-02 5.01523166e-04 9.99249334e-01 -9.89739119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.91264000000004 meters 0.02538771760655055 Centerline is valid? [True, True] Translation: X:225.60, Y:-36.65, Z:-9.90 [[ 9.82140821e-01 1.84457327e-01 3.70796806e-02 2.25599751e+02] [-1.84307024e-01 9.82840399e-01 -7.46127009e-03 -3.66539637e+01] [-3.78196940e-02 4.93972356e-04 9.99284457e-01 -9.89818638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.94264000000004 meters 0.01931932835358921 Centerline is valid? [True, True] Translation: X:225.63, Y:-36.66, Z:-9.90 [[ 9.82057565e-01 1.84672814e-01 3.81954346e-02 2.25626650e+02] [-1.84513537e-01 9.82799930e-01 -7.68451374e-03 -3.66608574e+01] [-3.89575913e-02 4.99060096e-04 9.99240740e-01 -9.89989899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.97264000000004 meters 0.018325031994809438 Centerline is valid? [True, True] Translation: X:225.65, Y:-36.67, Z:-9.90 [[ 9.81800746e-01 1.86139764e-01 3.76733759e-02 2.25653798e+02] [-1.85985980e-01 9.82523181e-01 -7.57721504e-03 -3.66683701e+01] [-3.84253862e-02 4.32595642e-04 9.99261378e-01 -9.90244506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.00264000000004 meters 0.01745698370511211 Centerline is valid? [True, True] Translation: X:225.68, Y:-36.67, Z:-9.91 [[ 9.81558122e-01 1.87551725e-01 3.69865397e-02 2.25682363e+02] [-1.87404594e-01 9.82254659e-01 -7.43662090e-03 -3.66740949e+01] [-3.77249521e-02 3.68028187e-04 9.99288093e-01 -9.90558115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.03264000000004 meters 0.016088570415504204 Centerline is valid? [True, True] Translation: X:225.71, Y:-36.68, Z:-9.91 [[ 9.81220223e-01 1.89416321e-01 3.64462711e-02 2.25711112e+02] [-1.89274808e-01 9.81896824e-01 -7.32625587e-03 -3.66783415e+01] [-3.71741902e-02 2.90309483e-04 9.99308759e-01 -9.90754298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.06264000000004 meters 0.01463670303500321 Centerline is valid? [True, True] Translation: X:225.74, Y:-36.68, Z:-9.91 [[ 9.80817570e-01 1.91550156e-01 3.61307548e-02 2.25740367e+02] [-1.91412594e-01 9.81482804e-01 -7.26111171e-03 -3.66812892e+01] [-3.68525817e-02 2.05944439e-04 9.99320692e-01 -9.90847562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.09264000000005 meters 0.013921704677763514 Centerline is valid? [True, True] Translation: X:225.77, Y:-36.68, Z:-9.91 [[ 9.80356751e-01 1.93943064e-01 3.58710130e-02 2.25768207e+02] [-1.93809133e-01 9.81012780e-01 -7.20728991e-03 -3.66842779e+01] [-3.65877260e-02 1.13585402e-04 9.99330439e-01 -9.91030847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.12264000000002 meters 0.013784207814470513 Centerline is valid? [True, True] Translation: X:225.80, Y:-36.69, Z:-9.91 [[ 9.79877595e-01 1.96459823e-01 3.52623847e-02 2.25796427e+02] [-1.96332119e-01 9.80511875e-01 -7.08246562e-03 -3.66872358e+01] [-3.59666069e-02 1.68106520e-05 9.99352992e-01 -9.91301391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.15264000000002 meters 0.015102153877332642 Centerline is valid? [True, True] Translation: X:225.82, Y:-36.69, Z:-9.92 [[ 9.78964418e-01 2.01109836e-01 3.44020706e-02 2.25824824e+02] [-2.00991210e-01 9.79568686e-01 -6.90814213e-03 -3.66872799e+01] [-3.50884864e-02 -1.51688462e-04 9.99384198e-01 -9.91674893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18264000000002 meters 0.016221250659411737 Centerline is valid? [True, True] Translation: X:225.85, Y:-36.69, Z:-9.92 [[ 9.78558102e-01 2.03100743e-01 3.42655806e-02 2.25852166e+02] [-2.02984340e-01 9.79157821e-01 -6.87892487e-03 -3.66894502e+01] [-3.49485260e-02 -2.23948602e-04 9.99389089e-01 -9.91861274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21264000000002 meters 0.016773752088908404 Centerline is valid? [True, True] Translation: X:225.88, Y:-36.69, Z:-9.92 [[ 9.77818266e-01 2.06224070e-01 3.66479350e-02 2.25876844e+02] [-2.06173088e-01 9.78501689e-01 -5.20601355e-03 -3.66945136e+01] [-3.69336716e-02 -2.46528279e-03 9.99314678e-01 -9.91893611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24264000000002 meters 0.01829274289984076 Centerline is valid? [True, True] Translation: X:225.91, Y:-36.69, Z:-9.92 [[ 9.77939225e-01 2.06086276e-01 3.41074493e-02 2.25908459e+02] [-2.05906191e-01 9.78532624e-01 -8.74891816e-03 -3.66944476e+01] [-3.51782838e-02 1.53297527e-03 9.99379877e-01 -9.92092375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.27264000000002 meters 0.019889019828571487 Centerline is valid? [True, True] Translation: X:225.94, Y:-36.70, Z:-9.92 [[ 9.77496128e-01 2.07876045e-01 3.59008369e-02 2.25935861e+02] [-2.07751967e-01 9.78155084e-01 -7.19390559e-03 -3.66980004e+01] [-3.66120268e-02 -4.26454638e-04 9.99329464e-01 -9.92018291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30264000000003 meters 0.020679043419747672 Centerline is valid? [True, True] Translation: X:225.96, Y:-36.70, Z:-9.92 [[ 9.77463574e-01 2.08014939e-01 3.59825831e-02 2.25962525e+02] [-2.07890461e-01 9.78125553e-01 -7.20831496e-03 -3.67024789e+01] [-3.66949212e-02 -4.34570485e-04 9.99326420e-01 -9.92189593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.33264000000003 meters 0.0184733177246228 Centerline is valid? [True, True] Translation: X:225.99, Y:-36.71, Z:-9.92 [[ 9.77579135e-01 2.07480458e-01 3.59290213e-02 2.25990486e+02] [-2.07356112e-01 9.78239074e-01 -7.19426969e-03 -3.67115465e+01] [-3.66398429e-02 -4.17134217e-04 9.99328448e-01 -9.92113065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36264000000003 meters 0.018038908961811224 Centerline is valid? [True, True] Translation: X:226.02, Y:-36.72, Z:-9.92 [[ 9.77749394e-01 2.06736383e-01 3.55835579e-02 2.26018798e+02] [-2.06613989e-01 9.78396606e-01 -7.12331082e-03 -3.67182425e+01] [-3.62874797e-02 -3.87247993e-04 9.99341317e-01 -9.92300366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.39264000000003 meters 0.017902477499151512 Centerline is valid? [True, True] Translation: X:226.05, Y:-36.72, Z:-9.93 [[ 9.77978493e-01 2.05633349e-01 3.56790243e-02 2.26045647e+02] [-2.05509625e-01 9.78629043e-01 -7.14073687e-03 -3.67241397e+01] [-3.63849030e-02 -3.48895800e-04 9.99337789e-01 -9.92586984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42264000000003 meters 0.015632042493258468 Centerline is valid? [True, True] Translation: X:226.07, Y:-36.74, Z:-9.93 [[ 9.78630492e-01 2.02581863e-01 3.52554866e-02 2.26072985e+02] [-2.02459162e-01 9.79265303e-01 -7.05364135e-03 -3.67361077e+01] [-3.59534146e-02 -2.34887773e-04 9.99353439e-01 -9.92748154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.45264000000003 meters 0.0250015898838833 Centerline is valid? [True, True] Translation: X:226.10, Y:-36.75, Z:-9.93 [[ 9.79051849e-01 2.00709030e-01 3.42543846e-02 2.26099945e+02] [-2.00592102e-01 9.79650886e-01 -6.85200025e-03 -3.67455833e+01] [-3.49325965e-02 -1.62695493e-04 9.99389657e-01 -9.92992112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48264000000003 meters 0.01420356949919066 Centerline is valid? [True, True] Translation: X:226.13, Y:-36.75, Z:-9.93 [[ 9.79483051e-01 1.98433224e-01 3.51739832e-02 2.26126277e+02] [-1.98308567e-01 9.80114406e-01 -7.03308260e-03 -3.67545296e+01] [-3.58701249e-02 -8.65170030e-05 9.99356456e-01 -9.93135581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.51264000000003 meters 0.013754538776583928 Centerline is valid? [True, True] Translation: X:226.15, Y:-36.77, Z:-9.93 [[ 9.80436764e-01 1.93552487e-01 3.57936695e-02 2.26153135e+02] [-1.93420230e-01 9.81089918e-01 -7.15458126e-03 -3.67690911e+01] [-3.65015952e-02 9.13947094e-05 9.99333591e-01 -9.93104962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54264000000003 meters 0.014515170151489707 Centerline is valid? [True, True] Translation: X:226.18, Y:-36.78, Z:-9.93 [[ 9.80917148e-01 1.91090926e-01 3.58581537e-02 2.26180138e+02] [-1.90956613e-01 9.81572323e-01 -7.16569122e-03 -3.67799943e+01] [-3.65666698e-02 1.81597824e-04 9.99331199e-01 -9.93228851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.57264000000004 meters 0.015758009930940668 Centerline is valid? [True, True] Translation: X:226.21, Y:-36.79, Z:-9.93 [[ 9.81338679e-01 1.88981145e-01 3.55038488e-02 2.26206003e+02] [-1.88848150e-01 9.81980683e-01 -7.09329106e-03 -3.67900571e+01] [-3.62045920e-02 2.56084703e-04 9.99344366e-01 -9.93410485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.60264000000004 meters 0.017060125845929874 Centerline is valid? [True, True] Translation: X:226.23, Y:-36.80, Z:-9.94 [[ 9.81694768e-01 1.87195200e-01 3.51189368e-02 2.26233848e+02] [-1.87064013e-01 9.82322685e-01 -7.01412893e-03 -3.67995690e+01] [-3.58111395e-02 3.16244439e-04 9.99358525e-01 -9.93582582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.63264000000004 meters 0.02670323154983382 Centerline is valid? [True, True] Translation: X:226.26, Y:-36.81, Z:-9.94 [[ 9.82054865e-01 1.85498157e-01 3.40393183e-02 2.26261702e+02] [-1.85373957e-01 9.82644545e-01 -6.79670902e-03 -3.68091228e+01] [-3.47093274e-02 3.64738044e-04 9.99397383e-01 -9.93761897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66264000000004 meters 0.017784157941158885 Centerline is valid? [True, True] Translation: X:226.29, Y:-36.82, Z:-9.94 [[ 9.82188369e-01 1.84742260e-01 3.42973119e-02 2.26290616e+02] [-1.84615748e-01 9.82786926e-01 -6.84711217e-03 -3.68170427e+01] [-3.49719007e-02 3.93330059e-04 9.99388219e-01 -9.93864950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.69264000000004 meters 0.019450088615655038 Centerline is valid? [True, True] Translation: X:226.32, Y:-36.83, Z:-9.94 [[ 9.82267048e-01 1.84229930e-01 3.47962575e-02 2.26318774e+02] [-1.84099425e-01 9.82883085e-01 -6.94566932e-03 -3.68273535e+01] [-3.54802531e-02 4.16531079e-04 9.99370291e-01 -9.94129708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.72264000000004 meters 0.017662182615658086 Centerline is valid? [True, True] Translation: X:226.35, Y:-36.83, Z:-9.94 [[ 9.82261565e-01 1.83444543e-01 3.88628125e-02 2.26350761e+02] [-1.83377131e-01 9.83028228e-01 -5.32274550e-03 -3.68338513e+01] [-3.91796703e-02 -1.89822273e-03 9.99230379e-01 -9.93976422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.75264000000004 meters 0.01825731507651384 Centerline is valid? [True, True] Translation: X:226.38, Y:-36.84, Z:-9.94 [[ 9.82141146e-01 1.84666570e-01 3.60142589e-02 2.26377696e+02] [-1.84425317e-01 9.82796281e-01 -9.93845531e-03 -3.68394698e+01] [-3.72299802e-02 3.11902480e-03 9.99301856e-01 -9.94018677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.78264000000004 meters 0.017408144018551057 Centerline is valid? [True, True] Translation: X:226.41, Y:-36.85, Z:-9.94 [[ 9.82033854e-01 1.84984345e-01 3.72867585e-02 2.26406784e+02] [-1.84834864e-01 9.82741377e-01 -7.44704196e-03 -3.68474185e+01] [-3.80208266e-02 4.21354387e-04 9.99276858e-01 -9.94009967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.81264000000004 meters 0.017624307783157704 Centerline is valid? [True, True] Translation: X:226.44, Y:-36.86, Z:-9.94 [[ 9.81929090e-01 1.85502167e-01 3.74727813e-02 2.26435469e+02] [-1.85351563e-01 9.82643772e-01 -7.48430274e-03 -3.68557266e+01] [-3.82107496e-02 4.03416004e-04 9.99269621e-01 -9.94175258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.84264000000005 meters 0.01681237133308525 Centerline is valid? [True, True] Translation: X:226.47, Y:-36.86, Z:-9.94 [[ 9.81833434e-01 1.86039596e-01 3.73145590e-02 2.26465666e+02] [-1.85890671e-01 9.82542174e-01 -7.45212446e-03 -3.68616648e+01] [-3.80495181e-02 3.80316524e-04 9.99275783e-01 -9.94251630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.87264000000002 meters 0.017220954236546758 Centerline is valid? [True, True] Translation: X:226.49, Y:-36.87, Z:-9.94 [[ 9.81691798e-01 1.86807358e-01 3.72051711e-02 2.26493852e+02] [-1.86659853e-01 9.82396503e-01 -7.43038933e-03 -3.68688145e+01] [-3.79382814e-02 3.49640488e-04 9.99280023e-01 -9.94499789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90264000000002 meters 0.01658983433700317 Centerline is valid? [True, True] Translation: X:226.52, Y:-36.87, Z:-9.95 [[ 9.81402117e-01 1.88382186e-01 3.69057678e-02 2.26521774e+02] [-1.88238173e-01 9.82095754e-01 -7.37023476e-03 -3.68746411e+01] [-3.76334188e-02 2.86089707e-04 9.99291571e-01 -9.94817882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.93264000000002 meters 0.015098983581738975 Centerline is valid? [True, True] Translation: X:226.55, Y:-36.88, Z:-9.95 [[ 9.81203275e-01 1.89536699e-01 3.62763476e-02 2.26551649e+02] [-1.89398376e-01 9.81873609e-01 -7.24371314e-03 -3.68787239e+01] [-3.69917378e-02 2.36873734e-04 9.99315543e-01 -9.94806347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96264000000002 meters 0.02626053082265691 Centerline is valid? [True, True] Translation: X:226.58, Y:-36.88, Z:-9.95 [[ 9.80933360e-01 1.90923141e-01 3.63056157e-02 2.26580700e+02] [-1.90785577e-01 9.81604972e-01 -7.24866279e-03 -3.68832823e+01] [-3.70217103e-02 1.83867296e-04 9.99314445e-01 -9.95055359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.99264000000002 meters 0.01387967002136793 Centerline is valid? [True, True] Translation: X:226.61, Y:-36.89, Z:-9.95 [[ 9.80646809e-01 1.92278536e-01 3.68890373e-02 2.26608989e+02] [-1.92137495e-01 9.81340383e-01 -7.36455976e-03 -3.68861628e+01] [-3.76167488e-02 1.34264815e-04 9.99292231e-01 -9.95026318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02264000000002 meters 0.013385976647451567 Centerline is valid? [True, True] Translation: X:226.64, Y:-36.89, Z:-9.95 [[ 9.80053735e-01 1.95315613e-01 3.66945084e-02 2.26638047e+02] [-1.95178269e-01 9.80740440e-01 -7.32339268e-03 -3.68878471e+01] [-3.74181613e-02 1.53476920e-05 9.99299695e-01 -9.95105969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.05264000000003 meters 0.013127964612860093 Centerline is valid? [True, True] Translation: X:226.67, Y:-36.89, Z:-9.95 [[ 9.79746010e-01 1.96796458e-01 3.69987828e-02 2.26666300e+02] [-1.96657950e-01 9.80444365e-01 -7.38232596e-03 -3.68918617e+01] [-3.77280637e-02 -4.33003638e-05 9.99288042e-01 -9.95075561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08264000000003 meters 0.013575546284894728 Centerline is valid? [True, True] Translation: X:226.69, Y:-36.90, Z:-9.95 [[ 9.79459431e-01 1.98046452e-01 3.79054965e-02 2.26693749e+02] [-1.97902077e-01 9.80192631e-01 -7.56136089e-03 -3.68950854e+01] [-3.86521890e-02 -9.55302661e-05 9.99252720e-01 -9.95170302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.11264000000003 meters 0.014002117919100072 Centerline is valid? [True, True] Translation: X:226.72, Y:-36.90, Z:-9.95 [[ 9.79131719e-01 1.99733578e-01 3.75176664e-02 2.26722253e+02] [-1.99593475e-01 9.79850229e-01 -7.48154453e-03 -3.68973228e+01] [-3.82560097e-02 -1.62863842e-04 9.99267958e-01 -9.95165037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14264000000003 meters 0.014479842349193615 Centerline is valid? [True, True] Translation: X:226.75, Y:-36.90, Z:-9.96 [[ 9.79062524e-01 2.00057221e-01 3.75989825e-02 2.26749239e+02] [-1.99916817e-01 9.79784199e-01 -7.49594781e-03 -3.69012314e+01] [-3.83385075e-02 -1.77667347e-04 9.99264793e-01 -9.95505824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.17264000000003 meters 0.014260331831325721 Centerline is valid? [True, True] Translation: X:226.78, Y:-36.92, Z:-9.96 [[ 9.78656150e-01 2.00011949e-01 4.71949088e-02 2.26778060e+02] [-2.00459538e-01 9.79689723e-01 4.90113018e-03 -3.69163771e+01] [-4.52560825e-02 -1.42571908e-02 9.98873675e-01 -9.95809492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20264000000003 meters 0.014458304411784693 Centerline is valid? [True, True] Translation: X:226.81, Y:-36.91, Z:-9.96 [[ 9.79063386e-01 2.00641405e-01 3.43207391e-02 2.26808971e+02] [-1.99994257e-01 9.79563652e-01 -2.13857060e-02 -3.69051280e+01] [-3.79102066e-02 1.40740110e-02 9.99182035e-01 -9.95845940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.23264000000003 meters 0.014228600976224144 Centerline is valid? [True, True] Translation: X:226.84, Y:-36.92, Z:-9.96 [[ 9.79220273e-01 1.99538942e-01 3.62197232e-02 2.26835907e+02] [-1.99408267e-01 9.79889886e-01 -7.22186560e-03 -3.69196198e+01] [-3.69323838e-02 -1.50715020e-04 9.99317755e-01 -9.96039439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26264000000003 meters 0.014228600976224144 Centerline is valid? [True, True] Translation: X:226.86, Y:-36.93, Z:-9.96 [[ 9.79229910e-01 1.99491578e-01 3.62200720e-02 2.26863677e+02] [-1.99360935e-01 9.79899529e-01 -7.22011565e-03 -3.69250651e+01] [-3.69323838e-02 -1.50714221e-04 9.99317755e-01 -9.96172377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.29264000000003 meters 0.01411245483380936 Centerline is valid? [True, True] Translation: X:226.89, Y:-36.93, Z:-9.96 [[ 9.79370917e-01 1.98845991e-01 3.59566286e-02 2.26891855e+02] [-1.98716873e-01 9.80030742e-01 -7.16580793e-03 -3.69307039e+01] [-3.66634936e-02 -1.27204917e-04 9.99327660e-01 -9.96413579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32264000000004 meters 0.01375303524737602 Centerline is valid? [True, True] Translation: X:226.92, Y:-36.94, Z:-9.97 [[ 9.79632096e-01 1.97475932e-01 3.63897211e-02 2.26919212e+02] [-1.97342803e-01 9.80307732e-01 -7.25038974e-03 -3.69369321e+01] [-3.71049025e-02 -7.85350569e-05 9.99311373e-01 -9.96577344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.35264000000004 meters 0.013779166085308237 Centerline is valid? [True, True] Translation: X:226.95, Y:-36.94, Z:-9.97 [[ 9.79775867e-01 1.96843414e-01 3.59432864e-02 2.26946405e+02] [-1.96713188e-01 9.80434938e-01 -7.15922893e-03 -3.69429505e+01] [-3.66493008e-02 -5.60787087e-05 9.99328187e-01 -9.96784983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38264000000004 meters 0.013497260754103277 Centerline is valid? [True, True] Translation: X:226.97, Y:-36.95, Z:-9.97 [[ 9.79894942e-01 1.96278109e-01 3.57883690e-02 2.26974557e+02] [-1.96148710e-01 9.80548266e-01 -7.12609330e-03 -3.69488570e+01] [-3.64909193e-02 -3.70196165e-05 9.99333984e-01 -9.96767461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.41264000000004 meters 0.022740079286183528 Centerline is valid? [True, True] Translation: X:227.00, Y:-36.95, Z:-9.97 [[ 9.79918214e-01 1.96052176e-01 3.63845920e-02 2.27002074e+02] [-1.95918338e-01 9.80593465e-01 -7.24304380e-03 -3.69544389e+01] [-3.70985076e-02 -3.08182366e-05 9.99311613e-01 -9.97097610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.44264000000004 meters 0.013300386784963574 Centerline is valid? [True, True] Translation: X:227.03, Y:-36.96, Z:-9.97 [[ 9.80208985e-01 1.94631269e-01 3.61803223e-02 2.27029995e+02] [-1.94498050e-01 9.80876480e-01 -7.19998185e-03 -3.69603794e+01] [-3.68897688e-02 2.04847523e-05 9.99319341e-01 -9.97017423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.47264000000004 meters 0.02284335082834591 Centerline is valid? [True, True] Translation: X:227.06, Y:-36.97, Z:-9.97 [[ 9.80238765e-01 1.94323983e-01 3.70155928e-02 2.27058484e+02] [-1.94184394e-01 9.80937403e-01 -7.36427244e-03 -3.69663252e+01] [-3.77410342e-02 3.08948560e-05 9.99287553e-01 -9.97214255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.50264000000004 meters 0.013692003128764415 Centerline is valid? [True, True] Translation: X:227.09, Y:-36.97, Z:-9.97 [[ 9.80443690e-01 1.93345055e-01 3.67132094e-02 2.27085691e+02] [-1.93207117e-01 9.81130820e-01 -7.30239119e-03 -3.69716864e+01] [-3.74323425e-02 6.63300250e-05 9.99299162e-01 -9.97395636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.53264000000004 meters 0.013968753651222533 Centerline is valid? [True, True] Translation: X:227.11, Y:-36.98, Z:-9.98 [[ 9.80626441e-01 1.92438218e-01 3.65966660e-02 2.27112470e+02] [-1.92300609e-01 9.81309086e-01 -7.27688280e-03 -3.69778830e+01] [-3.73129912e-02 9.83425026e-05 9.99303623e-01 -9.97621224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.56264000000004 meters 0.013839734041718024 Centerline is valid? [True, True] Translation: X:227.14, Y:-36.98, Z:-9.98 [[ 9.80854684e-01 1.91299711e-01 3.64487268e-02 2.27141856e+02] [-1.91162519e-01 9.81531661e-01 -7.24501639e-03 -3.69846721e+01] [-3.71615489e-02 1.38677841e-04 9.99309261e-01 -9.97615354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.59264000000005 meters 0.014606012353924405 Centerline is valid? [True, True] Translation: X:227.17, Y:-36.99, Z:-9.98 [[ 9.81117771e-01 1.89954077e-01 3.64055979e-02 2.27169279e+02] [-1.89816312e-01 9.81792958e-01 -7.23565274e-03 -3.69927678e+01] [-3.71172014e-02 1.88651164e-04 9.99310901e-01 -9.97858659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.62264000000002 meters 0.01595979281718896 Centerline is valid? [True, True] Translation: X:227.20, Y:-37.00, Z:-9.98 [[ 9.81740950e-01 1.86889977e-01 3.54519806e-02 2.27197907e+02] [-1.86757395e-01 9.82380807e-01 -7.04458382e-03 -3.70025862e+01] [-3.61439075e-02 2.95036877e-04 9.99346552e-01 -9.98045978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.65264000000002 meters 0.016897123980126827 Centerline is valid? [True, True] Translation: X:227.23, Y:-37.01, Z:-9.98 [[ 9.81961390e-01 1.85713274e-01 3.55303729e-02 2.27226404e+02] [-1.85579351e-01 9.82603921e-01 -7.05971046e-03 -3.70108939e+01] [-3.62233657e-02 3.38659552e-04 9.99343661e-01 -9.98278032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68264000000002 meters 0.017939832332947176 Centerline is valid? [True, True] Translation: X:227.26, Y:-37.02, Z:-9.99 [[ 9.82192189e-01 1.84540349e-01 3.52613492e-02 2.27255125e+02] [-1.84407707e-01 9.82824866e-01 -7.00581681e-03 -3.70195715e+01] [-3.59485866e-02 3.78594011e-04 9.99353569e-01 -9.98501188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.71264000000002 meters 0.01879026122091397 Centerline is valid? [True, True] Translation: X:227.28, Y:-37.03, Z:-9.99 [[ 9.82412624e-01 1.83441119e-01 3.48538769e-02 2.27284575e+02] [-1.83310854e-01 9.83030612e-01 -6.92429896e-03 -3.70283129e+01] [-3.55326291e-02 4.13424773e-04 9.99368431e-01 -9.98692493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74264000000002 meters 0.018795808661536902 Centerline is valid? [True, True] Translation: X:227.31, Y:-37.03, Z:-9.99 [[ 9.82413071e-01 1.83411996e-01 3.49942642e-02 2.27314268e+02] [-1.83280660e-01 9.83036045e-01 -6.95218921e-03 -3.70337814e+01] [-3.56757380e-02 4.16149706e-04 9.99363332e-01 -9.98858553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.77264000000002 meters 0.01954096899828314 Centerline is valid? [True, True] Translation: X:227.34, Y:-37.04, Z:-9.99 [[ 9.82350182e-01 1.83769342e-01 3.48848034e-02 2.27343126e+02] [-1.83639058e-01 9.82969312e-01 -6.93030000e-03 -3.70404104e+01] [-3.55642679e-02 4.01769026e-04 9.99367311e-01 -9.99150993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80264000000003 meters 0.023034530571820068 Centerline is valid? [True, True] Translation: X:227.37, Y:-37.04, Z:-9.99 [[ 9.82253225e-01 1.84287685e-01 3.48805276e-02 2.27373428e+02] [-1.84157738e-01 9.82872271e-01 -6.93004151e-03 -3.70447113e+01] [-3.55602247e-02 3.83536541e-04 9.99367462e-01 -9.99274932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.83264000000003 meters 0.018289795683755043 Centerline is valid? [True, True] Translation: X:227.40, Y:-37.05, Z:-9.99 [[ 9.82173971e-01 1.84641564e-01 3.52389615e-02 2.27402460e+02] [-1.84509155e-01 9.82805857e-01 -7.00138803e-03 -3.70513539e+01] [-3.59258050e-02 3.74670083e-04 9.99354390e-01 -9.99323187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86264000000003 meters 0.017276511426582687 Centerline is valid? [True, True] Translation: X:227.43, Y:-37.06, Z:-9.99 [[ 9.82125880e-01 1.84773055e-01 3.58841852e-02 2.27433039e+02] [-1.84635860e-01 9.82781144e-01 -7.12900461e-03 -3.70562856e+01] [-3.65835485e-02 3.76072535e-04 9.99330527e-01 -9.99225202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.89264000000003 meters 0.018175939591115083 Centerline is valid? [True, True] Translation: X:227.46, Y:-37.06, Z:-9.99 [[ 9.82144827e-01 1.84591657e-01 3.62968117e-02 2.27461572e+02] [-1.84451159e-01 9.82815227e-01 -7.21110160e-03 -3.70636674e+01] [-3.70041684e-02 3.87357144e-04 9.99315036e-01 -9.99430615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92264000000003 meters 0.018043810982343745 Centerline is valid? [True, True] Translation: X:227.49, Y:-37.07, Z:-9.99 [[ 9.82185793e-01 1.84337811e-01 3.64779370e-02 2.27491517e+02] [-1.84195753e-01 9.82862866e-01 -7.24650702e-03 -3.70700047e+01] [-3.71886150e-02 3.98335171e-04 9.99308185e-01 -9.99493735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.95264000000003 meters 0.01839205948244416 Centerline is valid? [True, True] Translation: X:227.52, Y:-37.08, Z:-10.00 [[ 9.82379493e-01 1.83338975e-01 3.62953501e-02 2.27521200e+02] [-1.83197654e-01 9.83049659e-01 -7.21023530e-03 -3.70775797e+01] [-3.70020486e-02 4.33964302e-04 9.99315095e-01 -9.99612996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98264000000003 meters 0.019488731240197 Centerline is valid? [True, True] Translation: X:227.55, Y:-37.09, Z:-10.00 [[ 9.82457443e-01 1.82923238e-01 3.62830655e-02 2.27550259e+02] [-1.82781734e-01 9.83127096e-01 -7.20767471e-03 -3.70860636e+01] [-3.69893160e-02 4.49352049e-04 9.99315560e-01 -9.99844904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.01264000000003 meters 0.019046493731320054 Centerline is valid? [True, True] Translation: X:227.58, Y:-37.09, Z:-10.00 [[ 9.82597642e-01 1.82360152e-01 3.53079174e-02 2.27581265e+02] [-1.82225781e-01 9.83231694e-01 -7.01424277e-03 -3.70924167e+01] [-3.59949819e-02 4.58165559e-04 9.99351866e-01 -1.00002043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04264000000003 meters 0.020235312357136936 Centerline is valid? [True, True] Translation: X:227.61, Y:-37.10, Z:-10.00 [[ 9.82710475e-01 1.81906866e-01 3.44965724e-02 2.27610612e+02] [-1.81778318e-01 9.83315655e-01 -6.85317979e-03 -3.71014447e+01] [-3.51676602e-02 4.63962647e-04 9.99381319e-01 -1.00039611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.07264000000004 meters 0.022342550277236476 Centerline is valid? [True, True] Translation: X:227.64, Y:-37.11, Z:-10.01 [[ 9.82753850e-01 1.81576150e-01 3.49995924e-02 2.27639389e+02] [-1.81443531e-01 9.83376767e-01 -6.95548025e-03 -3.71138003e+01] [-3.56807354e-02 4.85075368e-04 9.99363122e-01 -1.00076020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10264000000004 meters 0.019862381021223306 Centerline is valid? [True, True] Translation: X:227.67, Y:-37.12, Z:-10.01 [[ 9.82754755e-01 1.81644059e-01 3.46197435e-02 2.27671110e+02] [-1.81514101e-01 9.83364226e-01 -6.88693162e-03 -3.71173721e+01] [-3.52947875e-02 4.84193160e-04 9.99376828e-01 -1.00059126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.13264000000004 meters 0.0193818343166678 Centerline is valid? [True, True] Translation: X:227.70, Y:-37.12, Z:-10.01 [[ 9.82686244e-01 1.82063705e-01 3.43591773e-02 2.27701602e+02] [-1.81935922e-01 9.83286627e-01 -6.83595446e-03 -3.71233974e+01] [-3.50294987e-02 4.66429802e-04 9.99386170e-01 -1.00075336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16264000000004 meters 0.020161759217859107 Centerline is valid? [True, True] Translation: X:227.73, Y:-37.13, Z:-10.01 [[ 9.82554490e-01 1.82755667e-01 3.44534521e-02 2.27731668e+02] [-1.82627633e-01 9.83158263e-01 -6.85397949e-03 -3.71314931e+01] [-3.51257997e-02 4.42255929e-04 9.99382801e-01 -1.00107117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.19264000000004 meters 0.02003404868855676 Centerline is valid? [True, True] Translation: X:227.76, Y:-37.14, Z:-10.01 [[ 9.82495314e-01 1.83127592e-01 3.41649474e-02 2.27760899e+02] [-1.83001662e-01 9.83089059e-01 -6.80396325e-03 -3.71384042e+01] [-3.48331794e-02 4.32619865e-04 9.99393047e-01 -1.00129474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.22264000000004 meters 0.01986381354723856 Centerline is valid? [True, True] Translation: X:227.79, Y:-37.15, Z:-10.02 [[ 9.82401074e-01 1.83806833e-01 3.32141387e-02 2.27789174e+02] [-1.83688181e-01 9.82962303e-01 -6.61530464e-03 -3.71459298e+01] [-3.38641845e-02 3.97837667e-04 9.99426365e-01 -1.00165304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.25264000000004 meters 0.018499197922672943 Centerline is valid? [True, True] Translation: X:227.82, Y:-37.15, Z:-10.02 [[ 9.82312088e-01 1.84313030e-01 3.30404026e-02 2.27820113e+02] [-1.84195932e-01 9.82867521e-01 -6.57982547e-03 -3.71512075e+01] [-3.36870862e-02 3.77534338e-04 9.99432358e-01 -1.00162808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.28264000000004 meters 0.017897257999680886 Centerline is valid? [True, True] Translation: X:227.85, Y:-37.16, Z:-10.02 [[ 9.82169461e-01 1.84942354e-01 3.37561224e-02 2.27849896e+02] [-1.84820457e-01 9.82749303e-01 -6.72353573e-03 -3.71569732e+01] [-3.44172723e-02 3.64829485e-04 9.99407484e-01 -1.00167689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.31264000000004 meters 0.016773725648164726 Centerline is valid? [True, True] Translation: X:227.88, Y:-37.16, Z:-10.02 [[ 9.81783036e-01 1.86831122e-01 3.45861493e-02 2.27879343e+02] [-1.86704321e-01 9.82391998e-01 -6.88900275e-03 -3.71619615e+01] [-3.52642364e-02 3.06122515e-04 9.99377977e-01 -1.00174782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.34264000000005 meters 0.0161051742428231 Centerline is valid? [True, True] Translation: X:227.91, Y:-37.17, Z:-10.02 [[ 9.81577166e-01 1.87924376e-01 3.45064518e-02 2.27908042e+02] [-1.87798860e-01 9.82183465e-01 -6.87239144e-03 -3.71666840e+01] [-3.51831562e-02 2.65510193e-04 9.99380846e-01 -1.00185235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.37264000000002 meters 0.015475203113309327 Centerline is valid? [True, True] Translation: X:227.94, Y:-37.17, Z:-10.02 [[ 9.81361338e-01 1.89050599e-01 3.44933983e-02 2.27938563e+02] [-1.88925850e-01 9.81967321e-01 -6.87044958e-03 -3.71717262e+01] [-3.51702525e-02 2.25698998e-04 9.99381310e-01 -1.00203647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40264000000002 meters 0.014505327135419585 Centerline is valid? [True, True] Translation: X:227.97, Y:-37.18, Z:-10.02 [[ 9.81114512e-01 1.90318570e-01 3.45421097e-02 2.27968955e+02] [-1.90194253e-01 9.81722369e-01 -6.88015200e-03 -3.71760239e+01] [-3.52201824e-02 1.80506203e-04 9.99379561e-01 -1.00205000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43264000000002 meters 0.01395565713694231 Centerline is valid? [True, True] Translation: X:228.00, Y:-37.18, Z:-10.02 [[ 9.80580915e-01 1.93002481e-01 3.48010292e-02 2.27998332e+02] [-1.92877983e-01 9.81198265e-01 -6.93172400e-03 -3.71788686e+01] [-3.54845494e-02 8.47639530e-05 9.99370221e-01 -1.00229316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46264000000002 meters 0.013616124115052258 Centerline is valid? [True, True] Translation: X:228.03, Y:-37.18, Z:-10.02 [[ 9.80292922e-01 1.94462812e-01 3.47850902e-02 2.28027748e+02] [-1.94339336e-01 9.80909891e-01 -6.92883467e-03 -3.71822037e+01] [-3.54684397e-02 3.21762395e-05 9.99370796e-01 -1.00232533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.49264000000002 meters 0.013798761424101249 Centerline is valid? [True, True] Translation: X:228.06, Y:-37.19, Z:-10.03 [[ 9.80021980e-01 1.95783005e-01 3.50133330e-02 2.28056553e+02] [-1.95658772e-01 9.80647243e-01 -6.97353706e-03 -3.71859566e+01] [-3.57010285e-02 -1.64461212e-05 9.99362515e-01 -1.00252605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52264000000002 meters 0.013651953095059071 Centerline is valid? [True, True] Translation: X:228.09, Y:-37.19, Z:-10.03 [[ 9.79729815e-01 1.97195060e-01 3.52646923e-02 2.28085780e+02] [-1.97070004e-01 9.80364271e-01 -7.02211790e-03 -3.71896276e+01] [-3.59569714e-02 -6.98348060e-05 9.99353337e-01 -1.00256220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.55264000000003 meters 0.013851350065513225 Centerline is valid? [True, True] Translation: X:228.12, Y:-37.19, Z:-10.02 [[ 9.79387277e-01 1.98758415e-01 3.59952069e-02 2.28115348e+02] [-1.98629202e-01 9.80048507e-01 -7.16690940e-03 -3.71914053e+01] [-3.67015323e-02 -1.30519359e-04 9.99326263e-01 -1.00249538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58264000000003 meters 0.014036427945264156 Centerline is valid? [True, True] Translation: X:228.14, Y:-37.20, Z:-10.03 [[ 9.79331851e-01 1.98998598e-01 3.61757193e-02 2.28144063e+02] [-1.98868318e-01 9.79999764e-01 -7.20101417e-03 -3.71955950e+01] [-3.68851881e-02 -1.42021887e-04 9.99319500e-01 -1.00263536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.61264000000003 meters 0.01387614828525681 Centerline is valid? [True, True] Translation: X:228.17, Y:-37.20, Z:-10.03 [[ 9.79429795e-01 1.98507070e-01 3.62245853e-02 2.28172445e+02] [-1.98376168e-01 9.80099448e-01 -7.20892464e-03 -3.72017778e+01] [-3.69347185e-02 -1.25458833e-04 9.99317673e-01 -1.00277148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64264000000003 meters 0.013623404450744897 Centerline is valid? [True, True] Translation: X:228.20, Y:-37.21, Z:-10.03 [[ 9.79654447e-01 1.97485682e-01 3.57291303e-02 2.28201297e+02] [-1.97357732e-01 9.80305767e-01 -7.10829456e-03 -3.72097774e+01] [-3.64292589e-02 -8.77477601e-05 9.99336230e-01 -1.00299146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.67264000000003 meters 0.013744555308598931 Centerline is valid? [True, True] Translation: X:228.23, Y:-37.22, Z:-10.03 [[ 9.79963642e-01 1.96070211e-01 3.50390260e-02 2.28228268e+02] [-1.95946279e-01 9.80589859e-01 -6.97026345e-03 -3.72183062e+01] [-3.57255746e-02 -3.51620037e-05 9.99361637e-01 -1.00335459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70264000000003 meters 0.01377287039409954 Centerline is valid? [True, True] Translation: X:228.26, Y:-37.23, Z:-10.04 [[ 9.80319433e-01 1.94426345e-01 3.42374951e-02 2.28256539e+02] [-1.94307067e-01 9.80917120e-01 -6.80939524e-03 -3.72269473e+01] [-3.49080709e-02 2.27952492e-05 9.99390527e-01 -1.00358348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.73264000000003 meters 0.015022731190659461 Centerline is valid? [True, True] Translation: X:228.29, Y:-37.24, Z:-10.04 [[ 9.81070334e-01 1.90621084e-01 3.41262792e-02 2.28285287e+02] [-1.90500323e-01 9.81663679e-01 -6.78595663e-03 -3.72391805e+01] [-3.47940752e-02 1.56433519e-04 9.99394491e-01 -1.00403286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76264000000003 meters 0.015367491995162122 Centerline is valid? [True, True] Translation: X:228.31, Y:-37.25, Z:-10.04 [[ 9.81443569e-01 1.88657193e-01 3.43071958e-02 2.28314381e+02] [-1.88533927e-01 9.82042979e-01 -6.82251643e-03 -3.72479277e+01] [-3.49782575e-02 2.27844529e-04 9.99388048e-01 -1.00400378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.79264000000003 meters 0.016884134094906217 Centerline is valid? [True, True] Translation: X:228.34, Y:-37.26, Z:-10.04 [[ 9.81701858e-01 1.87318993e-01 3.42499169e-02 2.28344277e+02] [-1.87195391e-01 9.82299099e-01 -6.80919712e-03 -3.72580044e+01] [-3.49191545e-02 2.73174880e-04 9.99390103e-01 -1.00426574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82264000000004 meters 0.017578175057486514 Centerline is valid? [True, True] Translation: X:228.37, Y:-37.27, Z:-10.04 [[ 9.81965467e-01 1.85950824e-01 3.41484064e-02 2.28374570e+02] [-1.85826875e-01 9.82558998e-01 -6.79624394e-03 -3.72666395e+01] [-3.48165912e-02 3.27985196e-04 9.99393665e-01 -1.00441052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.85264000000004 meters 0.018104145236557612 Centerline is valid? [True, True] Translation: X:228.41, Y:-37.28, Z:-10.04 [[ 9.82109746e-01 1.85140975e-01 3.43986253e-02 2.28405559e+02] [-1.85014736e-01 9.82711906e-01 -6.84517328e-03 -3.72767286e+01] [-3.50712607e-02 3.58458808e-04 9.99384750e-01 -1.00449865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88264000000004 meters 0.01833494497075109 Centerline is valid? [True, True] Translation: X:228.44, Y:-37.28, Z:-10.05 [[ 9.82073330e-01 1.85287786e-01 3.46469430e-02 2.28436002e+02] [-1.85159591e-01 9.82684235e-01 -6.90076717e-03 -3.72846394e+01] [-3.53256326e-02 3.61845594e-04 9.99375790e-01 -1.00461730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.91264000000004 meters 0.018133930456630996 Centerline is valid? [True, True] Translation: X:228.47, Y:-37.29, Z:-10.05 [[ 9.82042691e-01 1.85452403e-01 3.46346592e-02 2.28467559e+02] [-1.85324211e-01 9.82653182e-01 -6.90370519e-03 -3.72917524e+01] [-3.53141668e-02 3.61092337e-04 9.99376195e-01 -1.00476601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.94264000000004 meters 0.017482533648183994 Centerline is valid? [True, True] Translation: X:228.50, Y:-37.30, Z:-10.05 [[ 9.81999759e-01 1.85652433e-01 3.47799832e-02 2.28500327e+02] [-1.85523088e-01 9.82615410e-01 -6.93831300e-03 -3.72981349e+01] [-3.54634621e-02 3.60931817e-04 9.99370908e-01 -1.00482661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.97264000000004 meters 0.017282858030498536 Centerline is valid? [True, True] Translation: X:228.53, Y:-37.31, Z:-10.05 [[ 9.81864151e-01 1.86243655e-01 3.54413505e-02 2.28530372e+02] [-1.86109444e-01 9.82503525e-01 -7.07806327e-03 -3.73068781e+01] [-3.61394962e-02 3.53726555e-04 9.99346692e-01 -1.00490659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.00264000000004 meters 0.022426796265342996 Centerline is valid? [True, True] Translation: X:228.56, Y:-37.32, Z:-10.05 [[ 9.81866579e-01 1.86300047e-01 3.50758153e-02 2.28562597e+02] [-1.86168438e-01 9.82492834e-01 -7.01032387e-03 -3.73159515e+01] [-3.57677608e-02 3.53192959e-04 9.99360067e-01 -1.00519861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.03264000000004 meters 0.017365304672632274 Centerline is valid? [True, True] Translation: X:228.59, Y:-37.32, Z:-10.05 [[ 9.81774171e-01 1.86684088e-01 3.56163965e-02 2.28592245e+02] [-1.86548361e-01 9.82419934e-01 -7.12611555e-03 -3.73245785e+01] [-3.63205903e-02 3.52055789e-04 9.99340128e-01 -1.00519626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.06264000000004 meters 0.016838443693462466 Centerline is valid? [True, True] Translation: X:228.62, Y:-37.33, Z:-10.05 [[ 9.81694561e-01 1.87142457e-01 3.54046550e-02 2.28624610e+02] [-1.87008446e-01 9.82332727e-01 -7.08906144e-03 -3.73319683e+01] [-3.61058157e-02 3.38323542e-04 9.99347915e-01 -1.00529601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.09264000000005 meters 0.016629199476474548 Centerline is valid? [True, True] Translation: X:228.66, Y:-37.34, Z:-10.06 [[ 9.81428256e-01 1.88734920e-01 3.43177630e-02 2.28655788e+02] [-1.88609746e-01 9.82028031e-01 -6.87828828e-03 -3.73400818e+01] [-3.49991784e-02 2.77881923e-04 9.99387302e-01 -1.00571526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.12264000000002 meters 0.015736951093965633 Centerline is valid? [True, True] Translation: X:228.69, Y:-37.35, Z:-10.06 [[ 9.81230087e-01 1.89869941e-01 3.37182591e-02 2.28688253e+02] [-1.89749515e-01 9.81809222e-01 -6.76564863e-03 -3.73466057e+01] [-3.43894910e-02 2.40634697e-04 9.99408478e-01 -1.00584447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15264000000002 meters 0.015736951093965633 Centerline is valid? [True, True] Translation: X:228.72, Y:-37.35, Z:-10.06 [[ 9.81192811e-01 1.90062534e-01 3.37179526e-02 2.28720062e+02] [-1.89942169e-01 9.81771958e-01 -6.76717659e-03 -3.73531822e+01] [-3.43895271e-02 2.35443994e-04 9.99408478e-01 -1.00599706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18264000000002 meters 0.014969724845778838 Centerline is valid? [True, True] Translation: X:228.75, Y:-37.36, Z:-10.06 [[ 9.80869020e-01 1.91745656e-01 3.36090586e-02 2.28751570e+02] [-1.91626809e-01 9.81444634e-01 -6.75247022e-03 -3.73591149e+01] [-3.42801871e-02 1.82892180e-04 9.99412245e-01 -1.00615057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21264000000002 meters 0.01458805561241946 Centerline is valid? [True, True] Translation: X:228.78, Y:-37.36, Z:-10.06 [[ 9.80453013e-01 1.93788309e-01 3.40291092e-02 2.28782261e+02] [-1.93667480e-01 9.81043362e-01 -6.84323051e-03 -3.73645927e+01] [-3.47101697e-02 1.19134137e-04 9.99397413e-01 -1.00642699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24264000000002 meters 0.013885287919659988 Centerline is valid? [True, True] Translation: X:228.81, Y:-37.37, Z:-10.06 [[ 9.80085071e-01 1.95569553e-01 3.44354865e-02 2.28812954e+02] [-1.95446659e-01 9.80689832e-01 -6.93237178e-03 -3.73692987e+01] [-3.51262923e-02 6.40133184e-05 9.99382879e-01 -1.00647977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.27264000000002 meters 0.013709475039921797 Centerline is valid? [True, True] Translation: X:228.84, Y:-37.37, Z:-10.07 [[ 9.79663162e-01 1.97679188e-01 3.43951829e-02 2.28842670e+02] [-1.97557841e-01 9.80266769e-01 -6.92538097e-03 -3.73738365e+01] [-3.50854585e-02 -1.04974635e-05 9.99384316e-01 -1.00661511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30264000000003 meters 0.014167678498866378 Centerline is valid? [True, True] Translation: X:228.87, Y:-37.38, Z:-10.07 [[ 9.78973823e-01 2.01069876e-01 3.43680011e-02 2.28873396e+02] [-2.00950808e-01 9.79576892e-01 -6.91990800e-03 -3.73780327e+01] [-3.50574848e-02 -1.31868829e-04 9.99385289e-01 -1.00663376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.33264000000003 meters 0.015084250873499296 Centerline is valid? [True, True] Translation: X:228.90, Y:-37.38, Z:-10.07 [[ 9.78712718e-01 2.02391631e-01 3.40447324e-02 2.28902593e+02] [-2.02275587e-01 9.79304649e-01 -6.85497007e-03 -3.73816299e+01] [-3.47275533e-02 -1.77371841e-04 9.99396801e-01 -1.00695679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36264000000003 meters 0.01559582134962429 Centerline is valid? [True, True] Translation: X:228.93, Y:-37.39, Z:-10.07 [[ 9.78526345e-01 2.03317907e-01 3.38824657e-02 2.28932160e+02] [-2.03203532e-01 9.79112754e-01 -6.82201617e-03 -3.73862838e+01] [-3.45617923e-02 -2.09514154e-04 9.99402541e-01 -1.00711263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.39264000000003 meters 0.015748357288149547 Centerline is valid? [True, True] Translation: X:228.96, Y:-37.39, Z:-10.07 [[ 9.78295668e-01 2.04378134e-01 3.41638034e-02 2.28961257e+02] [-2.04262526e-01 9.78891984e-01 -6.87781669e-03 -3.73923790e+01] [-3.48483486e-02 -2.49846508e-04 9.99392581e-01 -1.00711500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42264000000003 meters 0.01577614233471393 Centerline is valid? [True, True] Translation: X:228.99, Y:-37.40, Z:-10.07 [[ 9.78265268e-01 2.04506960e-01 3.42632235e-02 2.28990637e+02] [-2.04390798e-01 9.78865076e-01 -6.89666857e-03 -3.73993008e+01] [-3.49494896e-02 -2.56316258e-04 9.99389047e-01 -1.00725733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.45264000000003 meters 0.015908735253470925 Centerline is valid? [True, True] Translation: X:229.02, Y:-37.41, Z:-10.07 [[ 9.78214931e-01 2.04637279e-01 3.49160739e-02 2.29018973e+02] [-2.04516725e-01 9.78837838e-01 -7.02821661e-03 -3.74059298e+01] [-3.56154094e-02 -2.65814653e-04 9.99365535e-01 -1.00729674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48264000000003 meters 0.015736979301153482 Centerline is valid? [True, True] Translation: X:229.05, Y:-37.41, Z:-10.07 [[ 9.78223271e-01 2.04428790e-01 3.58901317e-02 2.29047406e+02] [-2.04301291e-01 9.78881402e-01 -7.22381483e-03 -3.74127060e+01] [-3.66089381e-02 -2.65896452e-04 9.99329633e-01 -1.00726674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.51264000000003 meters 0.015279171933619785 Centerline is valid? [True, True] Translation: X:229.08, Y:-37.42, Z:-10.07 [[ 9.78277540e-01 2.03985262e-01 3.69197329e-02 2.29076119e+02] [-2.03850043e-01 9.78973925e-01 -7.43057503e-03 -3.74201009e+01] [-3.76591836e-02 -2.56924460e-04 9.99290608e-01 -1.00720104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54264000000003 meters 0.014834994385481888 Centerline is valid? [True, True] Translation: X:229.11, Y:-37.43, Z:-10.07 [[ 9.78350176e-01 2.03671644e-01 3.67259256e-02 2.29106264e+02] [-2.03537649e-01 9.79039224e-01 -7.39078006e-03 -3.74275710e+01] [-3.74614140e-02 -2.44337602e-04 9.99298045e-01 -1.00733383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.57264000000004 meters 0.014770641286651858 Centerline is valid? [True, True] Translation: X:229.14, Y:-37.43, Z:-10.08 [[ 9.78450883e-01 2.03234035e-01 3.64663660e-02 2.29136175e+02] [-2.03101602e-01 9.79130163e-01 -7.33912889e-03 -3.74343989e+01] [-3.71968797e-02 -2.25400231e-04 9.99307931e-01 -1.00757140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60264000000004 meters 0.014639788843574721 Centerline is valid? [True, True] Translation: X:229.17, Y:-37.44, Z:-10.08 [[ 9.78522087e-01 2.02922865e-01 3.62882426e-02 2.29166678e+02] [-2.02791420e-01 9.79194703e-01 -7.30569693e-03 -3.74418020e+01] [-3.70157479e-02 -2.10158429e-04 9.99314660e-01 -1.00777540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.63264000000004 meters 0.014695282217983953 Centerline is valid? [True, True] Translation: X:229.20, Y:-37.45, Z:-10.08 [[ 9.78585481e-01 2.02706062e-01 3.57870025e-02 2.29196233e+02] [-2.02578044e-01 9.79239610e-01 -7.20576964e-03 -3.74489019e+01] [-3.65047035e-02 -1.98199399e-04 9.99333462e-01 -1.00804960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66264000000004 meters 0.014620277632891351 Centerline is valid? [True, True] Translation: X:229.23, Y:-37.46, Z:-10.08 [[ 9.78611768e-01 2.02623746e-01 3.55334453e-02 2.29226539e+02] [-2.02497470e-01 9.79256647e-01 -7.15501483e-03 -3.74558288e+01] [-3.62461384e-02 -1.93451074e-04 9.99342874e-01 -1.00819093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.69264000000004 meters 0.014748985371174424 Centerline is valid? [True, True] Translation: X:229.26, Y:-37.46, Z:-10.08 [[ 9.78453294e-01 2.03284507e-01 3.61187042e-02 2.29257697e+02] [-2.03154453e-01 9.79119687e-01 -7.27376510e-03 -3.74617717e+01] [-3.68431781e-02 -2.20636183e-04 9.99321035e-01 -1.00820373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.72264000000004 meters 0.015163387496097051 Centerline is valid? [True, True] Translation: X:229.29, Y:-37.47, Z:-10.08 [[ 9.78339412e-01 2.03865900e-01 3.59261728e-02 2.29288799e+02] [-2.03737588e-01 9.78998793e-01 -7.23587394e-03 -3.74678311e+01] [-3.66468278e-02 -2.40371146e-04 9.99328250e-01 -1.00840493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.75264000000004 meters 0.01554661977368286 Centerline is valid? [True, True] Translation: X:229.32, Y:-37.47, Z:-10.09 [[ 9.78250924e-01 2.04341260e-01 3.56339661e-02 2.29319047e+02] [-2.04215307e-01 9.78899680e-01 -7.17801811e-03 -3.74736158e+01] [-3.63488433e-02 -2.55098494e-04 9.99339130e-01 -1.00857492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.78264000000004 meters 0.01664639548139669 Centerline is valid? [True, True] Translation: X:229.35, Y:-37.48, Z:-10.09 [[ 9.77955800e-01 2.05817503e-01 3.52364793e-02 2.29348507e+02] [-2.05695273e-01 9.78590344e-01 -7.09877272e-03 -3.74757186e+01] [-3.59431301e-02 -3.05691267e-04 9.99353790e-01 -1.00872360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.81264000000004 meters 0.017256592051604906 Centerline is valid? [True, True] Translation: X:229.38, Y:-37.48, Z:-10.09 [[ 9.77793113e-01 2.06532807e-01 3.55644253e-02 2.29377204e+02] [-2.06408791e-01 9.78439618e-01 -7.16408445e-03 -3.74791079e+01] [-3.62772612e-02 -3.35817580e-04 9.99341707e-01 -1.00885577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.84264000000005 meters 0.016663364847280107 Centerline is valid? [True, True] Translation: X:229.41, Y:-37.49, Z:-10.09 [[ 9.77659926e-01 2.07171480e-01 3.55112201e-02 2.29406516e+02] [-2.07048322e-01 9.78304578e-01 -7.15156184e-03 -3.74857595e+01] [-3.62223888e-02 -3.60743100e-04 9.99343689e-01 -1.00885555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.87264000000002 meters 0.017306669471386427 Centerline is valid? [True, True] Translation: X:229.44, Y:-37.49, Z:-10.09 [[ 9.77545734e-01 2.07696091e-01 3.55903285e-02 2.29436421e+02] [-2.07572715e-01 9.78193329e-01 -7.16791200e-03 -3.74911430e+01] [-3.63029692e-02 -3.80619338e-04 9.99340757e-01 -1.00904553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90264000000002 meters 0.01789459108878386 Centerline is valid? [True, True] Translation: X:229.47, Y:-37.50, Z:-10.09 [[ 9.77418836e-01 2.08337382e-01 3.53264014e-02 2.29465959e+02] [-2.08216222e-01 9.78056938e-01 -7.11547895e-03 -3.74962242e+01] [-3.60336522e-02 -4.00726673e-04 9.99350497e-01 -1.00922510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93264000000002 meters 0.01893814775276852 Centerline is valid? [True, True] Translation: X:229.50, Y:-37.50, Z:-10.09 [[ 9.77294422e-01 2.08901260e-01 3.54383544e-02 2.29495698e+02] [-2.08779718e-01 9.77936646e-01 -7.13757711e-03 -3.74998535e+01] [-3.61475143e-02 -4.23295344e-04 9.99346375e-01 -1.00945993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96264000000002 meters 0.01942190921524757 Centerline is valid? [True, True] Translation: X:229.53, Y:-37.50, Z:-10.10 [[ 9.77066434e-01 2.10029297e-01 3.50553519e-02 2.29525557e+02] [-2.09911105e-01 9.77694984e-01 -7.06013832e-03 -3.75037568e+01] [-3.57562776e-02 -4.60283485e-04 9.99360434e-01 -1.00960691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.99264000000002 meters 0.01972412880835774 Centerline is valid? [True, True] Translation: X:229.55, Y:-37.51, Z:-10.10 [[ 9.76960454e-01 2.10563359e-01 3.48043589e-02 2.29554419e+02] [-2.10447222e-01 9.77580096e-01 -7.00874666e-03 -3.75080859e+01] [-3.54998337e-02 -4.77212336e-04 9.99369568e-01 -1.00976168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02264000000002 meters 0.021238989006358525 Centerline is valid? [True, True] Translation: X:229.58, Y:-37.51, Z:-10.10 [[ 9.76858469e-01 2.11018142e-01 3.49124088e-02 2.29583539e+02] [-2.10901607e-01 9.77482019e-01 -7.02953707e-03 -3.75103371e+01] [-3.56096117e-02 -4.96220314e-04 9.99365653e-01 -1.01004338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.05264000000003 meters 0.025980041275076065 Centerline is valid? [True, True] Translation: X:229.61, Y:-37.52, Z:-10.10 [[ 9.76839214e-01 2.11194938e-01 3.43780257e-02 2.29612546e+02] [-2.11082085e-01 9.77443836e-01 -6.92104226e-03 -3.75167058e+01] [-3.50642785e-02 -4.95839883e-04 9.99384936e-01 -1.01025922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08264000000003 meters 0.021396813661881595 Centerline is valid? [True, True] Translation: X:229.64, Y:-37.52, Z:-10.10 [[ 9.76774215e-01 2.11372683e-01 3.51243866e-02 2.29640754e+02] [-2.11255019e-01 9.77405405e-01 -7.07051149e-03 -3.75193528e+01] [-3.58252783e-02 -5.13909650e-04 9.99357937e-01 -1.01032746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.11264000000003 meters 0.021214124509363486 Centerline is valid? [True, True] Translation: X:229.67, Y:-37.52, Z:-10.10 [[ 9.76789790e-01 2.11275715e-01 3.52743471e-02 2.29668588e+02] [-2.11157025e-01 9.77426370e-01 -7.09945348e-03 -3.75249920e+01] [-3.59780192e-02 -5.13752539e-04 9.99352449e-01 -1.01044847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14264000000003 meters 0.02133181145774936 Centerline is valid? [True, True] Translation: X:229.70, Y:-37.53, Z:-10.11 [[ 9.76803587e-01 2.11216731e-01 3.52454889e-02 2.29696748e+02] [-2.11098259e-01 9.77439118e-01 -7.09192131e-03 -3.75300441e+01] [-3.59482520e-02 -5.12847167e-04 9.99353521e-01 -1.01056523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.17264000000003 meters 0.019563400388929418 Centerline is valid? [True, True] Translation: X:229.73, Y:-37.54, Z:-10.11 [[ 9.76832546e-01 2.11105355e-01 3.51099206e-02 2.29725102e+02] [-2.10987791e-01 9.77463181e-01 -7.06269865e-03 -3.75377533e+01] [-3.58096281e-02 -5.08690674e-04 9.99358500e-01 -1.01051137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20264000000003 meters 0.020674980541272633 Centerline is valid? [True, True] Translation: X:229.75, Y:-37.54, Z:-10.11 [[ 9.76845936e-01 2.10944485e-01 3.56993232e-02 2.29753919e+02] [-2.10822862e-01 9.77497909e-01 -7.18044970e-03 -3.75408343e+01] [-3.64106901e-02 -5.12040381e-04 9.99336780e-01 -1.01070485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.23264000000003 meters 0.021345693802915382 Centerline is valid? [True, True] Translation: X:229.78, Y:-37.54, Z:-10.11 [[ 9.76875624e-01 2.10814562e-01 3.56544038e-02 2.29781184e+02] [-2.10693200e-01 9.77525940e-01 -7.17027210e-03 -3.75439317e+01] [-3.63647024e-02 -5.07676395e-04 9.99338457e-01 -1.01087284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26264000000003 meters 0.02107934531011328 Centerline is valid? [True, True] Translation: X:229.81, Y:-37.55, Z:-10.11 [[ 9.76947250e-01 2.10607933e-01 3.49051565e-02 2.29809702e+02] [-2.10491566e-01 9.77570487e-01 -7.01737517e-03 -3.75468842e+01] [-3.56001658e-02 -4.91635697e-04 9.99365992e-01 -1.01110298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.29264000000003 meters 0.020008128104728712 Centerline is valid? [True, True] Translation: X:229.84, Y:-37.55, Z:-10.11 [[ 9.76960046e-01 2.10658479e-01 3.42355561e-02 2.29837831e+02] [-2.10546622e-01 9.77559599e-01 -6.88115602e-03 -3.75531919e+01] [-3.49168704e-02 -4.85566195e-04 9.99390102e-01 -1.01119411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32264000000004 meters 0.020597766111887208 Centerline is valid? [True, True] Translation: X:229.86, Y:-37.56, Z:-10.12 [[ 9.77061108e-01 2.10230349e-01 3.39822314e-02 2.29864885e+02] [-2.10119937e-01 9.77651769e-01 -6.82867116e-03 -3.75570487e+01] [-3.46583826e-02 -4.68315339e-04 9.99399108e-01 -1.01151999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.35264000000004 meters 0.020163920638063628 Centerline is valid? [True, True] Translation: X:229.89, Y:-37.56, Z:-10.12 [[ 9.77169640e-01 2.10011307e-01 3.21674581e-02 2.29893250e+02] [-2.09912325e-01 9.77698859e-01 -6.46192985e-03 -3.75614485e+01] [-3.28071654e-02 -4.37944268e-04 9.99461604e-01 -1.01185468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38264000000004 meters 0.02156286811853777 Centerline is valid? [True, True] Translation: X:229.92, Y:-37.56, Z:-10.12 [[ 9.77268736e-01 2.09479218e-01 3.26232323e-02 2.29921535e+02] [-2.09377165e-01 9.77813006e-01 -6.55196841e-03 -3.75631295e+01] [-3.32719221e-02 -4.27526015e-04 9.99446245e-01 -1.01220959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.41264000000004 meters 0.019076629721981632 Centerline is valid? [True, True] Translation: X:229.95, Y:-37.57, Z:-10.12 [[ 9.77307695e-01 2.09252144e-01 3.29121406e-02 2.29950186e+02] [-2.09148207e-01 9.77861626e-01 -6.60819264e-03 -3.75702398e+01] [-3.35662978e-02 -4.25277665e-04 9.99436403e-01 -1.01189687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.44264000000004 meters 0.01862929906791866 Centerline is valid? [True, True] Translation: X:229.98, Y:-37.57, Z:-10.12 [[ 9.77414123e-01 2.08579543e-01 3.40030386e-02 2.29977925e+02] [-2.08468307e-01 9.78005316e-01 -6.82395395e-03 -3.75744028e+01] [-3.46784897e-02 -4.18726912e-04 9.99398433e-01 -1.01187163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.47264000000004 meters 0.02005054004434455 Centerline is valid? [True, True] Translation: X:230.01, Y:-37.58, Z:-10.12 [[ 9.77524361e-01 2.07927702e-01 3.48165878e-02 2.30006190e+02] [-2.07810751e-01 9.78144112e-01 -6.98476650e-03 -3.75768050e+01] [-3.55079668e-02 -4.07481839e-04 9.99369310e-01 -1.01216155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.50264000000004 meters 0.017525026349417855 Centerline is valid? [True, True] Translation: X:230.03, Y:-37.58, Z:-10.12 [[ 9.77836951e-01 2.06337642e-01 3.54918999e-02 2.30034308e+02] [-2.06215129e-01 9.78480786e-01 -7.11838822e-03 -3.75838498e+01] [-3.61969336e-02 -3.58343673e-04 9.99344612e-01 -1.01191949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.53264000000004 meters 0.01675598050740531 Centerline is valid? [True, True] Translation: X:230.06, Y:-37.59, Z:-10.12 [[ 9.78008948e-01 2.05457827e-01 3.58549659e-02 2.30062514e+02] [-2.05332268e-01 9.78665914e-01 -7.18942417e-03 -3.75899174e+01] [-3.65671565e-02 -3.30860303e-04 9.99331143e-01 -1.01197055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.56264000000004 meters 0.015612584777718937 Centerline is valid? [True, True] Translation: X:230.09, Y:-37.60, Z:-10.12 [[ 9.78217451e-01 2.04414703e-01 3.61282181e-02 2.30090973e+02] [-2.04286576e-01 9.78884335e-01 -7.24244065e-03 -3.75968283e+01] [-3.68458081e-02 -2.95828142e-04 9.99320919e-01 -1.01200069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.59264000000005 meters 0.015205875742264358 Centerline is valid? [True, True] Translation: X:230.12, Y:-37.60, Z:-10.12 [[ 9.78440361e-01 2.03367272e-01 3.60029430e-02 2.30119255e+02] [-2.03239395e-01 9.79102490e-01 -7.21538790e-03 -3.76028178e+01] [-3.67179449e-02 -2.57389614e-04 9.99325636e-01 -1.01215897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.62264000000005 meters 0.014110461227978325 Centerline is valid? [True, True] Translation: X:230.15, Y:-37.61, Z:-10.12 [[ 9.78914110e-01 2.01168552e-01 3.54736483e-02 2.30147149e+02] [-2.01043012e-01 9.79556626e-01 -7.10798634e-03 -3.76088992e+01] [-3.61783506e-02 -1.73620999e-04 9.99345334e-01 -1.01235605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.65264000000002 meters 0.013660404147617905 Centerline is valid? [True, True] Translation: X:230.18, Y:-37.62, Z:-10.13 [[ 9.79243883e-01 1.99597215e-01 3.52472648e-02 2.30175251e+02] [-1.99472306e-01 9.79878022e-01 -7.06123168e-03 -3.76152664e+01] [-3.59474223e-02 -1.16185275e-04 9.99353676e-01 -1.01256749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68264000000002 meters 0.013025097524604701 Centerline is valid? [True, True] Translation: X:230.20, Y:-37.62, Z:-10.13 [[ 9.79592642e-01 1.97934114e-01 3.49334075e-02 2.30204126e+02] [-1.97810400e-01 9.80215325e-01 -6.99732107e-03 -3.76228625e+01] [-3.56272699e-02 -5.56670638e-05 9.99365146e-01 -1.01261079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.71264000000002 meters 0.012895670354265459 Centerline is valid? [True, True] Translation: X:230.23, Y:-37.63, Z:-10.13 [[ 9.79921405e-01 1.96276165e-01 3.50671886e-02 2.30233613e+02] [-1.96150481e-01 9.80548656e-01 -7.02294457e-03 -3.76307723e+01] [-3.57635213e-02 3.48779402e-06 9.99360281e-01 -1.01273916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74264000000002 meters 0.014236948723656512 Centerline is valid? [True, True] Translation: X:230.26, Y:-37.64, Z:-10.13 [[ 9.80645362e-01 1.92866288e-01 3.37234053e-02 2.30261464e+02] [-1.92748065e-01 9.81225040e-01 -6.75304954e-03 -3.76426897e+01] [-3.43926853e-02 1.22225609e-04 9.99408389e-01 -1.01322327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.77264000000002 meters 0.014799618819491687 Centerline is valid? [True, True] Translation: X:230.29, Y:-37.65, Z:-10.13 [[ 9.80998539e-01 1.91135199e-01 3.33046812e-02 2.30290661e+02] [-1.91018799e-01 9.81563703e-01 -6.67206413e-03 -3.76510628e+01] [-3.39659325e-02 1.83464978e-04 9.99422974e-01 -1.01330279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80264000000003 meters 0.015561231807056302 Centerline is valid? [True, True] Translation: X:230.32, Y:-37.66, Z:-10.13 [[ 9.81267070e-01 1.89730781e-01 3.34240733e-02 2.30320456e+02] [-1.89612730e-01 9.81836125e-01 -6.69598245e-03 -3.76590184e+01] [-3.40873966e-02 2.32917301e-04 9.99418829e-01 -1.01338365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.83264000000003 meters 0.016291893659317366 Centerline is valid? [True, True] Translation: X:230.35, Y:-37.67, Z:-10.13 [[ 9.81458478e-01 1.88686135e-01 3.37164495e-02 2.30350078e+02] [-1.88565398e-01 9.82037407e-01 -6.75440355e-03 -3.76665021e+01] [-3.43852769e-02 2.71410917e-04 9.99408615e-01 -1.01343376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86264000000003 meters 0.016302275981066715 Centerline is valid? [True, True] Translation: X:230.38, Y:-37.67, Z:-10.13 [[ 9.81473786e-01 1.88544452e-01 3.40616513e-02 2.30380311e+02] [-1.88421134e-01 9.82064617e-01 -6.82383872e-03 -3.76731194e+01] [-3.47373394e-02 2.79483864e-04 9.99396437e-01 -1.01345273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.89264000000003 meters 0.016123545513816902 Centerline is valid? [True, True] Translation: X:230.41, Y:-37.68, Z:-10.13 [[ 9.81416434e-01 1.88641318e-01 3.51601562e-02 2.30411131e+02] [-1.88509944e-01 9.82046013e-01 -7.04481118e-03 -3.76807581e+01] [-3.58578337e-02 2.85854381e-04 9.99356860e-01 -1.01342455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92264000000003 meters 0.016688543266465187 Centerline is valid? [True, True] Translation: X:230.44, Y:-37.69, Z:-10.14 [[ 9.81383908e-01 1.88847776e-01 3.49591710e-02 2.30440164e+02] [-1.88717996e-01 9.82006334e-01 -7.00552518e-03 -3.76888262e+01] [-3.56531052e-02 2.77684984e-04 9.99364187e-01 -1.01362623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.95264000000003 meters 0.01577525408000339 Centerline is valid? [True, True] Translation: X:230.47, Y:-37.69, Z:-10.14 [[ 9.81288933e-01 1.89274306e-01 3.53166560e-02 2.30471457e+02] [-1.89142123e-01 9.81924216e-01 -7.07746915e-03 -3.76946261e+01] [-3.60178628e-02 2.65174862e-04 9.99351111e-01 -1.01365297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98264000000003 meters 0.015251929076259095 Centerline is valid? [True, True] Translation: X:230.50, Y:-37.70, Z:-10.14 [[ 9.81061428e-01 1.90599192e-01 3.45024965e-02 2.30501232e+02] [-1.90473839e-01 9.81667919e-01 -6.91475364e-03 -3.77003525e+01] [-3.51879404e-02 2.11975127e-04 9.99380690e-01 -1.01393181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.01264000000003 meters 0.014710908870274887 Centerline is valid? [True, True] Translation: X:230.53, Y:-37.71, Z:-10.14 [[ 9.80874484e-01 1.91565794e-01 3.44643781e-02 2.30531098e+02] [-1.91441223e-01 9.81479757e-01 -6.90969549e-03 -3.77065658e+01] [-3.51497507e-02 1.79641304e-04 9.99382040e-01 -1.01406528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04264000000003 meters 0.014283714598673754 Centerline is valid? [True, True] Translation: X:230.56, Y:-37.71, Z:-10.14 [[ 9.80671332e-01 1.92650746e-01 3.41968981e-02 2.30560568e+02] [-1.92528761e-01 9.81267380e-01 -6.85606896e-03 -3.77121965e+01] [-3.48771274e-02 1.39663862e-04 9.99391598e-01 -1.01419387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.07264000000004 meters 0.014283714598673754 Centerline is valid? [True, True] Translation: X:230.59, Y:-37.72, Z:-10.14 [[ 9.80671332e-01 1.92650746e-01 3.41968981e-02 2.30589953e+02] [-1.92528761e-01 9.81267380e-01 -6.85606896e-03 -3.77180878e+01] [-3.48771274e-02 1.39663862e-04 9.99391598e-01 -1.01433465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10264000000004 meters 0.013554966010599339 Centerline is valid? [True, True] Translation: X:230.62, Y:-37.72, Z:-10.14 [[ 9.80437752e-01 1.93924771e-01 3.36897242e-02 2.30620771e+02] [-1.93807141e-01 9.81016399e-01 -6.75407314e-03 -3.77225542e+01] [-3.43599540e-02 9.26391588e-05 9.99409518e-01 -1.01440577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.13264000000004 meters 0.014256085792205405 Centerline is valid? [True, True] Translation: X:230.65, Y:-37.72, Z:-10.15 [[ 9.79795961e-01 1.97329090e-01 3.25746099e-02 2.30650386e+02] [-1.97220956e-01 9.80337304e-01 -6.53181929e-03 -3.77238909e+01] [-3.32230232e-02 -2.45455527e-05 9.99447963e-01 -1.01498829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16264000000004 meters 0.020302694808559486 Centerline is valid? [True, True] Translation: X:230.68, Y:-37.73, Z:-10.15 [[ 9.79372208e-01 1.99446721e-01 3.24204102e-02 2.30680085e+02] [-1.99340776e-01 9.79908667e-01 -6.50066174e-03 -3.77281075e+01] [-3.30655766e-02 -9.61422827e-05 9.99453180e-01 -1.01503944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.19264000000004 meters 0.014446218488611523 Centerline is valid? [True, True] Translation: X:230.71, Y:-37.73, Z:-10.15 [[ 9.78923153e-01 2.01609819e-01 3.26027873e-02 2.30710106e+02] [-2.01503905e-01 9.79465901e-01 -6.53641172e-03 -3.77319704e+01] [-3.32511232e-02 -1.70944179e-04 9.99447014e-01 -1.01483449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.22264000000004 meters 0.01717910955013509 Centerline is valid? [True, True] Translation: X:230.74, Y:-37.73, Z:-10.15 [[ 9.78373513e-01 2.04156055e-01 3.32501790e-02 2.30739133e+02] [-2.04047385e-01 9.78938321e-01 -6.66547677e-03 -3.77322581e+01] [-3.39106719e-02 -2.63286161e-04 9.99424833e-01 -1.01523564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.25264000000004 meters 0.020370968352264904 Centerline is valid? [True, True] Translation: X:230.77, Y:-37.73, Z:-10.15 [[ 9.77250577e-01 2.09390696e-01 3.37171417e-02 2.30769385e+02] [-2.09282105e-01 9.77831955e-01 -6.75787333e-03 -3.77304582e+01] [-3.43847344e-02 -4.52258764e-04 9.99408568e-01 -1.01506121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.28264000000004 meters 0.0215733003684122 Centerline is valid? [True, True] Translation: X:230.80, Y:-37.73, Z:-10.15 [[ 9.76694298e-01 2.11952701e-01 3.38275115e-02 2.30797895e+02] [-2.11844980e-01 9.77279773e-01 -6.77860543e-03 -3.77329631e+01] [-3.44956865e-02 -5.45563240e-04 9.99404698e-01 -1.01504739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.31264000000004 meters 0.02549040480069798 Centerline is valid? [True, True] Translation: X:230.83, Y:-37.73, Z:-10.15 [[ 9.76151612e-01 2.14348874e-01 3.43888234e-02 2.30826459e+02] [-2.14239128e-01 9.76756954e-01 -6.88835921e-03 -3.77318753e+01] [-3.50660344e-02 -6.43348600e-04 9.99384790e-01 -1.01525085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.34264000000005 meters 0.026227368937812565 Centerline is valid? [True, True] Translation: X:230.86, Y:-37.74, Z:-10.15 [[ 9.75736372e-01 2.16283955e-01 3.40555933e-02 2.30855516e+02] [-2.16177584e-01 9.76330246e-01 -6.81930881e-03 -3.77352558e+01] [-3.47244128e-02 -7.08208218e-04 9.99396675e-01 -1.01532219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.37264000000005 meters 0.029188042489763387 Centerline is valid? [True, True] Translation: X:230.88, Y:-37.74, Z:-10.16 [[ 9.75403403e-01 2.17803928e-01 3.39064878e-02 2.30883154e+02] [-2.17699452e-01 9.75992249e-01 -6.78806041e-03 -3.77354844e+01] [-3.45709356e-02 -7.60326610e-04 9.99401957e-01 -1.01561541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40264000000002 meters 0.028704331461303165 Centerline is valid? [True, True] Translation: X:230.91, Y:-37.74, Z:-10.16 [[ 9.75240512e-01 2.18595067e-01 3.34983610e-02 2.30911327e+02] [-2.18493653e-01 9.75815344e-01 -6.70357295e-03 -3.77406257e+01] [-3.41535826e-02 -7.81583354e-04 9.99416291e-01 -1.01575655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.43264000000002 meters 0.033831515329652895 Centerline is valid? [True, True] Translation: X:230.94, Y:-37.74, Z:-10.16 [[ 9.75196533e-01 2.18994287e-01 3.21438065e-02 2.30939009e+02] [-2.18901165e-01 9.75725841e-01 -6.43134067e-03 -3.77429638e+01] [-3.27719695e-02 -7.64495571e-04 9.99462562e-01 -1.01630051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46264000000002 meters 0.030762896140294753 Centerline is valid? [True, True] Translation: X:230.97, Y:-37.75, Z:-10.16 [[ 9.75325695e-01 2.18376745e-01 3.24250757e-02 2.30966530e+02] [-2.18281734e-01 9.75864248e-01 -6.48491993e-03 -3.77456815e+01] [-3.30586278e-02 -7.52892722e-04 9.99453131e-01 -1.01640632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.49264000000002 meters 0.02925282567989964 Centerline is valid? [True, True] Translation: X:230.99, Y:-37.75, Z:-10.16 [[ 9.75553192e-01 2.17304855e-01 3.27806253e-02 2.30994752e+02] [-2.17207219e-01 9.76103515e-01 -6.55379870e-03 -3.77519865e+01] [-3.34214559e-02 -7.26609211e-04 9.99441083e-01 -1.01648979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52264000000002 meters 0.028623686362992926 Centerline is valid? [True, True] Translation: X:231.02, Y:-37.76, Z:-10.17 [[ 9.75865117e-01 2.15859082e-01 3.30474049e-02 2.31023172e+02] [-2.15759058e-01 9.76424287e-01 -6.60603967e-03 -3.77594654e+01] [-3.36942625e-02 -6.83673279e-04 9.99431953e-01 -1.01659786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.55264000000003 meters 0.023225700571860387 Centerline is valid? [True, True] Translation: X:231.05, Y:-37.77, Z:-10.17 [[ 9.76762027e-01 2.11680765e-01 3.35737460e-02 2.31051612e+02] [-2.11575197e-01 9.77338707e-01 -6.70722886e-03 -3.77702628e+01] [-3.42327129e-02 -5.52005477e-04 9.99413736e-01 -1.01656244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58264000000003 meters 0.021090294353333046 Centerline is valid? [True, True] Translation: X:231.08, Y:-37.78, Z:-10.17 [[ 9.77303181e-01 2.09071647e-01 3.41692681e-02 2.31078802e+02] [-2.08960705e-01 9.77900213e-01 -6.82620678e-03 -3.77788426e+01] [-3.48413008e-02 -4.68760735e-04 9.99392748e-01 -1.01668967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.61264000000003 meters 0.024537986664843695 Centerline is valid? [True, True] Translation: X:231.11, Y:-37.79, Z:-10.17 [[ 9.77974588e-01 2.05926856e-01 3.40563612e-02 2.31106112e+02] [-2.05814797e-01 9.78567321e-01 -6.80197417e-03 -3.77892561e+01] [-3.47271513e-02 -3.57145196e-04 9.99396767e-01 -1.01692994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64264000000003 meters 0.014048495918908652 Centerline is valid? [True, True] Translation: X:231.13, Y:-37.81, Z:-10.17 [[ 9.79366191e-01 1.99088474e-01 3.47223764e-02 2.31132923e+02] [-1.98967757e-01 9.79981513e-01 -6.93297479e-03 -3.78062316e+01] [-3.54075624e-02 -1.18712258e-04 9.99372949e-01 -1.01687580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.67264000000003 meters 0.013282026726660104 Centerline is valid? [True, True] Translation: X:231.16, Y:-37.82, Z:-10.17 [[ 9.80086061e-01 1.95529913e-01 3.46318626e-02 2.31161295e+02] [-1.95407642e-01 9.80697738e-01 -6.91378044e-03 -3.78186387e+01] [-3.53152402e-02 8.76922503e-06 9.99376222e-01 -1.01694467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70264000000003 meters 0.014229546570137993 Centerline is valid? [True, True] Translation: X:231.19, Y:-37.83, Z:-10.17 [[ 9.80767186e-01 1.92130310e-01 3.43754281e-02 2.31189736e+02] [-1.92007760e-01 9.81369414e-01 -6.86244044e-03 -3.78310041e+01] [-3.50534765e-02 1.30107467e-04 9.99385430e-01 -1.01724360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.73264000000003 meters 0.015835664369016265 Centerline is valid? [True, True] Translation: X:231.22, Y:-37.84, Z:-10.17 [[ 9.81379725e-01 1.88968552e-01 3.44197805e-02 2.31218159e+02] [-1.88843725e-01 9.81983109e-01 -6.87173246e-03 -3.78430184e+01] [-3.50981844e-02 2.43819364e-04 9.99383839e-01 -1.01742003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76264000000003 meters 0.016943375355746644 Centerline is valid? [True, True] Translation: X:231.25, Y:-37.85, Z:-10.18 [[ 9.81820235e-01 1.86750627e-01 3.39592342e-02 2.31249012e+02] [-1.86627846e-01 9.82407300e-01 -6.77821286e-03 -3.78539294e+01] [-3.46276351e-02 3.17247798e-04 9.99400233e-01 -1.01751690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.79264000000003 meters 0.018968912240738607 Centerline is valid? [True, True] Translation: X:231.28, Y:-37.87, Z:-10.18 [[ 9.82176434e-01 1.84954842e-01 3.34837021e-02 2.31278332e+02] [-1.84834230e-01 9.82746947e-01 -6.68926347e-03 -3.78651714e+01] [-3.41432177e-02 3.81102645e-04 9.99416878e-01 -1.01779075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82264000000004 meters 0.020411202357320288 Centerline is valid? [True, True] Translation: X:231.31, Y:-37.88, Z:-10.18 [[ 9.82456524e-01 1.83568880e-01 3.28883593e-02 2.31309077e+02] [-1.83451572e-01 9.83006757e-01 -6.57545165e-03 -3.78768009e+01] [-3.35365277e-02 4.26674170e-04 9.99437401e-01 -1.01796940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.85264000000004 meters 0.019407272767993245 Centerline is valid? [True, True] Translation: X:231.34, Y:-37.88, Z:-10.18 [[ 9.82319290e-01 1.84360318e-01 3.25589543e-02 2.31341178e+02] [-1.84245614e-01 9.82858643e-01 -6.51470252e-03 -3.78831934e+01] [-3.32019023e-02 4.00673439e-04 9.99448585e-01 -1.01808734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88264000000004 meters 0.019312279503349898 Centerline is valid? [True, True] Translation: X:231.37, Y:-37.89, Z:-10.18 [[ 9.82078389e-01 1.85729197e-01 3.20422156e-02 2.31371276e+02] [-1.85618581e-01 9.82600905e-01 -6.41902882e-03 -3.78900424e+01] [-3.26769111e-02 3.56358883e-04 9.99465904e-01 -1.01846387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.91264000000004 meters 0.01762681644030751 Centerline is valid? [True, True] Translation: X:231.40, Y:-37.89, Z:-10.19 [[ 9.81706796e-01 1.87706141e-01 3.19087922e-02 2.31403341e+02] [-1.87597420e-01 9.82225188e-01 -6.39441186e-03 -3.78948630e+01] [-3.25418898e-02 2.91430488e-04 9.99470330e-01 -1.01853908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.94264000000004 meters 0.01682591614774958 Centerline is valid? [True, True] Translation: X:231.43, Y:-37.90, Z:-10.19 [[ 9.80780629e-01 1.92450328e-01 3.21283057e-02 2.31434853e+02] [-1.92342396e-01 9.81306706e-01 -6.44609001e-03 -3.78964187e+01] [-3.27682740e-02 1.42564931e-04 9.99462966e-01 -1.01852403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.97264000000004 meters 0.014223675740646466 Centerline is valid? [True, True] Translation: X:231.46, Y:-37.90, Z:-10.19 [[ 9.80253762e-01 1.95114010e-01 3.21416447e-02 2.31464766e+02] [-1.95007386e-01 9.80780567e-01 -6.44976344e-03 -3.78996025e+01] [-3.27823397e-02 5.45467606e-05 9.99462513e-01 -1.01869644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.00264000000004 meters 0.014369335716818067 Centerline is valid? [True, True] Translation: X:231.49, Y:-37.90, Z:-10.19 [[ 9.79737555e-01 1.97703090e-01 3.20595059e-02 2.31494295e+02] [-1.97598382e-01 9.80261948e-01 -6.43368097e-03 -3.79021856e+01] [-3.26986723e-02 -3.15876363e-05 9.99465255e-01 -1.01894591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.03264000000004 meters 0.015634139410275447 Centerline is valid? [True, True] Translation: X:231.52, Y:-37.90, Z:-10.19 [[ 9.78870582e-01 2.02023656e-01 3.16042149e-02 2.31524546e+02] [-2.01924120e-01 9.79380627e-01 -6.34326388e-03 -3.79014582e+01] [-3.22340452e-02 -1.72418886e-04 9.99480333e-01 -1.01904656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.06264000000004 meters 0.016826734850340315 Centerline is valid? [True, True] Translation: X:231.55, Y:-37.90, Z:-10.19 [[ 9.78505426e-01 2.03792531e-01 3.15552882e-02 2.31552000e+02] [-2.03694227e-01 9.79014071e-01 -6.33329185e-03 -3.79038133e+01] [-3.21837487e-02 -2.30469612e-04 9.99481942e-01 -1.01921989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.09264000000005 meters 0.01728290492469337 Centerline is valid? [True, True] Translation: X:231.58, Y:-37.91, Z:-10.19 [[ 9.78180483e-01 2.05279236e-01 3.19902695e-02 2.31580470e+02] [-2.05179078e-01 9.78703404e-01 -6.41812208e-03 -3.79083243e+01] [-3.26264929e-02 -2.85652244e-04 9.99467573e-01 -1.01920809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.12264000000005 meters 0.02873460355096578 Centerline is valid? [True, True] Translation: X:231.61, Y:-37.91, Z:-10.20 [[ 9.77937157e-01 2.06424060e-01 3.20628075e-02 2.31608304e+02] [-2.06324110e-01 9.78462570e-01 -6.43122665e-03 -3.79119605e+01] [-3.26998170e-02 -3.25994710e-04 9.99465165e-01 -1.01955299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15264000000002 meters 0.018721379695178224 Centerline is valid? [True, True] Translation: X:231.64, Y:-37.92, Z:-10.19 [[ 9.77605217e-01 2.07903840e-01 3.26195216e-02 2.31636724e+02] [-2.07801285e-01 9.78149194e-01 -6.54065679e-03 -3.79184516e+01] [-3.32665865e-02 -3.84198319e-04 9.99446440e-01 -1.01929630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18264000000002 meters 0.01841727995955671 Centerline is valid? [True, True] Translation: X:231.67, Y:-37.92, Z:-10.19 [[ 9.77524794e-01 2.08302225e-01 3.24878379e-02 2.31665980e+02] [-2.08200782e-01 9.78064428e-01 -6.51226226e-03 -3.79241827e+01] [-3.31317173e-02 -3.98095442e-04 9.99450915e-01 -1.01932253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21264000000002 meters 0.019794681471159866 Centerline is valid? [True, True] Translation: X:231.69, Y:-37.93, Z:-10.20 [[ 9.77455764e-01 2.08619058e-01 3.25317946e-02 2.31694072e+02] [-2.08517539e-01 9.77996892e-01 -6.52039176e-03 -3.79273047e+01] [-3.31762720e-02 -4.10055227e-04 9.99449432e-01 -1.01962675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24264000000002 meters 0.019128730055168148 Centerline is valid? [True, True] Translation: X:231.72, Y:-37.93, Z:-10.20 [[ 9.77401417e-01 2.08905317e-01 3.23270454e-02 2.31722989e+02] [-2.08805276e-01 9.77935782e-01 -6.47792144e-03 -3.79340360e+01] [-3.29670466e-02 -4.18528032e-04 9.99456352e-01 -1.01965665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.27264000000002 meters 0.020859150329424547 Centerline is valid? [True, True] Translation: X:231.75, Y:-37.94, Z:-10.20 [[ 9.77241047e-01 2.09753827e-01 3.16743983e-02 2.31751589e+02] [-2.09658251e-01 9.77754130e-01 -6.34652221e-03 -3.79379123e+01] [-3.23009811e-02 -4.38716918e-04 9.99478091e-01 -1.01993098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30264000000003 meters 0.020949451655091617 Centerline is valid? [True, True] Translation: X:231.78, Y:-37.94, Z:-10.20 [[ 9.77129360e-01 2.10238883e-01 3.19033850e-02 2.31780311e+02] [-2.10142213e-01 9.77649938e-01 -6.39132690e-03 -3.79435092e+01] [-3.25340478e-02 -4.59094761e-04 9.99470522e-01 -1.02000806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.33264000000003 meters 0.0213889129063849 Centerline is valid? [True, True] Translation: X:231.81, Y:-37.95, Z:-10.20 [[ 9.76996967e-01 2.10815777e-01 3.21502003e-02 2.31808997e+02] [-2.10717971e-01 9.77525690e-01 -6.43912636e-03 -3.79481939e+01] [-3.27851161e-02 -4.83618049e-04 9.99462307e-01 -1.02005314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36264000000003 meters 0.029647733798516398 Centerline is valid? [True, True] Translation: X:231.84, Y:-37.95, Z:-10.20 [[ 9.76872132e-01 2.11383753e-01 3.22140670e-02 2.31836761e+02] [-2.11285912e-01 9.77403015e-01 -6.45053415e-03 -3.79520793e+01] [-3.28496643e-02 -5.05031487e-04 9.99460177e-01 -1.02025188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.39264000000003 meters 0.023503346477473402 Centerline is valid? [True, True] Translation: X:231.87, Y:-37.95, Z:-10.20 [[ 9.76415347e-01 2.13317555e-01 3.32970219e-02 2.31865623e+02] [-2.13214232e-01 9.76982738e-01 -6.66489520e-03 -3.79527508e+01] [-3.39523548e-02 -5.91692992e-04 9.99423277e-01 -1.02011565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42264000000003 meters 0.02639591948113675 Centerline is valid? [True, True] Translation: X:231.89, Y:-37.95, Z:-10.20 [[ 9.76252693e-01 2.14006659e-01 3.36426576e-02 2.31893050e+02] [-2.13901657e-01 9.76832002e-01 -6.73207709e-03 -3.79546449e+01] [-3.43039339e-02 -6.24011806e-04 9.99411252e-01 -1.02034587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.45264000000003 meters 0.025206737239575148 Centerline is valid? [True, True] Translation: X:231.92, Y:-37.96, Z:-10.20 [[ 9.76142013e-01 2.14455059e-01 3.39970406e-02 2.31922045e+02] [-2.14348204e-01 9.76733641e-01 -6.80008838e-03 -3.79590883e+01] [-3.46643666e-02 -6.49352641e-04 9.99398799e-01 -1.02034621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48264000000003 meters 0.02458380733868305 Centerline is valid? [True, True] Translation: X:231.95, Y:-37.96, Z:-10.21 [[ 9.76235815e-01 2.14114696e-01 3.34444302e-02 2.31950243e+02] [-2.14011144e-01 9.76808324e-01 -6.68794042e-03 -3.79645574e+01] [-3.41007841e-02 -6.28473779e-04 9.99418202e-01 -1.02053299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.51264000000003 meters 0.02381499767391984 Centerline is valid? [True, True] Translation: X:231.98, Y:-37.97, Z:-10.21 [[ 9.76426174e-01 2.13264255e-01 3.33209207e-02 2.31978578e+02] [-2.13161027e-01 9.76994370e-01 -6.66158200e-03 -3.79708962e+01] [-3.39750293e-02 -5.98178665e-04 9.99422503e-01 -1.02077120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54264000000003 meters 0.022747745389240345 Centerline is valid? [True, True] Translation: X:232.01, Y:-37.98, Z:-10.21 [[ 9.76754621e-01 2.11824514e-01 3.28753191e-02 2.32006525e+02] [-2.11723269e-01 9.77307567e-01 -6.57087266e-03 -3.79778433e+01] [-3.35211700e-02 -5.42339781e-04 9.99437861e-01 -1.02099133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.57264000000004 meters 0.022264015911495308 Centerline is valid? [True, True] Translation: X:232.03, Y:-37.98, Z:-10.21 [[ 9.77105384e-01 2.10218711e-01 3.27591517e-02 2.32033956e+02] [-2.10117326e-01 9.77654262e-01 -6.54619722e-03 -3.79837770e+01] [-3.34032574e-02 -4.86940813e-04 9.99441837e-01 -1.02127505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60264000000004 meters 0.02420660755859427 Centerline is valid? [True, True] Translation: X:232.06, Y:-37.99, Z:-10.21 [[ 9.77531840e-01 2.08252580e-01 3.25939311e-02 2.32061759e+02] [-2.08151198e-01 9.78074990e-01 -6.51093356e-03 -3.79933842e+01] [-3.32352276e-02 -4.19820949e-04 9.99447469e-01 -1.02137849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.63264000000004 meters 0.01728377482572617 Centerline is valid? [True, True] Translation: X:232.09, Y:-38.00, Z:-10.22 [[ 9.78400747e-01 2.04042784e-01 3.31439386e-02 2.32088899e+02] [-2.03935605e-01 9.78961931e-01 -6.61867789e-03 -3.80036941e+01] [-3.37971476e-02 -2.83509783e-04 9.99428673e-01 -1.02151940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66264000000004 meters 0.016165081064771505 Centerline is valid? [True, True] Translation: X:232.12, Y:-38.01, Z:-10.22 [[ 9.78817957e-01 2.02014380e-01 3.32505171e-02 2.32115815e+02] [-2.01905344e-01 9.79382532e-01 -6.63987143e-03 -3.80120290e+01] [-3.39063252e-02 -2.14231704e-04 9.99424992e-01 -1.02161402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.69264000000004 meters 0.01488733047187997 Centerline is valid? [True, True] Translation: X:232.14, Y:-38.02, Z:-10.22 [[ 9.79137508e-01 2.00470966e-01 3.31833170e-02 2.32144218e+02] [-2.00361566e-01 9.79699630e-01 -6.62399616e-03 -3.80213452e+01] [-3.38376023e-02 -1.62858285e-04 9.99427331e-01 -1.02158777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.72264000000004 meters 0.014554970217359423 Centerline is valid? [True, True] Translation: X:232.17, Y:-38.03, Z:-10.22 [[ 9.79390033e-01 1.99188534e-01 3.34528332e-02 2.32171381e+02] [-1.99076625e-01 9.79961180e-01 -6.67711009e-03 -3.80291246e+01] [-3.41124816e-02 -1.20182056e-04 9.99417993e-01 -1.02175508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.75264000000004 meters 0.013971128525407751 Centerline is valid? [True, True] Translation: X:232.20, Y:-38.04, Z:-10.22 [[ 9.79609478e-01 1.98001740e-01 3.40673191e-02 2.32200423e+02] [-1.97885019e-01 9.80201665e-01 -6.79816256e-03 -3.80377614e+01] [-3.47388909e-02 -8.18676222e-05 9.99396419e-01 -1.02175716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.78264000000004 meters 0.014339095303575492 Centerline is valid? [True, True] Translation: X:232.23, Y:-38.04, Z:-10.22 [[ 9.79675880e-01 1.97658274e-01 3.41522631e-02 2.32228146e+02] [-1.97540770e-01 9.80270984e-01 -6.81488510e-03 -3.80429199e+01] [-3.48254910e-02 -7.00857814e-05 9.99393406e-01 -1.02212505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.81264000000004 meters 0.013737280933205646 Centerline is valid? [True, True] Translation: X:232.26, Y:-38.05, Z:-10.22 [[ 9.79735256e-01 1.97368214e-01 3.41264643e-02 2.32256918e+02] [-1.97250745e-01 9.80329426e-01 -6.80875376e-03 -3.80492656e+01] [-3.47990087e-02 -6.06944019e-05 9.99394329e-01 -1.02197131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.84264000000005 meters 0.01363102342084889 Centerline is valid? [True, True] Translation: X:232.28, Y:-38.06, Z:-10.22 [[ 9.79759991e-01 1.97151084e-01 3.46671342e-02 2.32284983e+02] [-1.97029752e-01 9.80373116e-01 -6.91590087e-03 -3.80557286e+01] [-3.53502037e-02 -5.45338681e-05 9.99374985e-01 -1.02209201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.87264000000005 meters 0.013369867866929949 Centerline is valid? [True, True] Translation: X:232.31, Y:-38.06, Z:-10.22 [[ 9.79804006e-01 1.96890681e-01 3.49022725e-02 2.32314717e+02] [-1.96767593e-01 9.80425447e-01 -6.96111508e-03 -3.80631745e+01] [-3.55896549e-02 -4.71077057e-05 9.99366486e-01 -1.02207669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90264000000002 meters 0.01341661706355867 Centerline is valid? [True, True] Translation: X:232.35, Y:-38.07, Z:-10.22 [[ 9.79971529e-01 1.96155679e-01 3.43329495e-02 2.32345086e+02] [-1.96036133e-01 9.80572766e-01 -6.84727814e-03 -3.80717580e+01] [-3.50090877e-02 -2.03610301e-05 9.99386994e-01 -1.02228866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.93264000000002 meters 0.013203979123893915 Centerline is valid? [True, True] Translation: X:232.38, Y:-38.08, Z:-10.22 [[ 9.80020812e-01 1.95995374e-01 3.38381665e-02 2.32376517e+02] [-1.95879191e-01 9.80604820e-01 -6.74754277e-03 -3.80795913e+01] [-3.45043563e-02 -1.54603221e-05 9.99404547e-01 -1.02236746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96264000000002 meters 0.013203979123893915 Centerline is valid? [True, True] Translation: X:232.41, Y:-38.09, Z:-10.23 [[ 9.80015997e-01 1.96019708e-01 3.38366483e-02 2.32406716e+02] [-1.95903277e-01 9.80599956e-01 -6.75514717e-03 -3.80856610e+01] [-3.45043578e-02 -8.55798782e-06 9.99404547e-01 -1.02251218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.99264000000002 meters 0.013643269109854765 Centerline is valid? [True, True] Translation: X:232.44, Y:-38.09, Z:-10.23 [[ 9.80041469e-01 1.95934322e-01 3.35925688e-02 2.32436579e+02] [-1.95819545e-01 9.80617021e-01 -6.70553685e-03 -3.80936974e+01] [-3.42552895e-02 -6.37734384e-06 9.99413115e-01 -1.02289196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02264000000002 meters 0.013745308579783497 Centerline is valid? [True, True] Translation: X:232.47, Y:-38.10, Z:-10.23 [[ 9.80079830e-01 1.95844065e-01 3.29943853e-02 2.32467298e+02] [-1.95733050e-01 9.80635050e-01 -6.59325530e-03 -3.81019841e+01] [-3.36467006e-02 3.82486839e-06 9.99433789e-01 -1.02305097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.05264000000003 meters 0.014074407922530683 Centerline is valid? [True, True] Translation: X:232.50, Y:-38.11, Z:-10.23 [[ 9.80007308e-01 1.96183602e-01 3.31311027e-02 2.32496937e+02] [-1.96071825e-01 9.80567180e-01 -6.62155414e-03 -3.81090720e+01] [-3.37863123e-02 -6.90432921e-06 9.99429080e-01 -1.02330695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08264000000003 meters 0.025345310559209522 Centerline is valid? [True, True] Translation: X:232.53, Y:-38.12, Z:-10.23 [[ 9.79433740e-01 1.98081180e-01 3.83848271e-02 2.32527049e+02] [-1.98082241e-01 9.80177985e-01 -3.81354181e-03 -3.81172365e+01] [-3.83793534e-02 -3.86824104e-03 9.99255754e-01 -1.02327934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.11264000000003 meters 0.014028438917175359 Centerline is valid? [True, True] Translation: X:232.56, Y:-38.12, Z:-10.23 [[ 9.79131984e-01 2.00585194e-01 3.26517810e-02 2.32559443e+02] [-2.00350309e-01 9.79669689e-01 -1.03467178e-02 -3.81171657e+01] [-3.40633585e-02 3.58900786e-03 9.99413231e-01 -1.02312656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14264000000003 meters 0.017593220802609635 Centerline is valid? [True, True] Translation: X:232.59, Y:-38.12, Z:-10.23 [[ 9.78165244e-01 2.05154478e-01 3.32324385e-02 2.32589330e+02] [-2.05046918e-01 9.78729556e-01 -6.64960285e-03 -3.81172075e+01] [-3.38897656e-02 -3.09798692e-04 9.99425529e-01 -1.02343953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.17264000000003 meters 0.02018051093777952 Centerline is valid? [True, True] Translation: X:232.62, Y:-38.12, Z:-10.24 [[ 9.77718837e-01 2.07241355e-01 3.34199920e-02 2.32617186e+02] [-2.07133761e-01 9.78289770e-01 -6.68814172e-03 -3.81177711e+01] [-3.40804958e-02 -3.83286469e-04 9.99419018e-01 -1.02369369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20264000000003 meters 0.01926464265917353 Centerline is valid? [True, True] Translation: X:232.65, Y:-38.12, Z:-10.23 [[ 9.77349380e-01 2.09069648e-01 3.28340088e-02 2.32645967e+02] [-2.08966900e-01 9.77900653e-01 -6.56866616e-03 -3.81236364e+01] [-3.34817074e-02 -4.41339238e-04 9.99439233e-01 -1.02349882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.23264000000003 meters 0.029613666030954777 Centerline is valid? [True, True] Translation: X:232.68, Y:-38.12, Z:-10.24 [[ 9.76962967e-01 2.10837214e-01 3.30307330e-02 2.32675157e+02] [-2.10734287e-01 9.77521055e-01 -6.60661891e-03 -3.81246725e+01] [-3.36811581e-02 -5.06285952e-04 9.99432501e-01 -1.02394593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26264000000003 meters 0.02411979085632833 Centerline is valid? [True, True] Translation: X:232.70, Y:-38.13, Z:-10.24 [[ 9.76500042e-01 2.13097550e-01 3.22040802e-02 2.32704413e+02] [-2.13000962e-01 9.77030762e-01 -6.44058585e-03 -3.81268516e+01] [-3.28368501e-02 -5.70267711e-04 9.99460563e-01 -1.02412130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.29264000000003 meters 0.027192892170081064 Centerline is valid? [True, True] Translation: X:232.73, Y:-38.13, Z:-10.25 [[ 9.76377576e-01 2.13652369e-01 3.22411943e-02 2.32731878e+02] [-2.13555904e-01 9.76909574e-01 -6.44668514e-03 -3.81286189e+01] [-3.28740809e-02 -5.90898601e-04 9.99459327e-01 -1.02452841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32264000000004 meters 0.02855816337102193 Centerline is valid? [True, True] Translation: X:232.76, Y:-38.13, Z:-10.25 [[ 9.76383577e-01 2.13596688e-01 3.24278568e-02 2.32758874e+02] [-2.13499140e-01 9.76921748e-01 -6.48194804e-03 -3.81326159e+01] [-3.30640012e-02 -5.94451933e-04 9.99453060e-01 -1.02477663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.35264000000004 meters 0.024672080219835593 Centerline is valid? [True, True] Translation: X:232.79, Y:-38.14, Z:-10.25 [[ 9.76503808e-01 2.13077365e-01 3.22234294e-02 2.32786236e+02] [-2.12980826e-01 9.77035161e-01 -6.43911756e-03 -3.81433408e+01] [-3.28554538e-02 -5.75149782e-04 9.99459948e-01 -1.02454692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38264000000004 meters 0.026110922331447763 Centerline is valid? [True, True] Translation: X:232.81, Y:-38.15, Z:-10.25 [[ 9.76849047e-01 2.11387568e-01 3.28821317e-02 2.32813664e+02] [-2.11286134e-01 9.77402177e-01 -6.56924372e-03 -3.81467100e+01] [-3.35277236e-02 -5.30379009e-04 9.99437647e-01 -1.02490630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.41264000000004 meters 0.024536700676821448 Centerline is valid? [True, True] Translation: X:232.84, Y:-38.16, Z:-10.25 [[ 9.77070380e-01 2.10323177e-01 3.31305501e-02 2.32840718e+02] [-2.10219666e-01 9.77631787e-01 -6.61669705e-03 -3.81586113e+01] [-3.37811237e-02 -4.99714466e-04 9.99429130e-01 -1.02470420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.44264000000004 meters 0.020914438412627977 Centerline is valid? [True, True] Translation: X:232.87, Y:-38.17, Z:-10.25 [[ 9.77280693e-01 2.09376779e-01 3.29212899e-02 2.32869123e+02] [-2.09274088e-01 9.77834929e-01 -6.57330262e-03 -3.81657223e+01] [-3.35678841e-02 -4.65611190e-04 9.99436331e-01 -1.02478434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.47264000000004 meters 0.020737279398800226 Centerline is valid? [True, True] Translation: X:232.90, Y:-38.17, Z:-10.25 [[ 9.77457460e-01 2.08562560e-01 3.28416295e-02 2.32895897e+02] [-2.08459955e-01 9.78008930e-01 -6.55593450e-03 -3.81720832e+01] [-3.34867294e-02 -4.38017535e-04 9.99439066e-01 -1.02498976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.50264000000004 meters 0.026483645953523014 Centerline is valid? [True, True] Translation: X:232.92, Y:-38.18, Z:-10.25 [[ 9.77549152e-01 2.08060767e-01 3.32922386e-02 2.32924254e+02] [-2.07955123e-01 9.78115808e-01 -6.64333668e-03 -3.81811161e+01] [-3.39458826e-02 -4.29103432e-04 9.99423580e-01 -1.02504405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.53264000000004 meters 0.019355247418967037 Centerline is valid? [True, True] Translation: X:232.95, Y:-38.19, Z:-10.25 [[ 9.77682925e-01 2.07361145e-01 3.37261661e-02 2.32952103e+02] [-2.07252336e-01 9.78264375e-01 -6.72921183e-03 -3.81873258e+01] [-3.43884839e-02 -4.10791217e-04 9.99408457e-01 -1.02510050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.56264000000004 meters 0.019415740791775857 Centerline is valid? [True, True] Translation: X:232.98, Y:-38.19, Z:-10.25 [[ 9.77718195e-01 2.07171153e-01 3.38709972e-02 2.32980096e+02] [-2.07061339e-01 9.78304629e-01 -6.75680349e-03 -3.81932562e+01] [-3.45359681e-02 -4.07124311e-04 9.99403373e-01 -1.02525677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.59264000000005 meters 0.018293033837241783 Centerline is valid? [True, True] Translation: X:233.01, Y:-38.20, Z:-10.25 [[ 9.77766455e-01 2.06913117e-01 3.40546837e-02 2.33008288e+02] [-2.06802000e-01 9.78359239e-01 -6.79204833e-03 -3.82012214e+01] [-3.47230783e-02 -4.01539681e-04 9.99396891e-01 -1.02526502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.62264000000005 meters 0.017701678608272292 Centerline is valid? [True, True] Translation: X:233.04, Y:-38.21, Z:-10.25 [[ 9.77846009e-01 2.06496751e-01 3.42968550e-02 2.33038225e+02] [-2.06383833e-01 9.78447208e-01 -6.83917689e-03 -3.82091134e+01] [-3.49699299e-02 -3.90654590e-04 9.99388289e-01 -1.02530756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.65264000000002 meters 0.017128276910244673 Centerline is valid? [True, True] Translation: X:233.07, Y:-38.22, Z:-10.25 [[ 9.78027968e-01 2.05527503e-01 3.49247628e-02 2.33066387e+02] [-2.05409800e-01 9.78651273e-01 -6.96418971e-03 -3.82176214e+01] [-3.56104961e-02 -3.62716232e-04 9.99365679e-01 -1.02540024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68264000000002 meters 0.023781865819501303 Centerline is valid? [True, True] Translation: X:233.10, Y:-38.22, Z:-10.26 [[ 9.78143145e-01 2.05033045e-01 3.46040159e-02 2.33095396e+02] [-2.04917162e-01 9.78754992e-01 -6.90090599e-03 -3.82246396e+01] [-3.52837671e-02 -3.40882838e-04 9.99377276e-01 -1.02578741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71264000000002 meters 0.017234897367832843 Centerline is valid? [True, True] Translation: X:233.12, Y:-38.23, Z:-10.26 [[ 9.78299182e-01 2.04318064e-01 3.44214930e-02 2.33123929e+02] [-2.04202933e-01 9.78904505e-01 -6.86522054e-03 -3.82313340e+01] [-3.50980432e-02 -3.12730216e-04 9.99383825e-01 -1.02596536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74264000000002 meters 0.025896367432558135 Centerline is valid? [True, True] Translation: X:233.15, Y:-38.24, Z:-10.26 [[ 9.78336906e-01 2.04131226e-01 3.44578049e-02 2.33154353e+02] [-2.04015766e-01 9.78943486e-01 -6.87161718e-03 -3.82403153e+01] [-3.51349553e-02 -3.07178755e-04 9.99382530e-01 -1.02613724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.77264000000002 meters 0.01607436235204136 Centerline is valid? [True, True] Translation: X:233.18, Y:-38.25, Z:-10.26 [[ 9.78360073e-01 2.03976060e-01 3.47179184e-02 2.33184892e+02] [-2.03858721e-01 9.78975830e-01 -6.92435393e-03 -3.82500267e+01] [-3.54004054e-02 -3.03039006e-04 9.99373163e-01 -1.02612705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80264000000003 meters 0.015878751459468633 Centerline is valid? [True, True] Translation: X:233.21, Y:-38.27, Z:-10.26 [[ 9.78173165e-01 2.02651079e-01 4.59325457e-02 2.33213502e+02] [-2.03323966e-01 9.79055909e-01 1.04351030e-02 -3.82687732e+01] [-4.28558454e-02 -1.95465251e-02 9.98890039e-01 -1.02639285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.83264000000003 meters 0.016502516056216658 Centerline is valid? [True, True] Translation: X:233.25, Y:-38.25, Z:-10.26 [[ 9.78170741e-01 2.05449022e-01 3.11881400e-02 2.33246565e+02] [-2.04684717e-01 9.78482006e-01 -2.60217227e-02 -3.82544133e+01] [-3.58631713e-02 1.90699521e-02 9.99174744e-01 -1.02643631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86264000000003 meters 0.01747886988954919 Centerline is valid? [True, True] Translation: X:233.27, Y:-38.27, Z:-10.27 [[ 9.78014577e-01 2.05544304e-01 3.51997911e-02 2.33274406e+02] [-2.05424535e-01 9.78647745e-01 -7.02504312e-03 -3.82743609e+01] [-3.58921538e-02 -3.60306134e-04 9.99355604e-01 -1.02660195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.89264000000003 meters 0.01735156867793855 Centerline is valid? [True, True] Translation: X:233.30, Y:-38.28, Z:-10.27 [[ 9.77918253e-01 2.06034558e-01 3.50092896e-02 2.33304977e+02] [-2.05916200e-01 9.78544646e-01 -6.99252124e-03 -3.82833869e+01] [-3.56988539e-02 -3.70865725e-04 9.99362524e-01 -1.02675400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92264000000003 meters 0.017431808364197665 Centerline is valid? [True, True] Translation: X:233.34, Y:-38.29, Z:-10.27 [[ 9.77885544e-01 2.06168180e-01 3.51360840e-02 2.33335731e+02] [-2.06048827e-01 9.78516502e-01 -7.02401632e-03 -3.82921265e+01] [-3.58293666e-02 -3.71064869e-04 9.99357853e-01 -1.02694563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.95264000000003 meters 0.01788128994718869 Centerline is valid? [True, True] Translation: X:233.37, Y:-38.30, Z:-10.27 [[ 9.77775629e-01 2.06649746e-01 3.53652525e-02 2.33366693e+02] [-2.06528926e-01 9.78414909e-01 -7.07591306e-03 -3.83002766e+01] [-3.60641259e-02 -3.85292281e-04 9.99349404e-01 -1.02704873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98264000000003 meters 0.019094731605241465 Centerline is valid? [True, True] Translation: X:233.40, Y:-38.31, Z:-10.27 [[ 9.77494294e-01 2.08040528e-01 3.49863416e-02 2.33396839e+02] [-2.07922935e-01 9.78120114e-01 -7.00681512e-03 -3.83092407e+01] [-3.56785460e-02 -4.25341032e-04 9.99363227e-01 -1.02732397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.01264000000003 meters 0.019958927220650163 Centerline is valid? [True, True] Translation: X:233.43, Y:-38.32, Z:-10.28 [[ 9.77280300e-01 2.09144889e-01 3.43748516e-02 2.33427934e+02] [-2.09031873e-01 9.77884559e-01 -6.88952381e-03 -3.83166409e+01] [-3.50555453e-02 -4.52443713e-04 9.99385263e-01 -1.02759751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04264000000003 meters 0.02016368826312342 Centerline is valid? [True, True] Translation: X:233.46, Y:-38.32, Z:-10.28 [[ 9.77018493e-01 2.10477112e-01 3.36786086e-02 2.33459182e+02] [-2.10369231e-01 9.77598665e-01 -6.75548243e-03 -3.83248572e+01] [-3.43460373e-02 -4.84711717e-04 9.99409883e-01 -1.02774828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.07264000000004 meters 0.02287747691846699 Centerline is valid? [True, True] Translation: X:233.49, Y:-38.33, Z:-10.28 [[ 9.76390097e-01 2.13526372e-01 3.26935351e-02 2.33490586e+02] [-2.13426177e-01 9.76937135e-01 -6.56510520e-03 -3.83297136e+01] [-3.33413516e-02 -5.67552508e-04 9.99443861e-01 -1.02806884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10264000000004 meters 0.024681119576066047 Centerline is valid? [True, True] Translation: X:233.52, Y:-38.33, Z:-10.28 [[ 9.76025817e-01 2.15186245e-01 3.26876942e-02 2.33520258e+02] [-2.15086944e-01 9.76572830e-01 -6.56609254e-03 -3.83341069e+01] [-3.33348469e-02 -6.22020411e-04 9.99444046e-01 -1.02828336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.13264000000004 meters 0.027939858497985786 Centerline is valid? [True, True] Translation: X:233.55, Y:-38.34, Z:-10.29 [[ 9.75645008e-01 2.16935360e-01 3.24941256e-02 2.33550230e+02] [-2.16838188e-01 9.76185736e-01 -6.52761432e-03 -3.83384224e+01] [-3.31363722e-02 -6.77332969e-04 9.99450610e-01 -1.02852936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16264000000004 meters 0.027096068951436462 Centerline is valid? [True, True] Translation: X:233.58, Y:-38.35, Z:-10.28 [[ 9.75274045e-01 2.18558118e-01 3.27549467e-02 2.33581218e+02] [-2.18460285e-01 9.75823654e-01 -6.58025248e-03 -3.83450415e+01] [-3.34012194e-02 -7.38105533e-04 9.99441751e-01 -1.02847150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.19264000000004 meters 0.030203301930442537 Centerline is valid? [True, True] Translation: X:233.61, Y:-38.35, Z:-10.29 [[ 9.74610646e-01 2.21487473e-01 3.28235747e-02 2.33612217e+02] [-2.21390860e-01 9.75162855e-01 -6.59487158e-03 -3.83484138e+01] [-3.34690123e-02 -8.39407391e-04 9.99439403e-01 -1.02865362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.22264000000004 meters 0.03091120583989016 Centerline is valid? [True, True] Translation: X:233.64, Y:-38.35, Z:-10.29 [[ 9.74404726e-01 2.22411145e-01 3.26911655e-02 2.33641864e+02] [-2.22315792e-01 9.74952579e-01 -6.56941103e-03 -3.83540630e+01] [-3.33334463e-02 -8.66497182e-04 9.99443911e-01 -1.02877891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.25264000000004 meters 0.03612610986473318 Centerline is valid? [True, True] Translation: X:233.67, Y:-38.36, Z:-10.29 [[ 9.74277932e-01 2.22941829e-01 3.28550270e-02 2.33671668e+02] [-2.22845818e-01 9.74831345e-01 -6.60233962e-03 -3.83602398e+01] [-3.35000479e-02 -8.89091598e-04 9.99438320e-01 -1.02903191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.28264000000004 meters 0.03701628492031256 Centerline is valid? [True, True] Translation: X:233.70, Y:-38.36, Z:-10.29 [[ 9.74392357e-01 2.22239566e-01 3.41922445e-02 2.33700973e+02] [-2.22135137e-01 9.74991674e-01 -6.87135133e-03 -3.83623673e+01] [-3.48642399e-02 -8.99906719e-04 9.99391652e-01 -1.02913353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.31264000000004 meters 0.031238623530441798 Centerline is valid? [True, True] Translation: X:233.73, Y:-38.37, Z:-10.29 [[ 9.74637686e-01 2.21103779e-01 3.45615308e-02 2.33730670e+02] [-2.20996408e-01 9.75249898e-01 -6.94441105e-03 -3.83706319e+01] [-3.52415649e-02 -8.69689454e-04 9.99378445e-01 -1.02909258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.34264000000005 meters 0.02841895154459115 Centerline is valid? [True, True] Translation: X:233.76, Y:-38.38, Z:-10.29 [[ 9.74982198e-01 2.19506451e-01 3.50233097e-02 2.33761140e+02] [-2.19395176e-01 9.75610701e-01 -7.03678644e-03 -3.83811194e+01] [-3.57137357e-02 -8.23203683e-04 9.99361722e-01 -1.02910978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.37264000000005 meters 0.02621382492510076 Centerline is valid? [True, True] Translation: X:233.79, Y:-38.39, Z:-10.29 [[ 9.75354536e-01 2.17758045e-01 3.55663283e-02 2.33791845e+02] [-2.17642133e-01 9.76002479e-01 -7.14580890e-03 -3.83913695e+01] [-3.62688820e-02 -7.71034421e-04 9.99341770e-01 -1.02913903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40264000000002 meters 0.022554944899318686 Centerline is valid? [True, True] Translation: X:233.82, Y:-38.40, Z:-10.29 [[ 9.76320777e-01 2.13188165e-01 3.67225644e-02 2.33820869e+02] [-2.13061056e-01 9.77010968e-01 -7.38616614e-03 -3.84017799e+01] [-3.74529914e-02 -6.12880903e-04 9.99298203e-01 -1.02923255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43264000000002 meters 0.019670030356643702 Centerline is valid? [True, True] Translation: X:233.85, Y:-38.41, Z:-10.29 [[ 9.76850064e-01 2.10801639e-01 3.64228274e-02 2.33851058e+02] [-2.10674959e-01 9.77528721e-01 -7.32533964e-03 -3.84129653e+01] [-3.71485535e-02 -5.17619188e-04 9.99309620e-01 -1.02939245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46264000000002 meters 0.01593350955092921 Centerline is valid? [True, True] Translation: X:233.88, Y:-38.43, Z:-10.30 [[ 9.77921521e-01 2.05687406e-01 3.69078647e-02 2.33879377e+02] [-2.05553385e-01 9.78617693e-01 -7.43080616e-03 -3.84281879e+01] [-3.76471126e-02 -3.19791265e-04 9.99291045e-01 -1.02956424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.49264000000002 meters 0.01402098159876369 Centerline is valid? [True, True] Translation: X:233.91, Y:-38.44, Z:-10.30 [[ 9.78423918e-01 2.03296106e-01 3.68419456e-02 2.33909972e+02] [-2.03160887e-01 9.79117277e-01 -7.41706483e-03 -3.84400017e+01] [-3.75804459e-02 -2.27808704e-04 9.99293580e-01 -1.02966161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52264000000002 meters 0.012722647507608036 Centerline is valid? [True, True] Translation: X:233.94, Y:-38.45, Z:-10.30 [[ 9.79243603e-01 1.99305821e-01 3.68667367e-02 2.33939278e+02] [-1.99167345e-01 9.79937337e-01 -7.42856550e-03 -3.84544645e+01] [-3.76076482e-02 -6.82748498e-05 9.99292580e-01 -1.02989046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.55264000000003 meters 0.012473470392105786 Centerline is valid? [True, True] Translation: X:233.97, Y:-38.47, Z:-10.30 [[ 9.79586858e-01 1.97629332e-01 3.67727375e-02 2.33970592e+02] [-1.97490149e-01 9.80276822e-01 -7.41580750e-03 -3.84650016e+01] [-3.75130433e-02 2.17418042e-06 9.99296138e-01 -1.03001764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58264000000003 meters 0.012703919636868068 Centerline is valid? [True, True] Translation: X:234.00, Y:-38.47, Z:-10.30 [[ 9.79843196e-01 1.96337157e-01 3.68650589e-02 2.34001507e+02] [-1.96196049e-01 9.80536444e-01 -7.44265839e-03 -3.84749980e+01] [-3.76088042e-02 5.98592574e-05 9.99292537e-01 -1.03024211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.61264000000003 meters 0.012867861247787932 Centerline is valid? [True, True] Translation: X:234.03, Y:-38.48, Z:-10.30 [[ 9.80045791e-01 1.95389550e-01 3.65126164e-02 2.34032889e+02] [-1.95250327e-01 9.80725708e-01 -7.37536536e-03 -3.84842407e+01] [-3.72499309e-02 9.90954951e-05 9.99305976e-01 -1.03039175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64264000000003 meters 0.01806191509476424 Centerline is valid? [True, True] Translation: X:234.06, Y:-38.49, Z:-10.31 [[ 9.80190990e-01 1.94777148e-01 3.58815389e-02 2.34062648e+02] [-1.94642014e-01 9.80847514e-01 -7.25533997e-03 -3.84933298e+01] [-3.66074927e-02 1.27563868e-04 9.99329713e-01 -1.03078612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.67264000000003 meters 0.01596908153165595 Centerline is valid? [True, True] Translation: X:234.09, Y:-38.50, Z:-10.31 [[ 9.80214560e-01 1.94700340e-01 3.56538167e-02 2.34094464e+02] [-1.94566669e-01 9.80862763e-01 -7.21470652e-03 -3.85017459e+01] [-3.63762070e-02 1.34916034e-04 9.99338158e-01 -1.03093215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70264000000003 meters 0.013610752378327946 Centerline is valid? [True, True] Translation: X:234.13, Y:-38.51, Z:-10.31 [[ 9.80143954e-01 1.95018536e-01 3.58552520e-02 2.34126345e+02] [-1.94883301e-01 9.80799548e-01 -7.26261564e-03 -3.85095697e+01] [-3.65831597e-02 1.30818948e-04 9.99330604e-01 -1.03102750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.73264000000003 meters 0.013369736257633732 Centerline is valid? [True, True] Translation: X:234.16, Y:-38.52, Z:-10.31 [[ 9.79967096e-01 1.95856171e-01 3.61227204e-02 2.34157161e+02] [-1.95719207e-01 9.80632627e-01 -7.32414740e-03 -3.85181934e+01] [-3.68575976e-02 1.07513272e-04 9.99320522e-01 -1.03114481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76264000000003 meters 0.012911485575582147 Centerline is valid? [True, True] Translation: X:234.19, Y:-38.52, Z:-10.31 [[ 9.79790282e-01 1.96746036e-01 3.60832404e-02 2.34189294e+02] [-1.96609735e-01 9.80454482e-01 -7.32264693e-03 -3.85241786e+01] [-3.68186765e-02 8.03419711e-05 9.99321959e-01 -1.03117682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.79264000000003 meters 0.012884811574058562 Centerline is valid? [True, True] Translation: X:234.22, Y:-38.53, Z:-10.31 [[ 9.79550497e-01 1.97953371e-01 3.59900817e-02 2.34221117e+02] [-1.97818315e-01 9.80211437e-01 -7.31115902e-03 -3.85298532e+01] [-3.67251582e-02 4.21521384e-05 9.99325403e-01 -1.03135843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82264000000004 meters 0.012907625544842613 Centerline is valid? [True, True] Translation: X:234.25, Y:-38.54, Z:-10.32 [[ 9.79151064e-01 1.99970326e-01 3.57080245e-02 2.34252089e+02] [-1.99838476e-01 9.79801954e-01 -7.26054101e-03 -3.85357877e+01] [-3.64386849e-02 -2.66707392e-05 9.99335890e-01 -1.03163973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.85264000000004 meters 0.013146936434217537 Centerline is valid? [True, True] Translation: X:234.28, Y:-38.54, Z:-10.32 [[ 9.78920300e-01 2.01096370e-01 3.57112843e-02 2.34283606e+02] [-2.00965000e-01 9.79571461e-01 -7.26792371e-03 -3.85412339e+01] [-3.64433080e-02 -6.20001852e-05 9.99335720e-01 -1.03190570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88264000000004 meters 0.013146936434217537 Centerline is valid? [True, True] Translation: X:234.32, Y:-38.55, Z:-10.32 [[ 9.78883751e-01 2.01274434e-01 3.57100142e-02 2.34315379e+02] [-2.01142955e-01 9.79534889e-01 -7.27415836e-03 -3.85479126e+01] [-3.64433069e-02 -6.22623491e-05 9.99335720e-01 -1.03205831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.91264000000004 meters 0.012898245340356355 Centerline is valid? [True, True] Translation: X:234.35, Y:-38.55, Z:-10.32 [[ 9.78583038e-01 2.02724808e-01 3.57475793e-02 2.34348468e+02] [-2.02593777e-01 9.79235743e-01 -7.28843302e-03 -3.85532678e+01] [-3.64828535e-02 -1.09900161e-04 9.99334273e-01 -1.03204051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.94264000000004 meters 0.013107665685568273 Centerline is valid? [True, True] Translation: X:234.38, Y:-38.56, Z:-10.32 [[ 9.78476563e-01 2.03269493e-01 3.55686380e-02 2.34379512e+02] [-2.03139839e-01 9.79122821e-01 -7.25998424e-03 -3.85590451e+01] [-3.63017985e-02 -1.21682974e-04 9.99340865e-01 -1.03226883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.97264000000004 meters 0.024024108066882956 Centerline is valid? [True, True] Translation: X:234.41, Y:-38.57, Z:-10.33 [[ 9.78399242e-01 2.03686998e-01 3.53062242e-02 2.34410656e+02] [-2.03559386e-01 9.79036051e-01 -7.21020202e-03 -3.85654165e+01] [-3.60346907e-02 -1.32457125e-04 9.99350531e-01 -1.03255097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.00264000000004 meters 0.013886528409636693 Centerline is valid? [True, True] Translation: X:234.44, Y:-38.57, Z:-10.33 [[ 9.78054845e-01 2.05326873e-01 3.53496140e-02 2.34443397e+02] [-2.05199779e-01 9.78693435e-01 -7.22566073e-03 -3.85701802e+01] [-3.60800575e-02 -1.86640514e-04 9.99348885e-01 -1.03264864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.03264000000004 meters 0.014069868214575143 Centerline is valid? [True, True] Translation: X:234.48, Y:-38.58, Z:-10.33 [[ 9.77865175e-01 2.06294532e-01 3.49609117e-02 2.34475457e+02] [-2.06170582e-01 9.78489919e-01 -7.15333969e-03 -3.85757042e+01] [-3.56845945e-02 -2.12909757e-04 9.99363079e-01 -1.03281555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.06264000000004 meters 0.015072059052537029 Centerline is valid? [True, True] Translation: X:234.51, Y:-38.58, Z:-10.33 [[ 9.77662406e-01 2.07301772e-01 3.46726855e-02 2.34506245e+02] [-2.07180242e-01 9.78277015e-01 -7.10141948e-03 -3.85788614e+01] [-3.53916281e-02 -2.40704506e-04 9.99373491e-01 -1.03317280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.09264000000005 meters 0.015379794621582335 Centerline is valid? [True, True] Translation: X:234.54, Y:-38.58, Z:-10.33 [[ 9.77306559e-01 2.08883984e-01 3.52047057e-02 2.34538802e+02] [-2.08759634e-01 9.77940382e-01 -7.21278718e-03 -3.85822462e+01] [-3.59347390e-02 -3.00217243e-04 9.99354094e-01 -1.03316827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.12264000000005 meters 0.015941867456205554 Centerline is valid? [True, True] Translation: X:234.57, Y:-38.59, Z:-10.33 [[ 9.77178416e-01 2.09364186e-01 3.59023800e-02 2.34570790e+02] [-2.09234902e-01 9.77837685e-01 -7.36331631e-03 -3.85872978e+01] [-3.66483148e-02 -3.16757187e-04 9.99328175e-01 -1.03328810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15264000000002 meters 0.015959561151709874 Centerline is valid? [True, True] Translation: X:234.60, Y:-38.59, Z:-10.33 [[ 9.77159420e-01 2.09306004e-01 3.67486770e-02 2.34601895e+02] [-2.09170231e-01 9.77850141e-01 -7.54432677e-03 -3.85929552e+01] [-3.75137719e-02 -3.14719296e-04 9.99296061e-01 -1.03338183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18264000000002 meters 0.018434447815453513 Centerline is valid? [True, True] Translation: X:234.63, Y:-38.60, Z:-10.34 [[ 9.77537194e-01 2.07550989e-01 3.66554386e-02 2.34633384e+02] [-2.07414460e-01 9.78224171e-01 -7.53082717e-03 -3.86015115e+01] [-3.74202666e-02 -2.41204326e-04 9.99299587e-01 -1.03354639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21264000000002 meters 0.013730202249809271 Centerline is valid? [True, True] Translation: X:234.66, Y:-38.61, Z:-10.34 [[ 9.77874584e-01 2.06035022e-01 3.62059076e-02 2.34663905e+02] [-2.05900528e-01 9.78544603e-01 -7.44534867e-03 -3.86095117e+01] [-3.69630980e-02 -1.74198267e-04 9.99316616e-01 -1.03376688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24264000000002 meters 0.020871518320332613 Centerline is valid? [True, True] Translation: X:234.70, Y:-38.62, Z:-10.34 [[ 9.78281092e-01 2.04165402e-01 3.58133146e-02 2.34695285e+02] [-2.04032470e-01 9.78936402e-01 -7.36700430e-03 -3.86193492e+01] [-3.65630447e-02 -1.00078008e-04 9.99331343e-01 -1.03401669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.27264000000002 meters 0.03142608624099806 Centerline is valid? [True, True] Translation: X:234.73, Y:-38.63, Z:-10.34 [[ 9.79086526e-01 2.00274846e-01 3.57709552e-02 2.34726454e+02] [-2.00139372e-01 9.79739753e-01 -7.36535709e-03 -3.86307104e+01] [-3.65213226e-02 5.21453698e-05 9.99332873e-01 -1.03424827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30264000000003 meters 0.025256034927942296 Centerline is valid? [True, True] Translation: X:234.76, Y:-38.64, Z:-10.34 [[ 9.79364019e-01 1.98983003e-01 3.53819582e-02 2.34758665e+02] [-1.98849365e-01 9.80002935e-01 -7.29224253e-03 -3.86388997e+01] [-3.61254552e-02 1.06080045e-04 9.99347257e-01 -1.03439970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.33264000000003 meters 0.013643490823861328 Centerline is valid? [True, True] Translation: X:234.79, Y:-38.65, Z:-10.34 [[ 9.79705017e-01 1.97261391e-01 3.55812135e-02 2.34790956e+02] [-1.97124843e-01 9.80350913e-01 -7.34059597e-03 -3.86474768e+01] [-3.63300913e-02 1.77677590e-04 9.99339829e-01 -1.03439935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36264000000003 meters 0.014020111510033439 Centerline is valid? [True, True] Translation: X:234.82, Y:-38.65, Z:-10.35 [[ 9.79801374e-01 1.96767725e-01 3.56613364e-02 2.34821798e+02] [-1.96629958e-01 9.80450111e-01 -7.36469497e-03 -3.86547703e+01] [-3.64132955e-02 2.03851177e-04 9.99336795e-01 -1.03456037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.39264000000003 meters 0.01476999598098944 Centerline is valid? [True, True] Translation: X:234.85, Y:-38.66, Z:-10.35 [[ 9.79863237e-01 1.96491719e-01 3.54829770e-02 2.34852498e+02] [-1.96354897e-01 9.80505460e-01 -7.33474166e-03 -3.86619921e+01] [-3.62324687e-02 2.19787419e-04 9.99343364e-01 -1.03481629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42264000000003 meters 0.015250946912323449 Centerline is valid? [True, True] Translation: X:234.88, Y:-38.67, Z:-10.35 [[ 9.79852244e-01 1.96620082e-01 3.50731073e-02 2.34883681e+02] [-1.96486246e-01 9.80479727e-01 -7.25672109e-03 -3.86665099e+01] [-3.58152877e-02 2.19131272e-04 9.99358403e-01 -1.03516506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.45264000000003 meters 0.014712358089299772 Centerline is valid? [True, True] Translation: X:234.92, Y:-38.67, Z:-10.35 [[ 9.79778211e-01 1.97032557e-01 3.48256939e-02 2.34916430e+02] [-1.96900642e-01 9.80396924e-01 -7.21174146e-03 -3.86707440e+01] [-3.55639511e-02 2.08705665e-04 9.99367381e-01 -1.03526688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48264000000003 meters 0.014992418064028323 Centerline is valid? [True, True] Translation: X:234.95, Y:-38.68, Z:-10.36 [[ 9.79673195e-01 1.97531691e-01 3.49522810e-02 2.34948085e+02] [-1.97398849e-01 9.80296481e-01 -7.24589436e-03 -3.86769463e+01] [-3.56948919e-02 1.99068429e-04 9.99362714e-01 -1.03561412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.51264000000003 meters 0.01479858423930603 Centerline is valid? [True, True] Translation: X:234.98, Y:-38.68, Z:-10.36 [[ 9.79576945e-01 1.97952039e-01 3.52703687e-02 2.34980494e+02] [-1.97816904e-01 9.80211689e-01 -7.31560501e-03 -3.86825188e+01] [-3.60205666e-02 1.89122875e-04 9.99351031e-01 -1.03572655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54264000000003 meters 0.014687147051004663 Centerline is valid? [True, True] Translation: X:235.01, Y:-38.69, Z:-10.36 [[ 9.79484010e-01 1.98453825e-01 3.50307561e-02 2.35012387e+02] [-1.98320595e-01 9.80110222e-01 -7.27279286e-03 -3.86872594e+01] [-3.57773158e-02 1.76263910e-04 9.99359771e-01 -1.03597773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.57264000000004 meters 0.014523217240285956 Centerline is valid? [True, True] Translation: X:235.04, Y:-38.69, Z:-10.36 [[ 9.79440251e-01 1.98759565e-01 3.45170881e-02 2.35044548e+02] [-1.98630195e-01 9.80048268e-01 -7.17208805e-03 -3.86928134e+01] [-3.52539335e-02 1.68495781e-04 9.99378373e-01 -1.03614416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60264000000004 meters 0.027676521938146216 Centerline is valid? [True, True] Translation: X:235.08, Y:-38.70, Z:-10.36 [[ 9.79446326e-01 1.98727742e-01 3.45279318e-02 2.35076618e+02] [-1.98598030e-01 9.80054720e-01 -7.18117734e-03 -3.86993548e+01] [-3.52663617e-02 1.76398538e-04 9.99377933e-01 -1.03639587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.63264000000004 meters 0.022111436040290942 Centerline is valid? [True, True] Translation: X:235.11, Y:-38.71, Z:-10.37 [[ 9.79403370e-01 1.99015755e-01 3.40847362e-02 2.35109034e+02] [-1.98889296e-01 9.79996276e-01 -7.09559409e-03 -3.87051612e+01] [-3.48150495e-02 1.70359574e-04 9.99393758e-01 -1.03663069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66264000000004 meters 0.015080309758832764 Centerline is valid? [True, True] Translation: X:235.14, Y:-38.71, Z:-10.37 [[ 9.79406663e-01 1.99043376e-01 3.38278446e-02 2.35141861e+02] [-1.98918607e-01 9.79990665e-01 -7.04868670e-03 -3.87112923e+01] [-3.45539664e-02 1.74542992e-04 9.99402818e-01 -1.03682403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.69264000000004 meters 0.015963903501482645 Centerline is valid? [True, True] Translation: X:235.17, Y:-38.72, Z:-10.37 [[ 9.79448755e-01 1.98840647e-01 3.38013975e-02 2.35173426e+02] [-1.98715718e-01 9.80031817e-01 -7.04993869e-03 -3.87184189e+01] [-3.45282594e-02 1.88184691e-04 9.99403704e-01 -1.03718900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.72264000000004 meters 0.01627947612816408 Centerline is valid? [True, True] Translation: X:235.20, Y:-38.73, Z:-10.37 [[ 9.79801609e-01 1.97202981e-01 3.31630910e-02 2.35204175e+02] [-1.97081581e-01 9.80362649e-01 -6.92295202e-03 -3.87260448e+01] [-3.38770825e-02 2.47285110e-04 9.99425976e-01 -1.03720357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.75264000000004 meters 0.018289640822065183 Centerline is valid? [True, True] Translation: X:235.23, Y:-38.74, Z:-10.38 [[ 9.79985812e-01 1.96332783e-01 3.28823240e-02 2.35233242e+02] [-1.96212731e-01 9.80537281e-01 -6.87058844e-03 -3.87361372e+01] [-3.35912663e-02 2.81148577e-04 9.99435615e-01 -1.03763240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.78264000000004 meters 0.016756596293478313 Centerline is valid? [True, True] Translation: X:235.26, Y:-38.74, Z:-10.37 [[ 9.80085326e-01 1.95411994e-01 3.53115716e-02 2.35264657e+02] [-1.95443177e-01 9.80711580e-01 -2.60014089e-03 -3.87434303e+01] [-3.51385659e-02 -4.35304582e-03 9.99372970e-01 -1.03731923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.81264000000004 meters 0.01817274343260284 Centerline is valid? [True, True] Translation: X:235.30, Y:-38.75, Z:-10.38 [[ 9.80170914e-01 1.95442780e-01 3.26664882e-02 2.35295737e+02] [-1.95161344e-01 9.80702269e-01 -1.16236865e-02 -3.87454591e+01] [-3.43078647e-02 5.01796373e-03 9.99398714e-01 -1.03763921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.84264000000005 meters 0.017071409004278906 Centerline is valid? [True, True] Translation: X:235.33, Y:-38.75, Z:-10.38 [[ 9.80035884e-01 1.95844315e-01 3.42734560e-02 2.35326809e+02] [-1.95713226e-01 9.80634948e-01 -7.17160283e-03 -3.87529060e+01] [-3.50142664e-02 3.20659478e-04 9.99386761e-01 -1.03752259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.87264000000005 meters 0.01646487954311371 Centerline is valid? [True, True] Translation: X:235.36, Y:-38.76, Z:-10.38 [[ 9.79819281e-01 1.96836451e-01 3.47791220e-02 2.35358716e+02] [-1.96701867e-01 9.80436293e-01 -7.28362885e-03 -3.87581684e+01] [-3.55323971e-02 2.95521768e-04 9.99368481e-01 -1.03760639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90264000000002 meters 0.015364226041069424 Centerline is valid? [True, True] Translation: X:235.39, Y:-38.76, Z:-10.38 [[ 9.79419246e-01 1.98733997e-01 3.52525130e-02 2.35389739e+02] [-1.98596721e-01 9.80053439e-01 -7.38915497e-03 -3.87611553e+01] [-3.60178229e-02 2.36047104e-04 9.99351120e-01 -1.03773251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93264000000002 meters 0.015368928948053006 Centerline is valid? [True, True] Translation: X:235.42, Y:-38.77, Z:-10.38 [[ 9.79276348e-01 1.99503370e-01 3.48746380e-02 2.35421042e+02] [-1.99369321e-01 9.79897117e-01 -7.31526987e-03 -3.87674011e+01] [-3.56329782e-02 2.10737865e-04 9.99364922e-01 -1.03802884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96264000000002 meters 0.014909529198559786 Centerline is valid? [True, True] Translation: X:235.45, Y:-38.77, Z:-10.38 [[ 9.79178659e-01 1.99989255e-01 3.48346443e-02 2.35453488e+02] [-1.99855599e-01 9.79798070e-01 -7.31309601e-03 -3.87738950e+01] [-3.55934579e-02 1.98928848e-04 9.99366332e-01 -1.03809829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.99264000000002 meters 0.01469591735030267 Centerline is valid? [True, True] Translation: X:235.49, Y:-38.78, Z:-10.38 [[ 9.79192822e-01 1.99846225e-01 3.52548407e-02 2.35485125e+02] [-1.99708979e-01 9.79827250e-01 -7.40830704e-03 -3.87822725e+01] [-3.60241759e-02 2.13452822e-04 9.99350896e-01 -1.03811436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02264000000002 meters 0.024935547158258953 Centerline is valid? [True, True] Translation: X:235.52, Y:-38.79, Z:-10.38 [[ 9.79282226e-01 1.99438233e-01 3.50815218e-02 2.35516861e+02] [-1.99301819e-01 9.79910372e-01 -7.37891923e-03 -3.87902630e+01] [-3.58483857e-02 2.34233329e-04 9.99357213e-01 -1.03824963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.05264000000003 meters 0.015247063226433228 Centerline is valid? [True, True] Translation: X:235.55, Y:-38.80, Z:-10.38 [[ 9.79344487e-01 1.99057080e-01 3.55056939e-02 2.35548110e+02] [-1.98916818e-01 9.79987863e-01 -7.47577309e-03 -3.87977162e+01] [-3.62832546e-02 2.58677501e-04 9.99341512e-01 -1.03833540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08264000000003 meters 0.01590769165471655 Centerline is valid? [True, True] Translation: X:235.58, Y:-38.81, Z:-10.39 [[ 9.79387945e-01 1.98902924e-01 3.51693057e-02 2.35577860e+02] [-1.98764933e-01 9.80019160e-01 -7.41263590e-03 -3.88056194e+01] [-3.59409884e-02 2.69421529e-04 9.99353878e-01 -1.03861598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.11264000000003 meters 0.016097245310890025 Centerline is valid? [True, True] Translation: X:235.61, Y:-38.81, Z:-10.39 [[ 9.79470698e-01 1.98624452e-01 3.44307719e-02 2.35608524e+02] [-1.98491936e-01 9.80075635e-01 -7.25951777e-03 -3.88132587e+01] [-3.51866784e-02 2.76254367e-04 9.99380719e-01 -1.03889698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14264000000003 meters 0.01574416791129569 Centerline is valid? [True, True] Translation: X:235.64, Y:-38.82, Z:-10.39 [[ 9.79405041e-01 1.98926934e-01 3.45520143e-02 2.35639741e+02] [-1.98793486e-01 9.80014286e-01 -7.29031190e-03 -3.88229511e+01] [-3.53117070e-02 2.71452866e-04 9.99376310e-01 -1.03900597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.17264000000003 meters 0.01534223002082755 Centerline is valid? [True, True] Translation: X:235.67, Y:-38.83, Z:-10.39 [[ 9.79130011e-01 2.00108701e-01 3.55095757e-02 2.35670532e+02] [-1.99968244e-01 9.79773672e-01 -7.50017062e-03 -3.88301833e+01] [-3.62921967e-02 2.42854658e-04 9.99341192e-01 -1.03908788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20264000000003 meters 0.0144214788335854 Centerline is valid? [True, True] Translation: X:235.70, Y:-38.84, Z:-10.39 [[ 9.78808452e-01 2.01571092e-01 3.60985951e-02 2.35702246e+02] [-2.01426685e-01 9.79473867e-01 -7.63116792e-03 -3.88357518e+01] [-3.68958534e-02 1.98231315e-04 9.99319097e-01 -1.03911132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.23264000000003 meters 0.012972249199708264 Centerline is valid? [True, True] Translation: X:235.73, Y:-38.84, Z:-10.39 [[ 9.78018673e-01 2.05299405e-01 3.64914903e-02 2.35734530e+02] [-2.05154190e-01 9.78699213e-01 -7.72061283e-03 -3.88394711e+01] [-3.72992301e-02 6.45213659e-05 9.99304140e-01 -1.03911696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26264000000003 meters 0.012762170643285673 Centerline is valid? [True, True] Translation: X:235.77, Y:-38.84, Z:-10.39 [[ 9.77565914e-01 2.07407592e-01 3.67011608e-02 2.35765729e+02] [-2.07261950e-01 9.78254614e-01 -7.77133696e-03 -3.88443482e+01] [-3.75149142e-02 -9.76002543e-06 9.99296068e-01 -1.03931807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.29264000000003 meters 0.014389264812414863 Centerline is valid? [True, True] Translation: X:235.80, Y:-38.84, Z:-10.40 [[ 9.76632031e-01 2.12062887e-01 3.49171573e-02 2.35798694e+02] [-2.11933810e-01 9.77256006e-01 -7.39986644e-03 -3.88448486e+01] [-3.56922388e-02 -1.73179609e-04 9.99362814e-01 -1.03975018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32264000000004 meters 0.015277681401630069 Centerline is valid? [True, True] Translation: X:235.83, Y:-38.85, Z:-10.40 [[ 9.76204680e-01 2.14203491e-01 3.37829457e-02 2.35830876e+02] [-2.14083759e-01 9.76789029e-01 -7.16495698e-03 -3.88493061e+01] [-3.45335695e-02 -2.37915451e-04 9.99403510e-01 -1.03999171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.35264000000004 meters 0.016523627657081708 Centerline is valid? [True, True] Translation: X:235.86, Y:-38.85, Z:-10.40 [[ 9.75829172e-01 2.15955588e-01 3.34755188e-02 2.35861156e+02] [-2.15838817e-01 9.76403144e-01 -7.10670835e-03 -3.88536923e+01] [-3.42203352e-02 -2.90383049e-04 9.99414271e-01 -1.04029169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38264000000004 meters 0.0180405902942723 Centerline is valid? [True, True] Translation: X:235.89, Y:-38.86, Z:-10.41 [[ 9.75505132e-01 2.17416072e-01 3.34662279e-02 2.35891640e+02] [-2.17300155e-01 9.76078960e-01 -7.10676626e-03 -3.88583538e+01] [-3.42108061e-02 -3.39529544e-04 9.99414581e-01 -1.04057796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.41264000000004 meters 0.01843191668586639 Centerline is valid? [True, True] Translation: X:235.92, Y:-38.87, Z:-10.41 [[ 9.75172566e-01 2.18999739e-01 3.28265148e-02 2.35923485e+02] [-2.18888942e-01 9.75724842e-01 -6.97591500e-03 -3.88653937e+01] [-3.35573696e-02 -3.82640155e-04 9.99436720e-01 -1.04066198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.44264000000004 meters 0.02384294179215547 Centerline is valid? [True, True] Translation: X:235.95, Y:-38.87, Z:-10.41 [[ 9.75060011e-01 2.19564333e-01 3.23956454e-02 2.35954066e+02] [-2.19456516e-01 9.75597945e-01 -6.89104584e-03 -3.88710598e+01] [-3.31181530e-02 -3.90252235e-04 9.99451367e-01 -1.04102991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.47264000000004 meters 0.01887404618848962 Centerline is valid? [True, True] Translation: X:235.99, Y:-38.88, Z:-10.41 [[ 9.74956431e-01 2.20036465e-01 3.23096121e-02 2.35985848e+02] [-2.19929425e-01 9.75491564e-01 -6.87436504e-03 -3.88785036e+01] [-3.30303650e-02 -4.03628001e-04 9.99454267e-01 -1.04103931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.50264000000004 meters 0.0229473792057047 Centerline is valid? [True, True] Translation: X:236.02, Y:-38.88, Z:-10.41 [[ 9.74731633e-01 2.21047572e-01 3.21902991e-02 2.36016063e+02] [-2.20941627e-01 9.75262932e-01 -6.85641486e-03 -3.88835504e+01] [-3.29095993e-02 -4.29012605e-04 9.99458240e-01 -1.04128338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.53264000000004 meters 0.02012599142940982 Centerline is valid? [True, True] Translation: X:236.05, Y:-38.89, Z:-10.41 [[ 9.74641886e-01 2.21500005e-01 3.17953203e-02 2.36047971e+02] [-2.21396759e-01 9.75160273e-01 -6.77616090e-03 -3.88900687e+01] [-3.25064529e-02 -4.35050645e-04 9.99471431e-01 -1.04145191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.56264000000004 meters 0.020694321482474586 Centerline is valid? [True, True] Translation: X:236.08, Y:-38.90, Z:-10.42 [[ 9.74434480e-01 2.22394413e-01 3.19087590e-02 2.36079406e+02] [-2.22290724e-01 9.74956672e-01 -6.80598902e-03 -3.88962338e+01] [-3.26232714e-02 -4.61030761e-04 9.99467613e-01 -1.04154006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.59264000000005 meters 0.021543472550470844 Centerline is valid? [True, True] Translation: X:236.11, Y:-38.90, Z:-10.42 [[ 9.74347130e-01 2.22742180e-01 3.21495141e-02 2.36111344e+02] [-2.22636898e-01 9.74877275e-01 -6.86375548e-03 -3.89017059e+01] [-3.28706785e-02 -4.69987645e-04 9.99459503e-01 -1.04171727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.62264000000005 meters 0.021955878788944422 Centerline is valid? [True, True] Translation: X:236.14, Y:-38.91, Z:-10.42 [[ 9.74314390e-01 2.22917579e-01 3.19252664e-02 2.36141585e+02] [-2.22813714e-01 9.74837183e-01 -6.82020535e-03 -3.89076129e+01] [-3.26422804e-02 -4.68362962e-04 9.99466989e-01 -1.04193221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.65264000000002 meters 0.021191596441242626 Centerline is valid? [True, True] Translation: X:236.17, Y:-38.91, Z:-10.42 [[ 9.74324799e-01 2.22930371e-01 3.15156265e-02 2.36173036e+02] [-2.22829101e-01 9.74834261e-01 -6.73459843e-03 -3.89148269e+01] [-3.22238590e-02 -4.60912445e-04 9.99480570e-01 -1.04197038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68264000000002 meters 0.02156402773144442 Centerline is valid? [True, True] Translation: X:236.20, Y:-38.92, Z:-10.42 [[ 9.74241950e-01 2.23261563e-01 3.17316562e-02 2.36203507e+02] [-2.23158886e-01 9.74758459e-01 -6.78656086e-03 -3.89198540e+01] [-3.24458785e-02 -4.69448759e-04 9.99473384e-01 -1.04208563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.71264000000002 meters 0.022073031470022608 Centerline is valid? [True, True] Translation: X:236.23, Y:-38.92, Z:-10.42 [[ 9.74187534e-01 2.23501930e-01 3.17101873e-02 2.36234221e+02] [-2.23399325e-01 9.74703373e-01 -6.78798641e-03 -3.89246298e+01] [-3.24251546e-02 -4.71262683e-04 9.99474055e-01 -1.04223050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74264000000002 meters 0.021896479509304654 Centerline is valid? [True, True] Translation: X:236.27, Y:-38.93, Z:-10.42 [[ 9.74101261e-01 2.23796483e-01 3.22779755e-02 2.36265531e+02] [-2.23690190e-01 9.74635777e-01 -6.91378360e-03 -3.89288408e+01] [-3.30065502e-02 -4.85541151e-04 9.99455017e-01 -1.04214410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.77264000000002 meters 0.021896479509304654 Centerline is valid? [True, True] Translation: X:236.30, Y:-38.94, Z:-10.42 [[ 9.74095954e-01 2.23819604e-01 3.22778122e-02 2.36295645e+02] [-2.23713298e-01 9.74630468e-01 -6.91454576e-03 -3.89353375e+01] [-3.30065501e-02 -4.85544780e-04 9.99455017e-01 -1.04228885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80264000000003 meters 0.022827103270447246 Centerline is valid? [True, True] Translation: X:236.33, Y:-38.94, Z:-10.42 [[ 9.74081535e-01 2.23791148e-01 3.29041904e-02 2.36325607e+02] [-2.23680626e-01 9.74636999e-01 -7.04972868e-03 -3.89397837e+01] [-3.36473082e-02 -4.93019349e-04 9.99433647e-01 -1.04246710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.83264000000003 meters 0.021494137644036636 Centerline is valid? [True, True] Translation: X:236.36, Y:-38.95, Z:-10.42 [[ 9.74202723e-01 2.23262094e-01 3.29103687e-02 2.36356045e+02] [-2.23151226e-01 9.74758335e-01 -7.05114210e-03 -3.89477774e+01] [-3.36539090e-02 -4.74747285e-04 9.99433434e-01 -1.04244570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86264000000003 meters 0.01970580845339967 Centerline is valid? [True, True] Translation: X:236.39, Y:-38.96, Z:-10.43 [[ 9.73989391e-01 2.23792160e-01 3.55209165e-02 2.36385077e+02] [-2.23719948e-01 9.74634718e-01 -6.04580965e-03 -3.89577437e+01] [-3.59729232e-02 -2.05818312e-03 9.99350646e-01 -1.04268799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.89264000000003 meters 0.02053910287704399 Centerline is valid? [True, True] Translation: X:236.42, Y:-38.96, Z:-10.43 [[ 9.74610434e-01 2.21803973e-01 3.06186207e-02 2.36418865e+02] [-2.21662169e-01 9.75090760e-01 -7.99326162e-03 -3.89602706e+01] [-3.16288713e-02 1.00332631e-03 9.99499179e-01 -1.04303317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92264000000003 meters 0.021035451266298827 Centerline is valid? [True, True] Translation: X:236.45, Y:-38.97, Z:-10.43 [[ 9.74708089e-01 2.21339214e-01 3.08722266e-02 2.36448703e+02] [-2.21240433e-01 9.75196807e-01 -6.62263081e-03 -3.89660054e+01] [-3.15723447e-02 -3.75052966e-04 9.99501399e-01 -1.04334007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.95264000000003 meters 0.019198308581076146 Centerline is valid? [True, True] Translation: X:236.48, Y:-38.97, Z:-10.43 [[ 9.74888246e-01 2.20645331e-01 3.01420771e-02 2.36478679e+02] [-2.20550761e-01 9.75354049e-01 -6.46844356e-03 -3.89746511e+01] [-3.08264289e-02 -3.41848458e-04 9.99524694e-01 -1.04327235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98264000000003 meters 0.01939417818617864 Centerline is valid? [True, True] Translation: X:236.51, Y:-38.98, Z:-10.44 [[ 9.74944744e-01 2.20418597e-01 2.99731127e-02 2.36508464e+02] [-2.20324948e-01 9.75405317e-01 -6.43313516e-03 -3.89799461e+01] [-3.06539161e-02 -3.31873187e-04 9.99530003e-01 -1.04351078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.01264000000003 meters 0.019294003378352496 Centerline is valid? [True, True] Translation: X:236.54, Y:-38.98, Z:-10.44 [[ 9.75078062e-01 2.19797982e-01 3.01930594e-02 2.36538829e+02] [-2.19702644e-01 9.75545360e-01 -6.48072873e-03 -3.89847889e+01] [-3.08791501e-02 -3.14278574e-04 9.99523076e-01 -1.04359190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04264000000003 meters 0.019025544914052988 Centerline is valid? [True, True] Translation: X:236.57, Y:-38.99, Z:-10.44 [[ 9.75105727e-01 2.19601218e-01 3.07266465e-02 2.36568360e+02] [-2.19502364e-01 9.75589671e-01 -6.59583813e-03 -3.89907428e+01] [-3.14250531e-02 -3.12932019e-04 9.99506062e-01 -1.04362076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.07264000000004 meters 0.018297257502942404 Centerline is valid? [True, True] Translation: X:236.60, Y:-39.00, Z:-10.44 [[ 9.75157557e-01 2.19335017e-01 3.09820698e-02 2.36598677e+02] [-2.19234389e-01 9.75649556e-01 -6.65029608e-03 -3.89978389e+01] [-3.16862855e-02 -3.07248669e-04 9.99497816e-01 -1.04361147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10264000000004 meters 0.017770790180383966 Centerline is valid? [True, True] Translation: X:236.63, Y:-39.01, Z:-10.44 [[ 9.75156944e-01 2.19310961e-01 3.11710946e-02 2.36630060e+02] [-2.19209136e-01 9.75654963e-01 -6.68939122e-03 -3.90054769e+01] [-3.18792900e-02 -3.09782436e-04 9.99491678e-01 -1.04361046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.13264000000004 meters 0.01834113141523181 Centerline is valid? [True, True] Translation: X:236.66, Y:-39.01, Z:-10.44 [[ 9.75210843e-01 2.19145416e-01 3.06447057e-02 2.36660895e+02] [-2.19046717e-01 9.75692165e-01 -6.58294263e-03 -3.90113418e+01] [-3.13424210e-02 -2.92865138e-04 9.99508663e-01 -1.04393694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.16264000000004 meters 0.01834994924134055 Centerline is valid? [True, True] Translation: X:236.69, Y:-39.02, Z:-10.44 [[ 9.75116805e-01 2.19537139e-01 3.08327804e-02 2.36692181e+02] [-2.19437284e-01 9.75604096e-01 -6.62765430e-03 -3.90169548e+01] [-3.15356031e-02 -3.03124501e-04 9.99502583e-01 -1.04398909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.19264000000004 meters 0.030742242950545024 Centerline is valid? [True, True] Translation: X:236.72, Y:-39.02, Z:-10.44 [[ 9.74929970e-01 2.20344226e-01 3.09834663e-02 2.36722518e+02] [-2.20243769e-01 9.75422121e-01 -6.66101130e-03 -3.90216633e+01] [-3.16896738e-02 -3.29895845e-04 9.99497702e-01 -1.04426500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.22264000000004 meters 0.020556816109460863 Centerline is valid? [True, True] Translation: X:236.75, Y:-39.02, Z:-10.45 [[ 9.74718558e-01 2.21417380e-01 2.99679137e-02 2.36751785e+02] [-2.21323886e-01 9.75179071e-01 -6.44343027e-03 -3.90248075e+01] [-3.06507697e-02 -3.52084052e-04 9.99530093e-01 -1.04452462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.25264000000004 meters 0.022856748198385433 Centerline is valid? [True, True] Translation: X:236.78, Y:-39.03, Z:-10.45 [[ 9.74175852e-01 2.23922025e-01 2.89885583e-02 2.36782191e+02] [-2.23835654e-01 9.74606974e-01 -6.23272312e-03 -3.90254963e+01] [-2.96480951e-02 -4.16904569e-04 9.99560312e-01 -1.04485758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.28264000000004 meters 0.02383112739435456 Centerline is valid? [True, True] Translation: X:236.81, Y:-39.03, Z:-10.45 [[ 9.73914631e-01 2.25147087e-01 2.82680099e-02 2.36812077e+02] [-2.25065493e-01 9.74324685e-01 -6.07714032e-03 -3.90292372e+01] [-2.89104703e-02 -4.43537691e-04 9.99581907e-01 -1.04507760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.31264000000004 meters 0.032024184391845234 Centerline is valid? [True, True] Translation: X:236.84, Y:-39.03, Z:-10.45 [[ 9.73624097e-01 2.26523567e-01 2.72615513e-02 2.36841611e+02] [-2.26448237e-01 9.74005572e-01 -5.86015490e-03 -3.90332624e+01] [-2.78803661e-02 -4.67742207e-04 9.99611158e-01 -1.04531659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.34264000000005 meters 0.02502322415581901 Centerline is valid? [True, True] Translation: X:236.87, Y:-39.04, Z:-10.46 [[ 9.73609642e-01 2.26537494e-01 2.76591588e-02 2.36869161e+02] [-2.26459956e-01 9.74002330e-01 -5.94559301e-03 -3.90366501e+01] [-2.82869849e-02 -4.75005200e-04 9.99599730e-01 -1.04551036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.37264000000005 meters 0.02565357156847955 Centerline is valid? [True, True] Translation: X:236.90, Y:-39.04, Z:-10.46 [[ 9.73650044e-01 2.26319481e-01 2.80193752e-02 2.36896173e+02] [-2.26239873e-01 9.74053010e-01 -6.02117212e-03 -3.90410256e+01] [-2.86550653e-02 -4.76585375e-04 9.99589246e-01 -1.04566486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40264000000002 meters 0.024597550671090197 Centerline is valid? [True, True] Translation: X:236.92, Y:-39.05, Z:-10.46 [[ 9.73799605e-01 2.25660475e-01 2.81367857e-02 2.36924283e+02] [-2.25579980e-01 9.74205901e-01 -6.04443568e-03 -3.90475780e+01] [-2.87750129e-02 -4.61026474e-04 9.99585807e-01 -1.04563247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.43264000000002 meters 0.025361060662744406 Centerline is valid? [True, True] Translation: X:236.95, Y:-39.05, Z:-10.46 [[ 9.73860860e-01 2.25384257e-01 2.82305084e-02 2.36951852e+02] [-2.25303143e-01 9.74269844e-01 -6.06338784e-03 -3.90517403e+01] [-2.88707252e-02 -4.55526178e-04 9.99583050e-01 -1.04583317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46264000000002 meters 0.03049989118829803 Centerline is valid? [True, True] Translation: X:236.98, Y:-39.06, Z:-10.46 [[ 9.73829584e-01 2.25448323e-01 2.87922893e-02 2.36980138e+02] [-2.25364034e-01 9.74255015e-01 -6.18204881e-03 -3.90592537e+01] [-2.94447648e-02 -4.68484449e-04 9.99566299e-01 -1.04561669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.49264000000002 meters 0.02684689415366748 Centerline is valid? [True, True] Translation: X:237.01, Y:-39.06, Z:-10.46 [[ 9.73718911e-01 2.26030914e-01 2.79554634e-02 2.37008518e+02] [-2.25951723e-01 9.74120014e-01 -6.00139567e-03 -3.90585907e+01] [-2.85884774e-02 -4.72912661e-04 9.99591154e-01 -1.04616767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52264000000002 meters 0.02550336150818067 Centerline is valid? [True, True] Translation: X:237.04, Y:-39.07, Z:-10.46 [[ 9.73587967e-01 2.26603752e-01 2.78784817e-02 2.37036442e+02] [-2.26525298e-01 9.73986909e-01 -5.98250758e-03 -3.90653271e+01] [-2.85089349e-02 -4.90683977e-04 9.99593417e-01 -1.04604413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.55264000000003 meters 0.026215887554972804 Centerline is valid? [True, True] Translation: X:237.06, Y:-39.07, Z:-10.46 [[ 9.73469509e-01 2.27072059e-01 2.82027449e-02 2.37064534e+02] [-2.26992001e-01 9.73877825e-01 -6.05088076e-03 -3.90692640e+01] [-2.88400139e-02 -5.11449588e-04 9.99583909e-01 -1.04616770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58264000000003 meters 0.026715885030291663 Centerline is valid? [True, True] Translation: X:237.09, Y:-39.07, Z:-10.46 [[ 9.73383096e-01 2.27440713e-01 2.82147287e-02 2.37093539e+02] [-2.27360798e-01 9.73791788e-01 -6.05149833e-03 -3.90731676e+01] [-2.88516282e-02 -5.24497040e-04 9.99583568e-01 -1.04631320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.61264000000003 meters 0.029584927295108164 Centerline is valid? [True, True] Translation: X:237.12, Y:-39.08, Z:-10.46 [[ 9.73445153e-01 2.27168379e-01 2.82676881e-02 2.37121578e+02] [-2.27088089e-01 9.73855358e-01 -6.06147921e-03 -3.90780346e+01] [-2.89056159e-02 -5.18737710e-04 9.99582011e-01 -1.04640617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64264000000003 meters 0.0257993693616599 Centerline is valid? [True, True] Translation: X:237.15, Y:-39.08, Z:-10.47 [[ 9.73605277e-01 2.26491770e-01 2.81823124e-02 2.37149831e+02] [-2.26411721e-01 9.74012951e-01 -6.04179204e-03 -3.90846838e+01] [-2.88183534e-02 -4.98485224e-04 9.99584541e-01 -1.04656624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.67264000000003 meters 0.024762977705866527 Centerline is valid? [True, True] Translation: X:237.18, Y:-39.09, Z:-10.47 [[ 9.73950016e-01 2.25078064e-01 2.75904269e-02 2.37177777e+02] [-2.25000812e-01 9.74340630e-01 -5.91359199e-03 -3.90927505e+01] [-2.82134938e-02 -4.48325437e-04 9.99601820e-01 -1.04682937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70264000000003 meters 0.024283678013396585 Centerline is valid? [True, True] Translation: X:237.21, Y:-39.10, Z:-10.47 [[ 9.74194549e-01 2.24065737e-01 2.71942313e-02 2.37205200e+02] [-2.23990323e-01 9.74573945e-01 -5.82759304e-03 -3.90992313e+01] [-2.78085532e-02 -4.14035294e-04 9.99613182e-01 -1.04703532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.73264000000003 meters 0.02345939740982446 Centerline is valid? [True, True] Translation: X:237.23, Y:-39.11, Z:-10.47 [[ 9.74403813e-01 2.23273537e-01 2.61942337e-02 2.37232889e+02] [-2.23203329e-01 9.74755756e-01 -5.61156863e-03 -3.91061859e+01] [-2.67858948e-02 -3.78706282e-04 9.99641122e-01 -1.04723038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76264000000003 meters 0.03727406334582784 Centerline is valid? [True, True] Translation: X:237.26, Y:-39.11, Z:-10.47 [[ 9.74842436e-01 2.21402485e-01 2.57520000e-02 2.37260830e+02] [-2.21334007e-01 9.75182463e-01 -5.51560018e-03 -3.91148036e+01] [-2.63340664e-02 -3.22952236e-04 9.99653146e-01 -1.04745797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.79264000000003 meters 0.02150087425237348 Centerline is valid? [True, True] Translation: X:237.29, Y:-39.12, Z:-10.47 [[ 9.74956367e-01 2.20822855e-01 2.64073776e-02 2.37287878e+02] [-2.20750665e-01 9.75313881e-01 -5.65482522e-03 -3.91207739e+01] [-2.70041966e-02 -3.16238325e-04 9.99635270e-01 -1.04748737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82264000000004 meters 0.027691866260178204 Centerline is valid? [True, True] Translation: X:237.32, Y:-39.13, Z:-10.48 [[ 9.75168368e-01 2.19822785e-01 2.69183462e-02 2.37315021e+02] [-2.19747441e-01 9.75539777e-01 -5.76249403e-03 -3.91268148e+01] [-2.75266449e-02 -2.95835796e-04 9.99621026e-01 -1.04756853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.85264000000004 meters 0.019916286748490934 Centerline is valid? [True, True] Translation: X:237.34, Y:-39.14, Z:-10.48 [[ 9.75385854e-01 2.18732957e-01 2.78985683e-02 2.37342887e+02] [-2.18651638e-01 9.75784719e-01 -5.97027916e-03 -3.91353031e+01] [-2.85288934e-02 -2.76741818e-04 9.99592930e-01 -1.04751233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88264000000004 meters 0.019152133917496202 Centerline is valid? [True, True] Translation: X:237.37, Y:-39.14, Z:-10.48 [[ 9.75574990e-01 2.17929299e-01 2.75727982e-02 2.37371431e+02] [-2.17849598e-01 9.75964526e-01 -5.89878633e-03 -3.91439640e+01] [-2.81955913e-02 -2.52014591e-04 9.99602394e-01 -1.04758854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.91264000000004 meters 0.017723618290300037 Centerline is valid? [True, True] Translation: X:237.40, Y:-39.16, Z:-10.48 [[ 9.76043353e-01 2.15864818e-01 2.72351642e-02 2.37400356e+02] [-2.15786285e-01 9.76423240e-01 -5.82541631e-03 -3.91559528e+01] [-2.78505497e-02 -1.91116026e-04 9.99612080e-01 -1.04767912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.94264000000004 meters 0.017830588118024442 Centerline is valid? [True, True] Translation: X:237.43, Y:-39.16, Z:-10.48 [[ 9.76247767e-01 2.14843215e-01 2.79766224e-02 2.37428840e+02] [-2.14759920e-01 9.76648537e-01 -5.98424019e-03 -3.91639002e+01] [-2.86090007e-02 -1.66156069e-04 9.99590665e-01 -1.04795070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.97264000000004 meters 0.01663871079038318 Centerline is valid? [True, True] Translation: X:237.46, Y:-39.17, Z:-10.48 [[ 9.76425001e-01 2.14016596e-01 2.81267526e-02 2.37458476e+02] [-2.13932092e-01 9.76830014e-01 -6.01530104e-03 -3.91733186e+01] [-2.87624304e-02 -1.43724708e-04 9.99586265e-01 -1.04781501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.00264000000004 meters 0.01750714576536246 Centerline is valid? [True, True] Translation: X:237.49, Y:-39.18, Z:-10.48 [[ 9.76770432e-01 2.12645478e-01 2.64843892e-02 2.37487361e+02] [-2.12570070e-01 9.77129414e-01 -5.66342625e-03 -3.91839140e+01] [-2.70829776e-02 -9.79211456e-05 9.99633184e-01 -1.04848519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.03264000000004 meters 0.017474292406137154 Centerline is valid? [True, True] Translation: X:237.52, Y:-39.19, Z:-10.49 [[ 9.76930280e-01 2.11979599e-01 2.59205907e-02 2.37516170e+02] [-2.11907026e-01 9.77274089e-01 -5.54690112e-03 -3.91927414e+01] [-2.65073515e-02 -7.38196256e-05 9.99648616e-01 -1.04870196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.06264000000004 meters 0.017710830070172556 Centerline is valid? [True, True] Translation: X:237.54, Y:-39.20, Z:-10.49 [[ 9.77093546e-01 2.11157989e-01 2.64670641e-02 2.37544598e+02] [-2.11082028e-01 9.77451943e-01 -5.66360616e-03 -3.92038803e+01] [-2.70661989e-02 -5.28485325e-05 9.99633642e-01 -1.04900169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.09264000000005 meters 0.01701636801259061 Centerline is valid? [True, True] Translation: X:237.58, Y:-39.21, Z:-10.49 [[ 9.77099932e-01 2.11205866e-01 2.58419219e-02 2.37575211e+02] [-2.11133548e-01 9.77441599e-01 -5.52682309e-03 -3.92131556e+01] [-2.64262669e-02 -5.58381844e-05 9.99650764e-01 -1.04886218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.12264000000005 meters 0.016891859177073806 Centerline is valid? [True, True] Translation: X:237.61, Y:-39.22, Z:-10.49 [[ 9.77003040e-01 2.11671524e-01 2.56948580e-02 2.37606454e+02] [-2.11600071e-01 9.77340863e-01 -5.49983298e-03 -3.92221097e+01] [-2.62767927e-02 -6.36802284e-05 9.99654703e-01 -1.04894059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15264000000002 meters 0.026259909822111304 Centerline is valid? [True, True] Translation: X:237.64, Y:-39.23, Z:-10.49 [[ 9.76691228e-01 2.13006714e-01 2.65025412e-02 2.37636526e+02] [-2.12931045e-01 9.77050731e-01 -5.67802616e-03 -3.92310201e+01] [-2.71037849e-02 -9.75354469e-05 9.99632620e-01 -1.04920065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18264000000002 meters 0.01735816791127465 Centerline is valid? [True, True] Translation: X:237.67, Y:-39.24, Z:-10.49 [[ 9.76367114e-01 2.14493795e-01 2.64513009e-02 2.37668397e+02] [-2.14418852e-01 9.76725342e-01 -5.67118494e-03 -3.92379319e+01] [-2.70520899e-02 -1.34499097e-04 9.99634016e-01 -1.04915552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.21264000000002 meters 0.018796806192627538 Centerline is valid? [True, True] Translation: X:237.70, Y:-39.24, Z:-10.50 [[ 9.76037333e-01 2.15863148e-01 2.74631729e-02 2.37698195e+02] [-2.15782698e-01 9.76423613e-01 -5.89539676e-03 -3.92425714e+01] [-2.80882894e-02 -1.71950191e-04 9.99605431e-01 -1.04953674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24264000000002 meters 0.019564518211122255 Centerline is valid? [True, True] Translation: X:237.73, Y:-39.25, Z:-10.49 [[ 9.75169566e-01 2.19617263e-01 2.85056977e-02 2.37729552e+02] [-2.19532109e-01 9.75586067e-01 -6.12194635e-03 -3.92483186e+01] [-2.91542466e-02 -2.87980178e-04 9.99574883e-01 -1.04923664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.27264000000002 meters 0.02222885975278514 Centerline is valid? [True, True] Translation: X:237.75, Y:-39.27, Z:-10.50 [[ 9.74320144e-01 2.19737930e-01 4.91477203e-02 2.37753846e+02] [-2.21029768e-01 9.75006536e-01 2.25409859e-02 -3.92699274e+01] [-4.29662390e-02 -3.28252458e-02 9.98537133e-01 -1.04984614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30264000000003 meters 0.02277754192146704 Centerline is valid? [True, True] Translation: X:237.79, Y:-39.24, Z:-10.50 [[ 9.73954159e-01 2.25590486e-01 2.28523433e-02 2.37793048e+02] [-2.24673811e-01 9.73734952e-01 -3.69042363e-02 -3.92382842e+01] [-3.05773699e-02 3.08087113e-02 9.99057480e-01 -1.04960674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.33264000000003 meters 0.02609959978213616 Centerline is valid? [True, True] Translation: X:237.82, Y:-39.26, Z:-10.50 [[ 9.73408148e-01 2.27163423e-01 2.95526238e-02 2.37818438e+02] [-2.27075265e-01 9.73856508e-01 -6.35017936e-03 -3.92564076e+01] [-3.02225435e-02 -5.29353567e-04 9.99543054e-01 -1.04974350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36264000000003 meters 0.03232593636372989 Centerline is valid? [True, True] Translation: X:237.85, Y:-39.25, Z:-10.50 [[ 9.72015322e-01 2.33221642e-01 2.81758832e-02 2.37849470e+02] [-2.33144089e-01 9.72423363e-01 -6.05292568e-03 -3.92533008e+01] [-2.88105603e-02 -6.85504114e-04 9.99584655e-01 -1.05018150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.39264000000003 meters 0.03382027679705287 Centerline is valid? [True, True] Translation: X:237.88, Y:-39.26, Z:-10.50 [[ 9.71346566e-01 2.36063974e-01 2.75617139e-02 2.37878639e+02] [-2.35990903e-01 9.71737225e-01 -5.92114827e-03 -3.92569165e+01] [-2.81805132e-02 -7.52826736e-04 9.99602567e-01 -1.05027501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42264000000003 meters 0.04241690775496584 Centerline is valid? [True, True] Translation: X:237.91, Y:-39.25, Z:-10.51 [[ 9.70163916e-01 2.40884713e-01 2.75050934e-02 2.37909977e+02] [-2.40813918e-01 9.70553326e-01 -5.90749230e-03 -3.92510770e+01] [-2.81181844e-02 -8.92373437e-04 9.99604207e-01 -1.05066761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.45264000000003 meters 0.04270536026472695 Centerline is valid? [True, True] Translation: X:237.94, Y:-39.25, Z:-10.51 [[ 9.69682792e-01 2.42772231e-01 2.78734250e-02 2.37939689e+02] [-2.42700308e-01 9.70082843e-01 -5.98646787e-03 -3.92534217e+01] [-2.84928795e-02 -9.59913955e-04 9.99593535e-01 -1.05065066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48264000000003 meters 0.04306235216448112 Centerline is valid? [True, True] Translation: X:237.97, Y:-39.26, Z:-10.51 [[ 9.69337607e-01 2.44074799e-01 2.84972941e-02 2.37968350e+02] [-2.44000190e-01 9.69755872e-01 -6.12018681e-03 -3.92575124e+01] [-2.91292016e-02 -1.02081792e-03 9.99575134e-01 -1.05061110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.51264000000003 meters 0.047983408073199146 Centerline is valid? [True, True] Translation: X:238.00, Y:-39.25, Z:-10.51 [[ 9.69062832e-01 2.45180282e-01 2.83523841e-02 2.37997104e+02] [-2.45106930e-01 9.69476935e-01 -6.08813325e-03 -3.92533684e+01] [-2.89796727e-02 -1.04958218e-03 9.99579450e-01 -1.05097512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54264000000003 meters 0.046974068736347616 Centerline is valid? [True, True] Translation: X:238.03, Y:-39.26, Z:-10.51 [[ 9.69059062e-01 2.45202468e-01 2.82892892e-02 2.38025716e+02] [-2.45129524e-01 9.69471323e-01 -6.07209152e-03 -3.92583564e+01] [-2.89145465e-02 -1.05032466e-03 9.99581335e-01 -1.05104192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.57264000000004 meters 0.04270089299107951 Centerline is valid? [True, True] Translation: X:238.05, Y:-39.27, Z:-10.51 [[ 9.69200404e-01 2.44580606e-01 2.88254088e-02 2.38053063e+02] [-2.44504636e-01 9.69628392e-01 -6.18581040e-03 -3.92669084e+01] [-2.94628640e-02 -1.05265613e-03 9.99565321e-01 -1.05087110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60264000000004 meters 0.041691610023115055 Centerline is valid? [True, True] Translation: X:238.08, Y:-39.27, Z:-10.51 [[ 9.69357037e-01 2.43898845e-01 2.93306765e-02 2.38081214e+02] [-2.43819920e-01 9.69800107e-01 -6.29276164e-03 -3.92720543e+01] [-2.99796905e-02 -1.05147041e-03 9.99549955e-01 -1.05090986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.63264000000004 meters 0.04400761978615461 Centerline is valid? [True, True] Translation: X:238.11, Y:-39.28, Z:-10.51 [[ 9.69890757e-01 2.41699877e-01 2.98845981e-02 2.38110699e+02] [-2.41616964e-01 9.70350535e-01 -6.40947185e-03 -3.92786211e+01] [-3.05477043e-02 -1.00413835e-03 9.99532806e-01 -1.05094259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66264000000004 meters 0.03869530779274586 Centerline is valid? [True, True] Translation: X:238.14, Y:-39.28, Z:-10.51 [[ 9.70133336e-01 2.40707375e-01 3.00211586e-02 2.38138094e+02] [-2.40623212e-01 9.70597242e-01 -6.43929386e-03 -3.92820229e+01] [-3.06884392e-02 -9.76813982e-04 9.99528522e-01 -1.05100113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.69264000000004 meters 0.03869530779274586 Centerline is valid? [True, True] Translation: X:238.16, Y:-39.29, Z:-10.51 [[ 9.70150406e-01 2.40638516e-01 3.00215571e-02 2.38164992e+02] [-2.40554377e-01 9.70614316e-01 -6.43743523e-03 -3.92876555e+01] [-3.06884480e-02 -9.76536576e-04 9.99528522e-01 -1.05113178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.72264000000004 meters 0.0372132282922 Centerline is valid? [True, True] Translation: X:238.19, Y:-39.29, Z:-10.51 [[ 9.70590984e-01 2.38776730e-01 3.06400716e-02 2.38193365e+02] [-2.38688247e-01 9.71074040e-01 -6.56732175e-03 -3.92901744e+01] [-3.13219017e-02 -9.39241701e-04 9.99508908e-01 -1.05117160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.75264000000004 meters 0.033998593945010126 Centerline is valid? [True, True] Translation: X:238.22, Y:-39.30, Z:-10.51 [[ 9.70785484e-01 2.37950126e-01 3.09076225e-02 2.38221640e+02] [-2.37859720e-01 9.71276936e-01 -6.62315601e-03 -3.92977430e+01] [-3.15958417e-02 -9.22014733e-04 9.99500301e-01 -1.05109156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.78264000000004 meters 0.035929927983731125 Centerline is valid? [True, True] Translation: X:238.25, Y:-39.30, Z:-10.51 [[ 9.70988744e-01 2.37074356e-01 3.12507404e-02 2.38249689e+02] [-2.36981524e-01 9.71491086e-01 -6.69525205e-03 -3.92977918e+01] [-3.19470883e-02 -9.04833702e-04 9.99489152e-01 -1.05132313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.81264000000004 meters 0.0332133951132175 Centerline is valid? [True, True] Translation: X:238.28, Y:-39.30, Z:-10.51 [[ 9.71598066e-01 2.34489660e-01 3.18087491e-02 2.38279591e+02] [-2.34392190e-01 9.72118253e-01 -6.81196896e-03 -3.93012888e+01] [-3.25192019e-02 -8.37226508e-04 9.99470760e-01 -1.05143996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.84264000000005 meters 0.030520835103117535 Centerline is valid? [True, True] Translation: X:238.31, Y:-39.31, Z:-10.52 [[ 9.72075472e-01 2.32511982e-01 3.17404306e-02 2.38307315e+02] [-2.32413871e-01 9.72593228e-01 -6.79749835e-03 -3.93089444e+01] [-3.24510276e-02 -7.69234919e-04 9.99473031e-01 -1.05155418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.87264000000005 meters 0.025832299980236454 Centerline is valid? [True, True] Translation: X:238.34, Y:-39.32, Z:-10.52 [[ 9.73178661e-01 2.27950847e-01 3.10113695e-02 2.38335432e+02] [-2.27854935e-01 9.73672453e-01 -6.63950593e-03 -3.93177185e+01] [-3.17083972e-02 -6.04668092e-04 9.99496979e-01 -1.05178567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90264000000002 meters 0.024155808768695945 Centerline is valid? [True, True] Translation: X:238.36, Y:-39.32, Z:-10.52 [[ 9.73725753e-01 2.25745747e-01 2.99502290e-02 2.38363690e+02] [-2.25655254e-01 9.74186118e-01 -6.41202306e-03 -3.93244226e+01] [-3.06245843e-02 -5.14874536e-04 9.99530825e-01 -1.05207649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.93264000000002 meters 0.023240697104965978 Centerline is valid? [True, True] Translation: X:238.39, Y:-39.33, Z:-10.52 [[ 9.74171670e-01 2.23884719e-01 2.94141167e-02 2.38391311e+02] [-2.23796639e-01 9.74615529e-01 -6.29559210e-03 -3.93299675e+01] [-3.00769418e-02 -4.49792972e-04 9.99547485e-01 -1.05244098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96264000000002 meters 0.022486651445824516 Centerline is valid? [True, True] Translation: X:238.42, Y:-39.33, Z:-10.53 [[ 9.74540265e-01 2.22311068e-01 2.91386537e-02 2.38418450e+02] [-2.22223945e-01 9.74975708e-01 -6.23598275e-03 -3.93347927e+01] [-2.97958075e-02 -3.98090303e-04 9.99555927e-01 -1.05268624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.99264000000002 meters 0.021384039417078546 Centerline is valid? [True, True] Translation: X:238.45, Y:-39.34, Z:-10.53 [[ 9.74861570e-01 2.20839929e-01 2.95744144e-02 2.38446343e+02] [-2.20749562e-01 9.75310000e-01 -6.32733544e-03 -3.93366249e+01] [-3.02415504e-02 -3.60262862e-04 9.99542555e-01 -1.05276426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02264000000002 meters 0.021059455673141627 Centerline is valid? [True, True] Translation: X:238.47, Y:-39.34, Z:-10.53 [[ 9.74939469e-01 2.20503613e-01 2.95158918e-02 2.38474080e+02] [-2.20413497e-01 9.75386095e-01 -6.31321404e-03 -3.93398987e+01] [-3.01814769e-02 -3.50699395e-04 9.99544374e-01 -1.05290008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.05264000000003 meters 0.02159526195145882 Centerline is valid? [True, True] Translation: X:238.50, Y:-39.34, Z:-10.53 [[ 9.74910128e-01 2.20674602e-01 2.92055217e-02 2.38502539e+02] [-2.20586518e-01 9.75347422e-01 -6.24450198e-03 -3.93388798e+01] [-2.98635333e-02 -3.54516104e-04 9.99553922e-01 -1.05311927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08264000000003 meters 0.021542160531112135 Centerline is valid? [True, True] Translation: X:238.53, Y:-39.34, Z:-10.53 [[ 9.74889294e-01 2.20798717e-01 2.89618835e-02 2.38530847e+02] [-2.20712209e-01 9.75319332e-01 -6.19045090e-03 -3.93423259e+01] [-2.96139285e-02 -3.57236986e-04 9.99561348e-01 -1.05327489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.11264000000003 meters 0.02157806308632255 Centerline is valid? [True, True] Translation: X:238.56, Y:-39.35, Z:-10.53 [[ 9.74918595e-01 2.20723783e-01 2.85437223e-02 2.38559021e+02] [-2.20639764e-01 9.75336295e-01 -6.09971043e-03 -3.93461187e+01] [-2.91860795e-02 -3.51159030e-04 9.99573934e-01 -1.05349947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14264000000003 meters 0.020905708070856552 Centerline is valid? [True, True] Translation: X:238.59, Y:-39.35, Z:-10.54 [[ 9.75077209e-01 2.20052478e-01 2.83079987e-02 2.38588195e+02] [-2.19969597e-01 9.75487980e-01 -6.04796827e-03 -3.93481511e+01] [-2.89449829e-02 -3.29663056e-04 9.99580952e-01 -1.05365757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.17264000000003 meters 0.023532543197552342 Centerline is valid? [True, True] Translation: X:238.62, Y:-39.35, Z:-10.54 [[ 9.75173807e-01 2.19640756e-01 2.81777209e-02 2.38615934e+02] [-2.19558492e-01 9.75580770e-01 -6.01921357e-03 -3.93515340e+01] [-2.88117073e-02 -3.16878490e-04 9.99584806e-01 -1.05381001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20264000000003 meters 0.0206426529026789 Centerline is valid? [True, True] Translation: X:238.64, Y:-39.35, Z:-10.54 [[ 9.75214928e-01 2.19392627e-01 2.86830735e-02 2.38643577e+02] [-2.19307349e-01 9.75636600e-01 -6.12469360e-03 -3.93540802e+01] [-2.93279689e-02 -3.17516186e-04 9.99569792e-01 -1.05391449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.23264000000003 meters 0.01962797691573176 Centerline is valid? [True, True] Translation: X:238.67, Y:-39.36, Z:-10.54 [[ 9.75160944e-01 2.19537635e-01 2.93999831e-02 2.38673174e+02] [-2.19448171e-01 9.75603975e-01 -6.27565575e-03 -3.93558915e+01] [-3.00604830e-02 -3.31998127e-04 9.99548026e-01 -1.05370025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26264000000003 meters 0.020358161057180187 Centerline is valid? [True, True] Translation: X:238.70, Y:-39.36, Z:-10.54 [[ 9.75147716e-01 2.19604695e-01 2.93378600e-02 2.38700994e+02] [-2.19515678e-01 9.75588882e-01 -6.26109650e-03 -3.93585313e+01] [-2.99966562e-02 -3.34626255e-04 9.99549943e-01 -1.05395618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.29264000000003 meters 0.020276583020946606 Centerline is valid? [True, True] Translation: X:238.73, Y:-39.36, Z:-10.54 [[ 9.75280238e-01 2.18926461e-01 2.99943708e-02 2.38728662e+02] [-2.18833155e-01 9.75741308e-01 -6.39919550e-03 -3.93612499e+01] [-3.06676998e-02 -3.22753901e-04 9.99529583e-01 -1.05417017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32264000000004 meters 0.01934181725749786 Centerline is valid? [True, True] Translation: X:238.76, Y:-39.37, Z:-10.54 [[ 9.75337640e-01 2.18553519e-01 3.08358205e-02 2.38757071e+02] [-2.18454786e-01 9.75824910e-01 -6.57651048e-03 -3.93667485e+01] [-3.15276813e-02 -3.21914375e-04 9.99502827e-01 -1.05407959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.35264000000004 meters 0.018527193413302785 Centerline is valid? [True, True] Translation: X:238.79, Y:-39.37, Z:-10.54 [[ 9.75430273e-01 2.18076164e-01 3.12821028e-02 2.38785021e+02] [-2.17974358e-01 9.75931703e-01 -6.67010142e-03 -3.93720790e+01] [-3.19837860e-02 -3.12477430e-04 9.99488339e-01 -1.05403778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38264000000004 meters 0.01819833761128454 Centerline is valid? [True, True] Translation: X:238.81, Y:-39.37, Z:-10.54 [[ 9.75742730e-01 2.16629748e-01 3.15860216e-02 2.38813113e+02] [-2.16525243e-01 9.76253799e-01 -6.73344115e-03 -3.93749492e+01] [-3.22946373e-02 -2.69064771e-04 9.99478356e-01 -1.05428403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.41264000000004 meters 0.01766540605381698 Centerline is valid? [True, True] Translation: X:238.84, Y:-39.38, Z:-10.55 [[ 9.76012610e-01 2.15441381e-01 3.13750925e-02 2.38840088e+02] [-2.15337719e-01 9.76516748e-01 -6.68646187e-03 -3.93805179e+01] [-3.20788439e-02 -2.30169745e-04 9.99485315e-01 -1.05452560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.44264000000004 meters 0.025214340937094928 Centerline is valid? [True, True] Translation: X:238.87, Y:-39.39, Z:-10.55 [[ 9.76326380e-01 2.14171238e-01 3.02899570e-02 2.38867781e+02] [-2.14074073e-01 9.76796113e-01 -6.45323649e-03 -3.93880717e+01] [-3.09692099e-02 -1.83829438e-04 9.99520322e-01 -1.05496095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.47264000000004 meters 0.0162758340935551 Centerline is valid? [True, True] Translation: X:238.90, Y:-39.40, Z:-10.55 [[ 9.76884856e-01 2.11724397e-01 2.94746935e-02 2.38895227e+02] [-2.11631320e-01 9.77329407e-01 -6.27819611e-03 -3.93983687e+01] [-3.01357320e-02 -1.04693584e-04 9.99545810e-01 -1.05514773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.50264000000004 meters 0.01681057636064284 Centerline is valid? [True, True] Translation: X:238.92, Y:-39.40, Z:-10.56 [[ 9.77077185e-01 2.10833577e-01 2.94852024e-02 2.38921143e+02] [-2.10740054e-01 9.77521967e-01 -6.27957236e-03 -3.94032324e+01] [-3.01463778e-02 -7.80862473e-05 9.99545492e-01 -1.05561038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.53264000000004 meters 0.016085509782065226 Centerline is valid? [True, True] Translation: X:238.95, Y:-39.41, Z:-10.55 [[ 9.77144199e-01 2.10424117e-01 3.01812070e-02 2.38949899e+02] [-2.10326041e-01 9.77610191e-01 -6.42419540e-03 -3.94071724e+01] [-3.08572612e-02 -7.05285029e-05 9.99523799e-01 -1.05545744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.56264000000004 meters 0.023934887868915282 Centerline is valid? [True, True] Translation: X:238.98, Y:-39.41, Z:-10.55 [[ 9.77126705e-01 2.10472851e-01 3.04069196e-02 2.38978521e+02] [-2.10373355e-01 9.77599700e-01 -6.47131544e-03 -3.94111927e+01] [-3.10878317e-02 -7.35105644e-05 9.99516654e-01 -1.05541589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.59264000000005 meters 0.01576145468433422 Centerline is valid? [True, True] Translation: X:239.01, Y:-39.41, Z:-10.55 [[ 9.77028103e-01 2.10763369e-01 3.15418568e-02 2.39006783e+02] [-2.10656511e-01 9.77537106e-01 -6.71117867e-03 -3.94145761e+01] [-3.22478060e-02 -8.74873415e-05 9.99479900e-01 -1.05541107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.62264000000005 meters 0.016376270025537272 Centerline is valid? [True, True] Translation: X:239.03, Y:-39.42, Z:-10.56 [[ 9.76966100e-01 2.11033718e-01 3.16545161e-02 2.39033904e+02] [-2.10926254e-01 9.77478777e-01 -6.73459572e-03 -3.94183108e+01] [-3.23628445e-02 -9.72968022e-05 9.99476181e-01 -1.05578740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.65264000000002 meters 0.015881789375226957 Centerline is valid? [True, True] Translation: X:239.06, Y:-39.43, Z:-10.56 [[ 9.76931066e-01 2.11233963e-01 3.13991389e-02 2.39061830e+02] [-2.11128482e-01 9.77435523e-01 -6.67552188e-03 -3.94252836e+01] [-3.21007307e-02 -1.07727831e-04 9.99484633e-01 -1.05578017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68264000000002 meters 0.016071555175215076 Centerline is valid? [True, True] Translation: X:239.09, Y:-39.43, Z:-10.56 [[ 9.77032045e-01 2.10707938e-01 3.17891227e-02 2.39088718e+02] [-2.10599588e-01 9.77549056e-01 -6.75700881e-03 -3.94306024e+01] [-3.24991823e-02 -9.29620177e-05 9.99471758e-01 -1.05603616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.71264000000002 meters 0.015222154435068766 Centerline is valid? [True, True] Translation: X:239.12, Y:-39.44, Z:-10.56 [[ 9.77143922e-01 2.10069326e-01 3.25673861e-02 2.39117495e+02] [-2.09955330e-01 9.77686490e-01 -6.92002788e-03 -3.94367163e+01] [-3.32943790e-02 -7.58331174e-05 9.99445586e-01 -1.05590109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74264000000002 meters 0.023557131644258943 Centerline is valid? [True, True] Translation: X:239.15, Y:-39.44, Z:-10.56 [[ 9.77613235e-01 2.07939532e-01 3.21483241e-02 2.39145611e+02] [-2.07827332e-01 9.78141683e-01 -6.83000968e-03 -3.94428641e+01] [-3.28658449e-02 -4.19256807e-06 9.99459772e-01 -1.05608476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.77264000000002 meters 0.01489186772441176 Centerline is valid? [True, True] Translation: X:239.17, Y:-39.45, Z:-10.56 [[ 9.77834006e-01 2.06736190e-01 3.31783822e-02 2.39172783e+02] [-2.06616045e-01 9.78396722e-01 -7.04725628e-03 -3.94499370e+01] [-3.39185433e-02 3.58607344e-05 9.99424600e-01 -1.05621297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80264000000003 meters 0.015160649971948102 Centerline is valid? [True, True] Translation: X:239.20, Y:-39.46, Z:-10.56 [[ 9.78177330e-01 2.05037046e-01 3.35994272e-02 2.39199101e+02] [-2.04912899e-01 9.78754209e-01 -7.13465066e-03 -3.94576470e+01] [-3.43484485e-02 9.39975187e-05 9.99409914e-01 -1.05632456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.83264000000003 meters 0.014869399657176586 Centerline is valid? [True, True] Translation: X:239.23, Y:-39.46, Z:-10.56 [[ 9.78187690e-01 2.04906482e-01 3.40907131e-02 2.39227875e+02] [-2.04778692e-01 9.78781551e-01 -7.23622432e-03 -3.94625975e+01] [-3.48501103e-02 9.73339168e-05 9.99392546e-01 -1.05635137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86264000000003 meters 0.014923276460413224 Centerline is valid? [True, True] Translation: X:239.26, Y:-39.47, Z:-10.57 [[ 9.78145759e-01 2.05143008e-01 3.38706315e-02 2.39256656e+02] [-2.05017063e-01 9.78732006e-01 -7.18786397e-03 -3.94671749e+01] [-3.46248111e-02 8.67212850e-05 9.99400378e-01 -1.05651178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.89264000000003 meters 0.014642208076825824 Centerline is valid? [True, True] Translation: X:239.29, Y:-39.47, Z:-10.57 [[ 9.78119782e-01 2.05305699e-01 3.36342531e-02 2.39285187e+02] [-2.05181657e-01 9.78697892e-01 -7.13608463e-03 -3.94726857e+01] [-3.43828515e-02 7.88137502e-05 9.99408732e-01 -1.05667014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92264000000003 meters 0.014642262752803302 Centerline is valid? [True, True] Translation: X:239.31, Y:-39.48, Z:-10.57 [[ 9.78105544e-01 2.05379397e-01 3.35983432e-02 2.39312570e+02] [-2.05255711e-01 9.78682429e-01 -7.12709172e-03 -3.94771009e+01] [-3.43458659e-02 7.47961148e-05 9.99410004e-01 -1.05682777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.95264000000003 meters 0.014843826889455661 Centerline is valid? [True, True] Translation: X:239.34, Y:-39.48, Z:-10.57 [[ 9.78117717e-01 2.05421524e-01 3.29807508e-02 2.39340648e+02] [-2.05302451e-01 9.78673588e-01 -6.99363570e-03 -3.94804071e+01] [-3.37140331e-02 6.95699989e-05 9.99431518e-01 -1.05706815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98264000000003 meters 0.01484624286201871 Centerline is valid? [True, True] Translation: X:239.37, Y:-39.48, Z:-10.57 [[ 9.78155253e-01 2.05242328e-01 3.29831461e-02 2.39368590e+02] [-2.05123218e-01 9.78711184e-01 -6.99172017e-03 -3.94832216e+01] [-3.37159708e-02 7.33787436e-05 9.99431452e-01 -1.05724029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.01264000000003 meters 0.015043338641045387 Centerline is valid? [True, True] Translation: X:239.40, Y:-39.49, Z:-10.57 [[ 9.78257966e-01 2.04690994e-01 3.33608832e-02 2.39395493e+02] [-2.04568910e-01 9.78826639e-01 -7.06908962e-03 -3.94894532e+01] [-3.41015001e-02 9.07937060e-05 9.99418371e-01 -1.05743938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04264000000003 meters 0.015092638350602946 Centerline is valid? [True, True] Translation: X:239.42, Y:-39.50, Z:-10.57 [[ 9.78573231e-01 2.03137420e-01 3.36098113e-02 2.39422686e+02] [-2.03012657e-01 9.79150228e-01 -7.11991211e-03 -3.94952578e+01] [-3.43553750e-02 1.44138305e-04 9.99409669e-01 -1.05746512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.07264000000004 meters 0.02251417695108592 Centerline is valid? [True, True] Translation: X:239.45, Y:-39.50, Z:-10.58 [[ 9.78813344e-01 2.02010030e-01 3.34123471e-02 2.39449692e+02] [-2.01886164e-01 9.79383436e-01 -7.07541514e-03 -3.95007203e+01] [-3.41528042e-02 1.80020158e-04 9.99416607e-01 -1.05767357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10264000000004 meters 0.016252865664673027 Centerline is valid? [True, True] Translation: X:239.48, Y:-39.51, Z:-10.58 [[ 9.79030885e-01 2.00803700e-01 3.42986870e-02 2.39476451e+02] [-2.00672510e-01 9.79631473e-01 -7.26088915e-03 -3.95076855e+01] [-3.50580867e-02 2.25831128e-04 9.99385251e-01 -1.05774375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.13264000000004 meters 0.0164930909255496 Centerline is valid? [True, True] Translation: X:239.50, Y:-39.51, Z:-10.58 [[ 9.79296405e-01 1.99394622e-01 3.49333068e-02 2.39504348e+02] [-1.99257720e-01 9.79919235e-01 -7.39286339e-03 -3.95142155e+01] [-3.57059164e-02 2.79073494e-04 9.99362301e-01 -1.05773351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16264000000004 meters 0.025593775805599454 Centerline is valid? [True, True] Translation: X:239.53, Y:-39.52, Z:-10.58 [[ 9.79945359e-01 1.96213322e-01 3.47480376e-02 2.39532132e+02] [-1.96075928e-01 9.80561155e-01 -7.35197545e-03 -3.95225556e+01] [-3.55151315e-02 3.91280512e-04 9.99369062e-01 -1.05789344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.19264000000004 meters 0.019333067622641285 Centerline is valid? [True, True] Translation: X:239.56, Y:-39.53, Z:-10.58 [[ 9.80205737e-01 1.94868136e-01 3.49731737e-02 2.39558469e+02] [-1.94728158e-01 9.80829350e-01 -7.39796288e-03 -3.95305415e+01] [-3.57443425e-02 4.41263966e-04 9.99360869e-01 -1.05798093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.22264000000004 meters 0.020858239222645337 Centerline is valid? [True, True] Translation: X:239.58, Y:-39.54, Z:-10.58 [[ 9.80526184e-01 1.93304849e-01 3.46646645e-02 2.39584649e+02] [-1.93166432e-01 9.81138621e-01 -7.33047809e-03 -3.95383496e+01] [-3.54278581e-02 4.91676159e-04 9.99372115e-01 -1.05821142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.25264000000004 meters 0.023054090446503382 Centerline is valid? [True, True] Translation: X:239.61, Y:-39.55, Z:-10.59 [[ 9.81110646e-01 1.90536766e-01 3.34311327e-02 2.39612670e+02] [-1.90406497e-01 9.81679896e-01 -7.06741179e-03 -3.95476249e+01] [-3.41652727e-02 5.68408081e-04 9.99416035e-01 -1.05852031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.28264000000004 meters 0.024555294188964374 Centerline is valid? [True, True] Translation: X:239.64, Y:-39.56, Z:-10.59 [[ 9.81365203e-01 1.89255385e-01 3.32375951e-02 2.39639221e+02] [-1.89125897e-01 9.81927710e-01 -7.02616510e-03 -3.95562973e+01] [-3.39666553e-02 6.09143952e-04 9.99422781e-01 -1.05878896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.31264000000004 meters 0.02690521683685192 Centerline is valid? [True, True] Translation: X:239.67, Y:-39.57, Z:-10.59 [[ 9.81714675e-01 1.87311826e-01 3.39201466e-02 2.39665731e+02] [-1.87175889e-01 9.82300263e-01 -7.16796759e-03 -3.95687587e+01] [-3.46624140e-02 6.87865370e-04 9.99398841e-01 -1.05890981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.34264000000005 meters 0.027037044023371377 Centerline is valid? [True, True] Translation: X:239.69, Y:-39.58, Z:-10.59 [[ 9.81752670e-01 1.87012352e-01 3.44684506e-02 2.39694163e+02] [-1.86871851e-01 9.82357307e-01 -7.28238530e-03 -3.95760921e+01] [-3.52222303e-02 7.08318061e-04 9.99379254e-01 -1.05892346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.37264000000005 meters 0.02590756683005124 Centerline is valid? [True, True] Translation: X:239.72, Y:-39.58, Z:-10.59 [[ 9.81735282e-01 1.87110076e-01 3.44333387e-02 2.39723400e+02] [-1.86969950e-01 9.82338702e-01 -7.27414082e-03 -3.95818921e+01] [-3.51862662e-02 7.03281092e-04 9.99380524e-01 -1.05895492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40264000000002 meters 0.025103865078151256 Centerline is valid? [True, True] Translation: X:239.75, Y:-39.59, Z:-10.59 [[ 9.81690565e-01 1.87376034e-01 3.42615966e-02 2.39752340e+02] [-1.87237493e-01 9.82288016e-01 -7.23702255e-03 -3.95883747e+01] [-3.50108003e-02 6.89461298e-04 9.99386696e-01 -1.05913866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.43264000000002 meters 0.026874094617426906 Centerline is valid? [True, True] Translation: X:239.78, Y:-39.60, Z:-10.59 [[ 9.81613365e-01 1.87811305e-01 3.40898124e-02 2.39780057e+02] [-1.87674449e-01 9.82204900e-01 -7.19972617e-03 -3.95989351e+01] [-3.48353707e-02 6.69560693e-04 9.99392840e-01 -1.05948800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46264000000002 meters 0.025244095330277206 Centerline is valid? [True, True] Translation: X:239.81, Y:-39.60, Z:-10.60 [[ 9.81541238e-01 1.88246145e-01 3.37666661e-02 2.39808752e+02] [-1.88112138e-01 9.82121667e-01 -7.13121305e-03 -3.96045493e+01] [-3.45053978e-02 6.47659927e-04 9.99404302e-01 -1.05957350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.49264000000002 meters 0.024020804803329222 Centerline is valid? [True, True] Translation: X:239.84, Y:-39.61, Z:-10.60 [[ 9.81212831e-01 1.90093035e-01 3.29547848e-02 2.39836828e+02] [-1.89966458e-01 9.81765917e-01 -6.95913173e-03 -3.96113045e+01] [-3.36767670e-02 5.68085610e-04 9.99432615e-01 -1.05985531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52264000000002 meters 0.02297443716852371 Centerline is valid? [True, True] Translation: X:239.86, Y:-39.62, Z:-10.60 [[ 9.80946361e-01 1.91453536e-01 3.30118381e-02 2.39864277e+02] [-1.91327331e-01 9.81501540e-01 -6.96995974e-03 -3.96177690e+01] [-3.37355933e-02 5.21089775e-04 9.99430657e-01 -1.06007069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.55264000000003 meters 0.01851524568283318 Centerline is valid? [True, True] Translation: X:239.89, Y:-39.62, Z:-10.60 [[ 9.80134114e-01 1.95696246e-01 3.22505579e-02 2.39893577e+02] [-1.95578127e-01 9.80664492e-01 -6.80810972e-03 -3.96210537e+01] [-3.29592985e-02 3.65356860e-04 9.99456628e-01 -1.06016401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58264000000003 meters 0.01851524568283318 Centerline is valid? [True, True] Translation: X:239.92, Y:-39.63, Z:-10.60 [[ 9.80143603e-01 1.95648681e-01 3.22507689e-02 2.39921287e+02] [-1.95530569e-01 9.80673982e-01 -6.80710996e-03 -3.96268133e+01] [-3.29592921e-02 3.65934066e-04 9.99456628e-01 -1.06029856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.61264000000003 meters 0.017547644683022803 Centerline is valid? [True, True] Translation: X:239.95, Y:-39.63, Z:-10.61 [[ 9.79614007e-01 1.98290523e-01 3.22065981e-02 2.39949010e+02] [-1.98174209e-01 9.80143251e-01 -6.79633348e-03 -3.96297077e+01] [-3.29147283e-02 2.75266368e-04 9.99458126e-01 -1.06055075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64264000000003 meters 0.01560475465270127 Centerline is valid? [True, True] Translation: X:239.98, Y:-39.63, Z:-10.61 [[ 9.78958565e-01 2.01429545e-01 3.26537487e-02 2.39978076e+02] [-2.01311799e-01 9.79502991e-01 -6.88839682e-03 -3.96300580e+01] [-3.33719711e-02 1.69870173e-04 9.99442986e-01 -1.06063229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.67264000000003 meters 0.014149918663640444 Centerline is valid? [True, True] Translation: X:240.01, Y:-39.63, Z:-10.61 [[ 9.77781924e-01 2.06900115e-01 3.36875615e-02 2.40007951e+02] [-2.06778094e-01 9.78362071e-01 -7.10476656e-03 -3.96295583e+01] [-3.44286095e-02 -1.89374697e-05 9.99407160e-01 -1.06064519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70264000000003 meters 0.014077671424996933 Centerline is valid? [True, True] Translation: X:240.04, Y:-39.63, Z:-10.61 [[ 9.77389218e-01 2.08712298e-01 3.39041777e-02 2.40035990e+02] [-2.08589837e-01 9.77977080e-01 -7.14913479e-03 -3.96340990e+01] [-3.46496211e-02 -8.45796538e-05 9.99399518e-01 -1.06055431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.73264000000003 meters 0.014496200356222658 Centerline is valid? [True, True] Translation: X:240.06, Y:-39.64, Z:-10.61 [[ 9.77086873e-01 2.10097564e-01 3.40625364e-02 2.40063796e+02] [-2.09974890e-01 9.77680416e-01 -7.17988441e-03 -3.96386087e+01] [-3.48107510e-02 -1.36906528e-04 9.99393913e-01 -1.06067113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76264000000003 meters 0.014843542473636109 Centerline is valid? [True, True] Translation: X:240.09, Y:-39.64, Z:-10.61 [[ 9.76897662e-01 2.10838254e-01 3.49025659e-02 2.40091019e+02] [-2.10710027e-01 9.77520947e-01 -7.35410328e-03 -3.96435014e+01] [-3.56685156e-02 -1.70114309e-04 9.99363662e-01 -1.06080534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.79264000000003 meters 0.015017381123899283 Centerline is valid? [True, True] Translation: X:240.12, Y:-39.65, Z:-10.61 [[ 9.76943131e-01 2.10650289e-01 3.47645736e-02 2.40118160e+02] [-2.10523032e-01 9.77561471e-01 -7.32286552e-03 -3.96505426e+01] [-3.55270714e-02 -1.64720252e-04 9.99368701e-01 -1.06097362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82264000000004 meters 0.014024788428859887 Centerline is valid? [True, True] Translation: X:240.15, Y:-39.66, Z:-10.61 [[ 9.77288577e-01 2.09105851e-01 3.43770230e-02 2.40145545e+02] [-2.08980538e-01 9.77893006e-01 -7.23903233e-03 -3.96620496e+01] [-3.51307744e-02 -1.09505168e-04 9.99382718e-01 -1.06103656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.85264000000004 meters 0.013779744393165753 Centerline is valid? [True, True] Translation: X:240.17, Y:-39.67, Z:-10.61 [[ 9.77466161e-01 2.08268213e-01 3.44130019e-02 2.40172955e+02] [-2.08142180e-01 9.78071748e-01 -7.24486224e-03 -3.96696718e+01] [-3.51672595e-02 -8.11895562e-05 9.99381437e-01 -1.06118102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88264000000004 meters 0.02704009641392358 Centerline is valid? [True, True] Translation: X:240.20, Y:-39.68, Z:-10.61 [[ 9.77733044e-01 2.07109653e-01 3.38184410e-02 2.40200188e+02] [-2.06987304e-01 9.78317735e-01 -7.11800105e-03 -3.96777084e+01] [-3.45593873e-02 -4.04831024e-05 9.99402645e-01 -1.06136519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.91264000000004 meters 0.013373144811731021 Centerline is valid? [True, True] Translation: X:240.23, Y:-39.69, Z:-10.61 [[ 9.77910388e-01 2.06068263e-01 3.50306301e-02 2.40226992e+02] [-2.05936377e-01 9.78537619e-01 -7.37138469e-03 -3.96872880e+01] [-3.57977978e-02 -5.52740735e-06 9.99359053e-01 -1.06134979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.94264000000004 meters 0.013357955657940821 Centerline is valid? [True, True] Translation: X:240.25, Y:-39.70, Z:-10.61 [[ 9.78290472e-01 2.04088983e-01 3.59922007e-02 2.40252972e+02] [-2.03948505e-01 9.78952339e-01 -7.57130982e-03 -3.96995938e+01] [-3.67798700e-02 6.63847403e-05 9.99323389e-01 -1.06133808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.97264000000004 meters 0.013362316845646606 Centerline is valid? [True, True] Translation: X:240.28, Y:-39.71, Z:-10.61 [[ 9.78432485e-01 2.03295949e-01 3.66146093e-02 2.40280379e+02] [-2.03150107e-01 9.79117331e-01 -7.69975468e-03 -3.97078831e+01] [-3.74153274e-02 9.54283221e-05 9.99299797e-01 -1.06130805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.00264000000004 meters 0.013532805962637015 Centerline is valid? [True, True] Translation: X:240.31, Y:-39.72, Z:-10.61 [[ 9.78541401e-01 2.02742968e-01 3.67697649e-02 2.40307639e+02] [-2.02595570e-01 9.79231983e-01 -7.73041637e-03 -3.97170761e+01] [-3.75734174e-02 1.15140970e-04 9.99293863e-01 -1.06141528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.03264000000004 meters 0.013711557917941927 Centerline is valid? [True, True] Translation: X:240.34, Y:-39.72, Z:-10.62 [[ 9.78576024e-01 2.02682977e-01 3.61742514e-02 2.40335808e+02] [-2.02540324e-01 9.79244401e-01 -7.60389670e-03 -3.97244976e+01] [-3.69646135e-02 1.14246387e-04 9.99316569e-01 -1.06166667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.06264000000004 meters 0.013638012248506092 Centerline is valid? [True, True] Translation: X:240.36, Y:-39.73, Z:-10.62 [[ 9.78546425e-01 2.02897633e-01 3.57693167e-02 2.40364008e+02] [-2.02758343e-01 9.79199949e-01 -7.51761463e-03 -3.97315969e+01] [-3.65506193e-02 1.03807531e-04 9.99331797e-01 -1.06191436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.09264000000005 meters 0.013566180369655012 Centerline is valid? [True, True] Translation: X:240.39, Y:-39.74, Z:-10.62 [[ 9.78247910e-01 2.04621760e-01 3.40729024e-02 2.40392405e+02] [-2.04496483e-01 9.78841118e-01 -7.15921408e-03 -3.97389390e+01] [-3.48168889e-02 3.56975192e-05 9.99393708e-01 -1.06224424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.12264000000005 meters 0.013929598113945488 Centerline is valid? [True, True] Translation: X:240.42, Y:-39.74, Z:-10.63 [[ 9.77851025e-01 2.06563727e-01 3.37461172e-02 2.40420270e+02] [-2.06442010e-01 9.78433148e-01 -7.09019007e-03 -3.97429793e+01] [-3.44828957e-02 -3.34666382e-05 9.99405288e-01 -1.06256616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15264000000002 meters 0.021895681806781947 Centerline is valid? [True, True] Translation: X:240.45, Y:-39.75, Z:-10.63 [[ 9.77410627e-01 2.08746466e-01 3.30662804e-02 2.40448864e+02] [-2.08630928e-01 9.77969785e-01 -6.94514594e-03 -3.97451654e+01] [-3.37875978e-02 -1.10389312e-04 9.99429030e-01 -1.06287320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18264000000002 meters 0.017365972450217867 Centerline is valid? [True, True] Translation: X:240.48, Y:-39.74, Z:-10.63 [[ 9.76488772e-01 2.13040343e-01 3.29164055e-02 2.40477046e+02] [-2.12928331e-01 9.77043369e-01 -6.91237588e-03 -3.97437187e+01] [-3.36333706e-02 -2.58977827e-04 9.99434205e-01 -1.06312525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.21264000000002 meters 0.024648911602315204 Centerline is valid? [True, True] Translation: X:240.51, Y:-39.75, Z:-10.63 [[ 9.76270468e-01 2.14172158e-01 3.20352884e-02 2.40505111e+02] [-2.14066753e-01 9.76795885e-01 -6.72486203e-03 -3.97473171e+01] [-3.27322161e-02 -2.92405976e-04 9.99464115e-01 -1.06348297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24264000000002 meters 0.018873287314731695 Centerline is valid? [True, True] Translation: X:240.53, Y:-39.75, Z:-10.63 [[ 9.76030203e-01 2.15250417e-01 3.21294418e-02 2.40533162e+02] [-2.15145046e-01 9.76558830e-01 -6.74249890e-03 -3.97525656e+01] [-3.28276158e-02 -3.31607655e-04 9.99460974e-01 -1.06345516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.27264000000002 meters 0.02696865872160898 Centerline is valid? [True, True] Translation: X:240.56, Y:-39.76, Z:-10.64 [[ 9.75775163e-01 2.16395451e-01 3.21844816e-02 2.40561521e+02] [-2.16290392e-01 9.76305726e-01 -6.75247882e-03 -3.97570730e+01] [-3.28830994e-02 -3.72293041e-04 9.99459135e-01 -1.06362742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30264000000003 meters 0.019904042165440252 Centerline is valid? [True, True] Translation: X:240.59, Y:-39.76, Z:-10.64 [[ 9.75626687e-01 2.17014542e-01 3.25154822e-02 2.40589677e+02] [-2.16907709e-01 9.76168290e-01 -6.82028497e-03 -3.97630396e+01] [-3.32206837e-02 -3.98806729e-04 9.99447961e-01 -1.06359166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.33264000000003 meters 0.021949608933833027 Centerline is valid? [True, True] Translation: X:240.62, Y:-39.77, Z:-10.64 [[ 9.75481726e-01 2.17666210e-01 3.25088263e-02 2.40616950e+02] [-2.17559830e-01 9.76023177e-01 -6.81743990e-03 -3.97657197e+01] [-3.32132942e-02 -4.22326688e-04 9.99448197e-01 -1.06390139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36264000000003 meters 0.022733044945885742 Centerline is valid? [True, True] Translation: X:240.64, Y:-39.77, Z:-10.64 [[ 9.75360291e-01 2.18178192e-01 3.27197161e-02 2.40644318e+02] [-2.18070773e-01 9.75908848e-01 -6.85993076e-03 -3.97691303e+01] [-3.34281477e-02 -4.44309731e-04 9.99441025e-01 -1.06401735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.39264000000003 meters 0.021475362211656676 Centerline is valid? [True, True] Translation: X:240.67, Y:-39.78, Z:-10.64 [[ 9.75224026e-01 2.18814602e-01 3.25310487e-02 2.40672255e+02] [-2.18708877e-01 9.75766341e-01 -6.81721803e-03 -3.97751903e+01] [-3.32344092e-02 -4.66514332e-04 9.99447476e-01 -1.06398509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42264000000003 meters 0.02111942463076174 Centerline is valid? [True, True] Translation: X:240.70, Y:-39.78, Z:-10.64 [[ 9.75309079e-01 2.18508648e-01 3.20339033e-02 2.40699937e+02] [-2.18406017e-01 9.75834908e-01 -6.71148375e-03 -3.97815905e+01] [-3.27263183e-02 -4.50626206e-04 9.99464249e-01 -1.06419414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.45264000000003 meters 0.02143465444076585 Centerline is valid? [True, True] Translation: X:240.73, Y:-39.79, Z:-10.64 [[ 9.75380288e-01 2.18162267e-01 3.22260635e-02 2.40727682e+02] [-2.18058265e-01 9.75912408e-01 -6.75010830e-03 -3.97869153e+01] [-3.29224342e-02 -4.43236927e-04 9.99457811e-01 -1.06444110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48264000000003 meters 0.019861228180463448 Centerline is valid? [True, True] Translation: X:240.76, Y:-39.80, Z:-10.65 [[ 9.75808180e-01 2.16273439e-01 3.20030478e-02 2.40755117e+02] [-2.16169909e-01 9.76332759e-01 -6.70179907e-03 -3.97960130e+01] [-3.26950451e-02 -3.78425573e-04 9.99465302e-01 -1.06462506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.51264000000003 meters 0.017968367250474532 Centerline is valid? [True, True] Translation: X:240.78, Y:-39.81, Z:-10.65 [[ 9.76150839e-01 2.14737290e-01 3.18972784e-02 2.40782366e+02] [-2.14633673e-01 9.76671792e-01 -6.67811382e-03 -3.98054703e+01] [-3.25872122e-02 -3.27383624e-04 9.99468842e-01 -1.06466118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54264000000003 meters 0.015666162795274673 Centerline is valid? [True, True] Translation: X:240.81, Y:-39.82, Z:-10.65 [[ 9.76857846e-01 2.11283664e-01 3.32860661e-02 2.40808336e+02] [-2.11168876e-01 9.77424761e-01 -6.96723473e-03 -3.98167083e+01] [-3.40066881e-02 -2.22983245e-04 9.99421580e-01 -1.06459579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.57264000000004 meters 0.014608240719346887 Centerline is valid? [True, True] Translation: X:240.84, Y:-39.83, Z:-10.65 [[ 9.77200730e-01 2.09605709e-01 3.38257249e-02 2.40836019e+02] [-2.09486244e-01 9.77785978e-01 -7.07783448e-03 -3.98252277e+01] [-3.45578740e-02 -1.69559035e-04 9.99402684e-01 -1.06454730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60264000000004 meters 0.01421717277611143 Centerline is valid? [True, True] Translation: X:240.86, Y:-39.83, Z:-10.65 [[ 9.77406570e-01 2.08548691e-01 3.44069728e-02 2.40862583e+02] [-2.08424486e-01 9.78011976e-01 -7.19781119e-03 -3.98323165e+01] [-3.51515256e-02 -1.36067677e-04 9.99381985e-01 -1.06465990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.63264000000004 meters 0.014227404084239325 Centerline is valid? [True, True] Translation: X:240.89, Y:-39.84, Z:-10.65 [[ 9.77720270e-01 2.07157002e-01 3.38976342e-02 2.40889079e+02] [-2.07035686e-01 9.78307707e-01 -7.08914253e-03 -3.98415352e+01] [-3.46308823e-02 -8.68215799e-05 9.99400167e-01 -1.06499165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66264000000004 meters 0.014072445959389227 Centerline is valid? [True, True] Translation: X:240.92, Y:-39.85, Z:-10.65 [[ 9.77833563e-01 2.06697684e-01 3.34303794e-02 2.40916969e+02] [-2.06579497e-01 9.78404856e-01 -6.98921067e-03 -3.98493505e+01] [-3.41530992e-02 -7.17461939e-05 9.99416610e-01 -1.06513373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.69264000000004 meters 0.0145843374906941 Centerline is valid? [True, True] Translation: X:240.94, Y:-39.86, Z:-10.65 [[ 9.77859898e-01 2.06611584e-01 3.31914676e-02 2.40944380e+02] [-2.06495079e-01 9.78423042e-01 -6.93786130e-03 -3.98553067e+01] [-3.39087392e-02 -6.96183882e-05 9.99424931e-01 -1.06545968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.72264000000004 meters 0.014494041315494826 Centerline is valid? [True, True] Translation: X:240.97, Y:-39.86, Z:-10.66 [[ 9.77806519e-01 2.06858458e-01 3.32263404e-02 2.40972361e+02] [-2.06741934e-01 9.78370876e-01 -6.94267901e-03 -3.98608378e+01] [-3.39438357e-02 -8.06810745e-05 9.99423739e-01 -1.06553490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.75264000000004 meters 0.014601484640033675 Centerline is valid? [True, True] Translation: X:241.00, Y:-39.87, Z:-10.66 [[ 9.77738818e-01 2.07318781e-01 3.23376896e-02 2.41000187e+02] [-2.07208710e-01 9.78273435e-01 -6.75549541e-03 -3.98667708e+01] [-3.30356438e-02 -9.55408455e-05 9.99454170e-01 -1.06569943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.78264000000004 meters 0.014997306734329507 Centerline is valid? [True, True] Translation: X:241.03, Y:-39.87, Z:-10.66 [[ 9.77597564e-01 2.08015665e-01 3.21323121e-02 2.41027455e+02] [-2.07907411e-01 9.78125487e-01 -6.71118262e-03 -3.98712155e+01] [-3.28254645e-02 -1.19710013e-04 9.99461092e-01 -1.06590734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.81264000000004 meters 0.015320132567208544 Centerline is valid? [True, True] Translation: X:241.06, Y:-39.88, Z:-10.66 [[ 9.77440765e-01 2.08771406e-01 3.20008061e-02 2.41056369e+02] [-2.08664511e-01 9.77964457e-01 -6.68157808e-03 -3.98753436e+01] [-3.26905734e-02 -1.46585770e-04 9.99465510e-01 -1.06604893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.84264000000005 meters 0.01671031946253524 Centerline is valid? [True, True] Translation: X:241.08, Y:-39.87, Z:-10.66 [[ 9.76862748e-01 2.11394442e-01 3.24277878e-02 2.41084938e+02] [-2.11286167e-01 9.77400805e-01 -6.76925885e-03 -3.98743522e+01] [-3.31259296e-02 -2.38906194e-04 9.99451157e-01 -1.06613503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.87264000000005 meters 0.016476936934561065 Centerline is valid? [True, True] Translation: X:241.12, Y:-39.88, Z:-10.66 [[ 9.76716502e-01 2.11392167e-01 3.65817811e-02 2.41117642e+02] [-2.11263609e-01 9.77401192e-01 -7.38899588e-03 -3.98784077e+01] [-3.73170523e-02 -5.11444901e-04 9.99303345e-01 -1.06618638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90264000000002 meters 0.020111116254044263 Centerline is valid? [True, True] Translation: X:241.14, Y:-39.88, Z:-10.66 [[ 9.75793195e-01 2.16222455e-01 3.27946735e-02 2.41142526e+02] [-2.16098945e-01 9.76344124e-01 -7.30740475e-03 -3.98770050e+01] [-3.35989118e-02 4.36214818e-05 9.99435396e-01 -1.06625064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.93264000000002 meters 0.02149237289985791 Centerline is valid? [True, True] Translation: X:241.17, Y:-39.88, Z:-10.67 [[ 9.75528931e-01 2.17450703e-01 3.25345408e-02 2.41169965e+02] [-2.17345236e-01 9.76071201e-01 -6.78674620e-03 -3.98790579e+01] [-3.32318111e-02 -4.50560173e-04 9.99447569e-01 -1.06654218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96264000000002 meters 0.02045036632146236 Centerline is valid? [True, True] Translation: X:241.20, Y:-39.89, Z:-10.67 [[ 9.75546621e-01 2.16527851e-01 3.77422792e-02 2.41201244e+02] [-2.16623853e-01 9.76253872e-01 -1.57610395e-03 -3.98874841e+01] [-3.71873166e-02 -6.63831504e-03 9.99286263e-01 -1.06675242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.99264000000002 meters 0.021332312589361933 Centerline is valid? [True, True] Translation: X:241.23, Y:-39.88, Z:-10.67 [[ 9.75253104e-01 2.18957322e-01 3.06443227e-02 2.41227954e+02] [-2.18655420e-01 9.75716602e-01 -1.29197593e-02 -3.98842960e+01] [-3.27290503e-02 5.89948808e-03 9.99446850e-01 -1.06671751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02264000000002 meters 0.022728724808783768 Centerline is valid? [True, True] Translation: X:241.25, Y:-39.89, Z:-10.67 [[ 9.75361446e-01 2.18144643e-01 3.29084350e-02 2.41254598e+02] [-2.18037330e-01 9.75916328e-01 -6.85884977e-03 -3.98902513e+01] [-3.36121004e-02 -4.85409658e-04 9.99434836e-01 -1.06701121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.05264000000003 meters 0.0221256390142597 Centerline is valid? [True, True] Translation: X:241.28, Y:-39.90, Z:-10.67 [[ 9.75542793e-01 2.17327257e-01 3.29412082e-02 2.41283210e+02] [-2.17219354e-01 9.76098689e-01 -6.86299960e-03 -3.98952035e+01] [-3.36453870e-02 -4.60318167e-04 9.99433728e-01 -1.06706765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08264000000003 meters 0.018791153221696257 Centerline is valid? [True, True] Translation: X:241.31, Y:-39.90, Z:-10.67 [[ 9.76020402e-01 2.15025049e-01 3.38881132e-02 2.41311387e+02] [-2.14909521e-01 9.76608455e-01 -7.05862508e-03 -3.99026548e+01] [-3.46131990e-02 -3.93516089e-04 9.99400706e-01 -1.06688710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.11264000000003 meters 0.01770336982135661 Centerline is valid? [True, True] Translation: X:241.34, Y:-39.91, Z:-10.67 [[ 9.76334479e-01 2.13650198e-01 3.35347202e-02 2.41339540e+02] [-2.13536313e-01 9.76910168e-01 -6.98337047e-03 -3.99095258e+01] [-3.42524076e-02 -3.42775163e-04 9.99413155e-01 -1.06704946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14264000000003 meters 0.017309927076844218 Centerline is valid? [True, True] Translation: X:241.37, Y:-39.92, Z:-10.67 [[ 9.76667815e-01 2.12190707e-01 3.30920267e-02 2.41366986e+02] [-2.12079022e-01 9.77228233e-01 -6.88970892e-03 -3.99155084e+01] [-3.38003950e-02 -2.89167698e-04 9.99428562e-01 -1.06735055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.17264000000003 meters 0.015628278051328333 Centerline is valid? [True, True] Translation: X:241.39, Y:-39.92, Z:-10.67 [[ 9.77230057e-01 2.09547677e-01 3.33344586e-02 2.41394463e+02] [-2.09432889e-01 9.77798410e-01 -6.93788839e-03 -3.99229267e+01] [-3.40481991e-02 -2.01418913e-04 9.99420172e-01 -1.06749631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20264000000003 meters 0.014607382656055176 Centerline is valid? [True, True] Translation: X:241.42, Y:-39.93, Z:-10.67 [[ 9.77499381e-01 2.08312969e-01 3.31762937e-02 2.41422516e+02] [-2.08198611e-01 9.78062207e-01 -6.90337234e-03 -3.99303045e+01] [-3.38865410e-02 -1.59216086e-04 9.99425674e-01 -1.06748276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.23264000000003 meters 0.01392785966109725 Centerline is valid? [True, True] Translation: X:241.45, Y:-39.94, Z:-10.68 [[ 9.77937401e-01 2.05185949e-01 3.92067044e-02 2.41452360e+02] [-2.05364150e-01 9.78685488e-01 5.29821869e-04 -3.99414474e+01] [-3.82623206e-02 -8.56978416e-03 9.99230981e-01 -1.06794245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26264000000003 meters 0.01319741808147812 Centerline is valid? [True, True] Translation: X:241.48, Y:-39.95, Z:-10.68 [[ 9.78541301e-01 2.02245991e-01 3.94142224e-02 2.41481059e+02] [-2.02201972e-01 9.79330345e-01 -5.14169474e-03 -3.99466279e+01] [-3.96394312e-02 -2.93827283e-03 9.99209729e-01 -1.06787823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.29264000000003 meters 0.01346823613935846 Centerline is valid? [True, True] Translation: X:241.51, Y:-39.95, Z:-10.68 [[ 9.78739117e-01 2.02575966e-01 3.21359521e-02 2.41507986e+02] [-2.02055301e-01 9.79194976e-01 -1.87310997e-02 -3.99455110e+01] [-3.52618335e-02 1.18396205e-02 9.99307974e-01 -1.06775882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32264000000004 meters 0.014429491342979302 Centerline is valid? [True, True] Translation: X:241.54, Y:-39.96, Z:-10.68 [[ 9.79537840e-01 1.98041852e-01 3.58475146e-02 2.41535128e+02] [-1.97901714e-01 9.80193544e-01 -7.45177003e-03 -3.99631972e+01] [-3.66132647e-02 2.05006154e-04 9.99329489e-01 -1.06771849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.35264000000004 meters 0.015928959413778764 Centerline is valid? [True, True] Translation: X:241.56, Y:-39.97, Z:-10.68 [[ 9.79974643e-01 1.95825652e-01 3.60834119e-02 2.41562198e+02] [-1.95682189e-01 9.80638685e-01 -7.50001485e-03 -3.99726211e+01] [-3.68534849e-02 2.88943350e-04 9.99320638e-01 -1.06787861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38264000000004 meters 0.021127794283411896 Centerline is valid? [True, True] Translation: X:241.59, Y:-39.98, Z:-10.68 [[ 9.80404823e-01 1.93705745e-01 3.58394535e-02 2.41590067e+02] [-1.93562860e-01 9.81059606e-01 -7.44768440e-03 -3.99819280e+01] [-3.66032994e-02 3.64558592e-04 9.99329808e-01 -1.06821951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.41264000000004 meters 0.020560749303347264 Centerline is valid? [True, True] Translation: X:241.62, Y:-39.99, Z:-10.68 [[ 9.81043800e-01 1.90375468e-01 3.61972757e-02 2.41619168e+02] [-1.90227473e-01 9.81711229e-01 -7.52133755e-03 -3.99939567e+01] [-3.69671502e-02 4.93045295e-04 9.99316360e-01 -1.06828167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.44264000000004 meters 0.02159217163247055 Centerline is valid? [True, True] Translation: X:241.65, Y:-40.00, Z:-10.69 [[ 9.81255358e-01 1.89418824e-01 3.54743903e-02 2.41649721e+02] [-1.89276047e-01 9.81896247e-01 -7.37141513e-03 -4.00023065e+01] [-3.62284555e-02 5.18788208e-04 9.99343399e-01 -1.06855001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.47264000000004 meters 0.027218995886297354 Centerline is valid? [True, True] Translation: X:241.68, Y:-40.01, Z:-10.69 [[ 9.81359528e-01 1.89058806e-01 3.44999345e-02 2.41680294e+02] [-1.88923529e-01 9.81965630e-01 -7.16943553e-03 -4.00070329e+01] [-3.52331949e-02 5.17944491e-04 9.99378984e-01 -1.06874336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.50264000000004 meters 0.027218995886297354 Centerline is valid? [True, True] Translation: X:241.71, Y:-40.01, Z:-10.69 [[ 9.81354900e-01 1.89082896e-01 3.44995531e-02 2.41710446e+02] [-1.88947569e-01 9.81960992e-01 -7.17127047e-03 -4.00133443e+01] [-3.52331799e-02 5.18954739e-04 9.99378984e-01 -1.06889062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.53264000000004 meters 0.02037588662223334 Centerline is valid? [True, True] Translation: X:241.74, Y:-40.02, Z:-10.69 [[ 9.81107864e-01 1.90281002e-01 3.49356626e-02 2.41739500e+02] [-1.90142975e-01 9.81729549e-01 -7.26232246e-03 -4.00204370e+01] [-3.56792543e-02 4.82350846e-04 9.99363176e-01 -1.06896361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.56264000000004 meters 0.018953467460715474 Centerline is valid? [True, True] Translation: X:241.77, Y:-40.03, Z:-10.69 [[ 9.80922228e-01 1.91288270e-01 3.46465062e-02 2.41770048e+02] [-1.91153034e-01 9.81533800e-01 -7.20539025e-03 -4.00250856e+01] [-3.53850236e-02 4.45142660e-04 9.99373655e-01 -1.06905730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.59264000000005 meters 0.018252807759249312 Centerline is valid? [True, True] Translation: X:241.80, Y:-40.03, Z:-10.69 [[ 9.80709300e-01 1.92414235e-01 3.44387991e-02 2.41800087e+02] [-1.92281311e-01 9.81313712e-01 -7.16219367e-03 -4.00312436e+01] [-3.51733738e-02 4.02092498e-04 9.99381145e-01 -1.06928577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.62264000000005 meters 0.017322207654636435 Centerline is valid? [True, True] Translation: X:241.83, Y:-40.04, Z:-10.69 [[ 9.80504577e-01 1.93513508e-01 3.41071267e-02 2.41829968e+02] [-1.93383797e-01 9.81097545e-01 -7.09321617e-03 -4.00363527e+01] [-3.48350514e-02 3.59165255e-04 9.99393011e-01 -1.06942032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.65264000000002 meters 0.03108167889165997 Centerline is valid? [True, True] Translation: X:241.86, Y:-40.04, Z:-10.70 [[ 9.80159731e-01 1.95085578e-01 3.50502373e-02 2.41859630e+02] [-1.94949591e-01 9.80786174e-01 -7.28950335e-03 -4.00392992e+01] [-3.57988651e-02 3.11848208e-04 9.99358967e-01 -1.06959338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68264000000002 meters 0.01462400853381897 Centerline is valid? [True, True] Translation: X:241.89, Y:-40.05, Z:-10.69 [[ 9.79921602e-01 1.95388297e-01 3.97123167e-02 2.41891043e+02] [-1.95565436e-01 9.80690478e-01 5.88051584e-04 -4.00501337e+01] [-3.88305924e-02 -8.34260098e-03 9.99210982e-01 -1.06939990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.71264000000002 meters 0.01496847339939183 Centerline is valid? [True, True] Translation: X:241.92, Y:-40.06, Z:-10.70 [[ 9.79883352e-01 1.95739457e-01 3.89189051e-02 2.41922756e+02] [-1.95647378e-01 9.80654725e-01 -6.19787066e-03 -4.00550243e+01] [-3.93791760e-02 -1.54119147e-03 9.99223151e-01 -1.06972349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74264000000002 meters 0.015406896534090955 Centerline is valid? [True, True] Translation: X:241.95, Y:-40.06, Z:-10.70 [[ 9.79768101e-01 1.97401023e-01 3.29743032e-02 2.41951369e+02] [-1.96845157e-01 9.80243390e-01 -1.93618376e-02 -4.00557350e+01] [-3.61448893e-02 1.24792790e-02 9.99268640e-01 -1.06986796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.77264000000002 meters 0.014755924787754574 Centerline is valid? [True, True] Translation: X:241.98, Y:-40.07, Z:-10.70 [[ 9.79638720e-01 1.97604188e-01 3.55044001e-02 2.41980112e+02] [-1.97465663e-01 9.80281861e-01 -7.40168999e-03 -4.00679990e+01] [-3.62669244e-02 2.40082209e-04 9.99342110e-01 -1.06993969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80264000000003 meters 0.018442642840751953 Centerline is valid? [True, True] Translation: X:242.01, Y:-40.07, Z:-10.70 [[ 9.79108574e-01 2.00335166e-01 3.48169775e-02 2.42008845e+02] [-2.00203685e-01 9.79727412e-01 -7.25821637e-03 -4.00716897e+01] [-3.55652233e-02 1.36094657e-04 9.99367348e-01 -1.07048819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.83264000000003 meters 0.0137787037369606 Centerline is valid? [True, True] Translation: X:242.04, Y:-40.08, Z:-10.71 [[ 9.78723590e-01 2.02175501e-01 3.50028870e-02 2.42036103e+02] [-2.02043739e-01 9.79349305e-01 -7.29832566e-03 -4.00767744e+01] [-3.57555957e-02 7.09293160e-05 9.99360562e-01 -1.07054717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86264000000003 meters 0.01336758254726677 Centerline is valid? [True, True] Translation: X:242.06, Y:-40.08, Z:-10.71 [[ 9.78374506e-01 2.03878635e-01 3.48830772e-02 2.42064509e+02] [-2.03748935e-01 9.78996171e-01 -7.27112640e-03 -4.00802597e+01] [-3.56328264e-02 6.49485647e-06 9.99364949e-01 -1.07056425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.89264000000003 meters 0.013771379571282766 Centerline is valid? [True, True] Translation: X:242.09, Y:-40.08, Z:-10.71 [[ 9.77752304e-01 2.06769181e-01 3.53120037e-02 2.42093359e+02] [-2.06638214e-01 9.78389746e-01 -7.35887065e-03 -4.00802840e+01] [-3.60704900e-02 -1.01656661e-04 9.99349243e-01 -1.07070536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92264000000003 meters 0.013779900038958648 Centerline is valid? [True, True] Translation: X:242.12, Y:-40.08, Z:-10.71 [[ 9.77478866e-01 2.08056974e-01 3.53179991e-02 2.42122116e+02] [-2.07926887e-01 9.78116697e-01 -7.35779181e-03 -4.00843772e+01] [-3.60759645e-02 -1.51475606e-04 9.99349039e-01 -1.07071196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.95264000000003 meters 0.014014886455646644 Centerline is valid? [True, True] Translation: X:242.15, Y:-40.09, Z:-10.71 [[ 9.77193042e-01 2.09373692e-01 3.54459700e-02 2.42150701e+02] [-2.09243592e-01 9.77835680e-01 -7.38262210e-03 -4.00889205e+01] [-3.62060610e-02 -2.02595129e-04 9.99344325e-01 -1.07074351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98264000000003 meters 0.016103887269452777 Centerline is valid? [True, True] Translation: X:242.18, Y:-40.09, Z:-10.71 [[ 9.76650717e-01 2.12000239e-01 3.47746454e-02 2.42179093e+02] [-2.11876744e-01 9.77269569e-01 -7.24114511e-03 -4.00900847e+01] [-3.55193272e-02 -2.95869074e-04 9.99368946e-01 -1.07114737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.01264000000003 meters 0.017044503842042744 Centerline is valid? [True, True] Translation: X:242.21, Y:-40.09, Z:-10.71 [[ 9.76433291e-01 2.13074600e-01 3.43109878e-02 2.42207144e+02] [-2.12955119e-01 9.77035877e-01 -7.14233561e-03 -4.00936999e+01] [-3.50449164e-02 -3.32686241e-04 9.99385683e-01 -1.07140221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04264000000003 meters 0.017528467456594657 Centerline is valid? [True, True] Translation: X:242.24, Y:-40.10, Z:-10.71 [[ 9.76209255e-01 2.14032896e-01 3.47190222e-02 2.42235925e+02] [-2.13911247e-01 9.76826382e-01 -7.22488885e-03 -4.00979820e+01] [-3.54608207e-02 -3.73785955e-04 9.99370997e-01 -1.07145107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.07264000000004 meters 0.026086725310082055 Centerline is valid? [True, True] Translation: X:242.26, Y:-40.10, Z:-10.71 [[ 9.75880718e-01 2.15297431e-01 3.61087285e-02 2.42264636e+02] [-2.15166771e-01 9.76548424e-01 -7.51241225e-03 -4.00989360e+01] [-3.68793250e-02 -4.38180270e-04 9.99319630e-01 -1.07146897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10264000000004 meters 0.01825381658536418 Centerline is valid? [True, True] Translation: X:242.29, Y:-40.10, Z:-10.71 [[ 9.75816675e-01 2.15482906e-01 3.67278308e-02 2.42293509e+02] [-2.15347975e-01 9.76507506e-01 -7.63808143e-03 -4.01041196e+01] [-3.75108784e-02 -4.55896760e-04 9.99296115e-01 -1.07137105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.13264000000004 meters 0.01921419519874837 Centerline is valid? [True, True] Translation: X:242.32, Y:-40.11, Z:-10.72 [[ 9.75846968e-01 2.15215217e-01 3.74847466e-02 2.42321166e+02] [-2.15074536e-01 9.76566537e-01 -7.79371656e-03 -4.01056096e+01] [-3.82836756e-02 -4.56539803e-04 9.99266807e-01 -1.07153070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16264000000004 meters 0.01768451022591447 Centerline is valid? [True, True] Translation: X:242.35, Y:-40.11, Z:-10.71 [[ 9.75908994e-01 2.14849750e-01 3.79634036e-02 2.42349336e+02] [-2.14705293e-01 9.76647010e-01 -7.89022948e-03 -4.01127026e+01] [-3.87720584e-02 -4.50797775e-04 9.99247979e-01 -1.07146600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.19264000000004 meters 0.021978720736836984 Centerline is valid? [True, True] Translation: X:242.38, Y:-40.12, Z:-10.72 [[ 9.76025219e-01 2.14286945e-01 3.81559625e-02 2.42376745e+02] [-2.14140660e-01 9.76770658e-01 -7.92839127e-03 -4.01161148e+01] [-3.89685753e-02 -4.32433158e-04 9.99240343e-01 -1.07179165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.22264000000004 meters 0.016793409998621986 Centerline is valid? [True, True] Translation: X:242.40, Y:-40.12, Z:-10.72 [[ 9.76120953e-01 2.13796603e-01 3.84564364e-02 2.42404458e+02] [-2.13647724e-01 9.76878108e-01 -7.98826400e-03 -4.01239744e+01] [-3.92751145e-02 -4.18618259e-04 9.99228347e-01 -1.07163613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.25264000000004 meters 0.017082593414954463 Centerline is valid? [True, True] Translation: X:242.43, Y:-40.13, Z:-10.72 [[ 9.76320126e-01 2.12840989e-01 3.87004389e-02 2.42431681e+02] [-2.12689540e-01 9.77086775e-01 -8.03704272e-03 -4.01282521e+01] [-3.95242992e-02 -3.84452006e-04 9.99218536e-01 -1.07190312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.28264000000004 meters 0.01662822000326887 Centerline is valid? [True, True] Translation: X:242.46, Y:-40.13, Z:-10.72 [[ 9.76401635e-01 2.12412635e-01 3.89963980e-02 2.42459381e+02] [-2.12258623e-01 9.77179990e-01 -8.09588685e-03 -4.01346918e+01] [-3.98261685e-02 -3.72484553e-04 9.99206554e-01 -1.07202765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.31264000000004 meters 0.016162901854576212 Centerline is valid? [True, True] Translation: X:242.49, Y:-40.14, Z:-10.72 [[ 9.76521445e-01 2.11904444e-01 3.87604785e-02 2.42486466e+02] [-2.11751957e-01 9.77290327e-01 -8.04521734e-03 -4.01403808e+01] [-3.95850580e-02 -3.51279900e-04 9.99216143e-01 -1.07219335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.34264000000005 meters 0.015589508514615186 Centerline is valid? [True, True] Translation: X:242.51, Y:-40.14, Z:-10.72 [[ 9.76721473e-01 2.10994985e-01 3.86817784e-02 2.42513992e+02] [-2.10842520e-01 9.77487093e-01 -8.02593930e-03 -4.01443075e+01] [-3.95043720e-02 -3.16656371e-04 9.99219347e-01 -1.07233966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.37264000000005 meters 0.014628747847574546 Centerline is valid? [True, True] Translation: X:242.54, Y:-40.15, Z:-10.72 [[ 9.76853582e-01 2.10339041e-01 3.89174334e-02 2.42542501e+02] [-2.10184293e-01 9.77628458e-01 -8.07227055e-03 -4.01511754e+01] [-3.97447040e-02 -2.94406823e-04 9.99209824e-01 -1.07242784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40264000000002 meters 0.025940769979869653 Centerline is valid? [True, True] Translation: X:242.57, Y:-40.16, Z:-10.73 [[ 9.77172788e-01 2.09049072e-01 3.78394963e-02 2.42569608e+02] [-2.08901860e-01 9.77905123e-01 -7.84750374e-03 -4.01568305e+01] [-3.86439506e-02 -2.36374029e-04 9.99253016e-01 -1.07287596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43264000000002 meters 0.014145829891801189 Centerline is valid? [True, True] Translation: X:242.60, Y:-40.16, Z:-10.73 [[ 9.77237680e-01 2.08711880e-01 3.80245746e-02 2.42597501e+02] [-2.08563062e-01 9.77977147e-01 -7.88347379e-03 -4.01613155e+01] [-3.88325396e-02 -2.26494073e-04 9.99245707e-01 -1.07293403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46264000000002 meters 0.01423556302619374 Centerline is valid? [True, True] Translation: X:242.63, Y:-40.17, Z:-10.73 [[ 9.77184263e-01 2.08995061e-01 3.78415189e-02 2.42626416e+02] [-2.08847980e-01 9.77916667e-01 -7.84305921e-03 -4.01651948e+01] [-3.86450126e-02 -2.39010760e-04 9.99252974e-01 -1.07311418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.49264000000002 meters 0.015289343849935112 Centerline is valid? [True, True] Translation: X:242.65, Y:-40.17, Z:-10.73 [[ 9.76927410e-01 2.10401641e-01 3.66604015e-02 2.42654490e+02] [-2.10264650e-01 9.77614989e-01 -7.59670540e-03 -4.01689208e+01] [-3.74381173e-02 -2.86956750e-04 9.99298907e-01 -1.07347733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52264000000002 meters 0.016131057769929492 Centerline is valid? [True, True] Translation: X:242.68, Y:-40.17, Z:-10.74 [[ 9.76787644e-01 2.11052319e-01 3.66444723e-02 2.42682444e+02] [-2.10916002e-01 9.77474716e-01 -7.59081245e-03 -4.01731137e+01] [-3.74211037e-02 -3.14293771e-04 9.99299536e-01 -1.07369853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.55264000000003 meters 0.016842604690232528 Centerline is valid? [True, True] Translation: X:242.71, Y:-40.18, Z:-10.74 [[ 9.76532504e-01 2.12177284e-01 3.69468445e-02 2.42711340e+02] [-2.12039622e-01 9.77231123e-01 -7.65051418e-03 -4.01750634e+01] [-3.77288717e-02 -3.63219193e-04 9.99287947e-01 -1.07379547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58264000000003 meters 0.017262167802710577 Centerline is valid? [True, True] Translation: X:242.74, Y:-40.18, Z:-10.74 [[ 9.76425459e-01 2.12654579e-01 3.70317831e-02 2.42740424e+02] [-2.12516696e-01 9.77127362e-01 -7.66626530e-03 -4.01782056e+01] [-3.78150349e-02 -3.84335560e-04 9.99284682e-01 -1.07387763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.61264000000003 meters 0.017498768294558258 Centerline is valid? [True, True] Translation: X:242.77, Y:-40.18, Z:-10.74 [[ 9.76319817e-01 2.13020525e-01 3.77077142e-02 2.42768699e+02] [-2.12877898e-01 9.77047640e-01 -7.80450724e-03 -4.01818901e+01] [-3.85047534e-02 -4.07443878e-04 9.99258334e-01 -1.07393518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64264000000003 meters 0.017597155101700578 Centerline is valid? [True, True] Translation: X:242.80, Y:-40.18, Z:-10.74 [[ 9.76271756e-01 2.12950053e-01 3.93158171e-02 2.42796593e+02] [-2.12795060e-01 9.77062994e-01 -8.13436474e-03 -4.01842236e+01] [-4.01462434e-02 -4.24861116e-04 9.99193724e-01 -1.07385962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.67264000000003 meters 0.01682624621889525 Centerline is valid? [True, True] Translation: X:242.82, Y:-40.19, Z:-10.74 [[ 9.76314316e-01 2.12731759e-01 3.94405335e-02 2.42823598e+02] [-2.12575744e-01 9.77110547e-01 -8.15667064e-03 -4.01902126e+01] [-4.02729442e-02 -4.20626423e-04 9.99188627e-01 -1.07391910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70264000000003 meters 0.016878103560320913 Centerline is valid? [True, True] Translation: X:242.85, Y:-40.20, Z:-10.74 [[ 9.76433635e-01 2.12199883e-01 3.93518247e-02 2.42850717e+02] [-2.12044260e-01 9.77226202e-01 -8.13528809e-03 -4.01951493e+01] [-4.01819413e-02 -4.00759612e-04 9.99192299e-01 -1.07415966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.73264000000003 meters 0.01592418125898128 Centerline is valid? [True, True] Translation: X:242.88, Y:-40.20, Z:-10.74 [[ 9.76524563e-01 2.11784279e-01 3.93344342e-02 2.42878679e+02] [-2.11628557e-01 9.77316361e-01 -8.12917985e-03 -4.02022651e+01] [-4.01638186e-02 -3.85945759e-04 9.99193034e-01 -1.07424434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76264000000003 meters 0.015904773034936887 Centerline is valid? [True, True] Translation: X:242.91, Y:-40.21, Z:-10.74 [[ 9.76560377e-01 2.11548544e-01 3.97120019e-02 2.42905746e+02] [-2.11389702e-01 9.77367417e-01 -8.20525927e-03 -4.02070172e+01] [-4.05490273e-02 -3.81777150e-04 9.99177477e-01 -1.07436774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.79264000000003 meters 0.016161602847889114 Centerline is valid? [True, True] Translation: X:242.93, Y:-40.21, Z:-10.74 [[ 9.76507355e-01 2.11752010e-01 3.99308317e-02 2.42932991e+02] [-2.11591678e-01 9.77323350e-01 -8.24810780e-03 -4.02107680e+01] [-4.07718876e-02 -3.94693762e-04 9.99168403e-01 -1.07449928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82264000000004 meters 0.016430719045449082 Centerline is valid? [True, True] Translation: X:242.96, Y:-40.21, Z:-10.75 [[ 9.76491672e-01 2.11841358e-01 3.98403640e-02 2.42960817e+02] [-2.11681972e-01 9.77303985e-01 -8.22582838e-03 -4.02146944e+01] [-4.06787171e-02 -4.01033929e-04 9.99172198e-01 -1.07463565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.85264000000004 meters 0.016398661090737437 Centerline is valid? [True, True] Translation: X:242.99, Y:-40.22, Z:-10.75 [[ 9.76480251e-01 2.11810920e-01 4.02796980e-02 2.42988452e+02] [-2.11648094e-01 9.77310579e-01 -8.31358852e-03 -4.02190694e+01] [-4.11266838e-02 -4.07066328e-04 9.99153857e-01 -1.07473392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88264000000004 meters 0.0200112565409648 Centerline is valid? [True, True] Translation: X:243.02, Y:-40.23, Z:-10.75 [[ 9.76536226e-01 2.11687298e-01 3.95662261e-02 2.43016357e+02] [-2.11530213e-01 9.77337367e-01 -8.16329844e-03 -4.02254389e+01] [-4.03976179e-02 -3.97695571e-04 9.99183604e-01 -1.07496203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.91264000000004 meters 0.016803767071592906 Centerline is valid? [True, True] Translation: X:243.04, Y:-40.23, Z:-10.75 [[ 9.76617596e-01 2.11465098e-01 3.87373598e-02 2.43043427e+02] [-2.11314424e-01 9.77385475e-01 -7.99046968e-03 -4.02293792e+01] [-3.95510382e-02 -3.82129591e-04 9.99217479e-01 -1.07533160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.94264000000004 meters 0.016572055798822004 Centerline is valid? [True, True] Translation: X:243.07, Y:-40.23, Z:-10.76 [[ 9.76644136e-01 2.11374024e-01 3.85649396e-02 2.43070672e+02] [-2.11224710e-01 9.77405176e-01 -7.95257071e-03 -4.02347844e+01] [-3.93745385e-02 -3.79036649e-04 9.99224450e-01 -1.07555385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.97264000000004 meters 0.016380446942323896 Centerline is valid? [True, True] Translation: X:243.10, Y:-40.24, Z:-10.76 [[ 9.76765151e-01 2.10767908e-01 3.88166104e-02 2.43097923e+02] [-2.10616280e-01 9.77536065e-01 -8.00145955e-03 -4.02404219e+01] [-3.96310875e-02 -3.59863251e-04 9.99214315e-01 -1.07571950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.00264000000004 meters 0.014537608501940526 Centerline is valid? [True, True] Translation: X:243.13, Y:-40.25, Z:-10.76 [[ 9.77064152e-01 2.09210757e-01 3.97051824e-02 2.43125717e+02] [-2.09050924e-01 9.77870526e-01 -8.18203639e-03 -4.02493030e+01] [-4.05382976e-02 -3.06030600e-04 9.99177938e-01 -1.07562352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.03264000000004 meters 0.022577131495260867 Centerline is valid? [True, True] Translation: X:243.15, Y:-40.25, Z:-10.76 [[ 9.77228774e-01 2.08572700e-01 3.90045102e-02 2.43152345e+02] [-2.08418020e-01 9.78006826e-01 -8.03595450e-03 -4.02533482e+01] [-3.98227579e-02 -2.76276808e-04 9.99206721e-01 -1.07602639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.06264000000004 meters 0.013966770682006314 Centerline is valid? [True, True] Translation: X:243.18, Y:-40.26, Z:-10.76 [[ 9.77515113e-01 2.07225734e-01 3.90089561e-02 2.43180369e+02] [-2.07070098e-01 9.78293128e-01 -8.03306249e-03 -4.02617717e+01] [-3.98268509e-02 -2.25148376e-04 9.99206571e-01 -1.07610619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.09264000000005 meters 0.013713722790857679 Centerline is valid? [True, True] Translation: X:243.21, Y:-40.27, Z:-10.76 [[ 9.77716269e-01 2.06329900e-01 3.87152313e-02 2.43207536e+02] [-2.06175965e-01 9.78482466e-01 -7.97086383e-03 -4.02691560e+01] [-3.95268026e-02 -1.88906936e-04 9.99218493e-01 -1.07634970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.12264000000005 meters 0.01770845352432121 Centerline is valid? [True, True] Translation: X:243.23, Y:-40.28, Z:-10.77 [[ 9.78093990e-01 2.04715293e-01 3.77332062e-02 2.43234655e+02] [-2.04567977e-01 9.78821554e-01 -7.76588559e-03 -4.02788714e+01] [-3.85238711e-02 -1.23239643e-04 9.99257673e-01 -1.07666367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15264000000002 meters 0.013318720284374076 Centerline is valid? [True, True] Translation: X:243.26, Y:-40.28, Z:-10.77 [[ 9.78173995e-01 2.04346593e-01 3.76577363e-02 2.43261213e+02] [-2.04199651e-01 9.78898594e-01 -7.74883106e-03 -4.02845980e+01] [-3.84465524e-02 -1.09991592e-04 9.99260652e-01 -1.07694849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18264000000002 meters 0.013102985877230851 Centerline is valid? [True, True] Translation: X:243.29, Y:-40.29, Z:-10.77 [[ 9.78124453e-01 2.04645041e-01 3.73223967e-02 2.43289404e+02] [-2.04501056e-01 9.78836244e-01 -7.67635766e-03 -4.02901546e+01] [-3.81034431e-02 -1.24036392e-04 9.99273792e-01 -1.07692106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21264000000002 meters 0.013855503823595898 Centerline is valid? [True, True] Translation: X:243.32, Y:-40.29, Z:-10.77 [[ 9.77877532e-01 2.05857369e-01 3.71251497e-02 2.43316994e+02] [-2.05715839e-01 9.78581992e-01 -7.63408383e-03 -4.02941127e+01] [-3.79015353e-02 -1.72032277e-04 9.99281464e-01 -1.07715277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24264000000002 meters 0.014311148322554208 Centerline is valid? [True, True] Translation: X:243.34, Y:-40.30, Z:-10.77 [[ 9.77217798e-01 2.08827255e-01 3.79018789e-02 2.43341435e+02] [-2.08690932e-01 9.77952405e-01 -7.56225719e-03 -4.02999149e+01] [-3.86454390e-02 -5.19806090e-04 9.99252851e-01 -1.07726824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.27264000000002 meters 0.01477785397467766 Centerline is valid? [True, True] Translation: X:243.37, Y:-40.30, Z:-10.78 [[ 9.77584992e-01 2.07287817e-01 3.68692991e-02 2.43372892e+02] [-2.07151360e-01 9.78279961e-01 -7.52541646e-03 -4.03045574e+01] [-3.76284236e-02 -2.80791250e-04 9.99291761e-01 -1.07756672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30264000000003 meters 0.022388103053973797 Centerline is valid? [True, True] Translation: X:243.40, Y:-40.31, Z:-10.78 [[ 9.77212985e-01 2.09125511e-01 3.63497240e-02 2.43401509e+02] [-2.08992170e-01 9.77888764e-01 -7.47253130e-03 -4.03089122e+01] [-3.71086836e-02 -2.94553088e-04 9.99311192e-01 -1.07766839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.33264000000003 meters 0.016713078693179003 Centerline is valid? [True, True] Translation: X:243.43, Y:-40.31, Z:-10.78 [[ 9.77043489e-01 2.09912443e-01 3.63701385e-02 2.43429323e+02] [-2.09779562e-01 9.77720134e-01 -7.47498367e-03 -4.03114263e+01] [-3.71289088e-02 -3.26327610e-04 9.99310431e-01 -1.07792203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36264000000003 meters 0.017869143310672884 Centerline is valid? [True, True] Translation: X:243.46, Y:-40.31, Z:-10.78 [[ 9.76506836e-01 2.12374716e-01 3.64880576e-02 2.43458445e+02] [-2.12242782e-01 9.77188211e-01 -7.49674240e-03 -4.03116662e+01] [-3.72478183e-02 -4.23706649e-04 9.99305969e-01 -1.07791972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.39264000000003 meters 0.017869143310672884 Centerline is valid? [True, True] Translation: X:243.49, Y:-40.32, Z:-10.78 [[ 9.76522480e-01 2.12302720e-01 3.64883746e-02 2.43485372e+02] [-2.12170793e-01 9.77203856e-01 -7.49519907e-03 -4.03170616e+01] [-3.72478315e-02 -4.22537006e-04 9.99305969e-01 -1.07805005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42264000000003 meters 0.019740698853893967 Centerline is valid? [True, True] Translation: X:243.51, Y:-40.32, Z:-10.78 [[ 9.76317932e-01 2.13258091e-01 3.63906878e-02 2.43513090e+02] [-2.13127642e-01 9.76995790e-01 -7.47221423e-03 -4.03184488e+01] [-3.71470589e-02 -4.60604730e-04 9.99309704e-01 -1.07836789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.45264000000003 meters 0.025426466609597978 Centerline is valid? [True, True] Translation: X:243.54, Y:-40.32, Z:-10.79 [[ 9.76229851e-01 2.13753078e-01 3.58454951e-02 2.43541706e+02] [-2.13626930e-01 9.76887607e-01 -7.35789174e-03 -4.03242612e+01] [-3.65897919e-02 -4.74569500e-04 9.99330257e-01 -1.07856529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48264000000003 meters 0.018161126137773723 Centerline is valid? [True, True] Translation: X:243.57, Y:-40.33, Z:-10.79 [[ 9.76582245e-01 2.12096633e-01 3.60851325e-02 2.43569679e+02] [-2.11967734e-01 9.77248609e-01 -7.40510365e-03 -4.03334618e+01] [-3.68347431e-02 -4.17191028e-04 9.99321283e-01 -1.07869196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.51264000000003 meters 0.016881394967232947 Centerline is valid? [True, True] Translation: X:243.60, Y:-40.34, Z:-10.79 [[ 9.76920830e-01 2.10459327e-01 3.65042943e-02 2.43597391e+02] [-2.10326319e-01 9.77602548e-01 -7.48984325e-03 -4.03415921e+01] [-3.72629985e-02 -3.60829976e-04 9.99305428e-01 -1.07874735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54264000000003 meters 0.015932124278953238 Centerline is valid? [True, True] Translation: X:243.62, Y:-40.35, Z:-10.79 [[ 9.77293301e-01 2.08642505e-01 3.69609210e-02 2.43624200e+02] [-2.08504916e-01 9.77991931e-01 -7.58175124e-03 -4.03491261e+01] [-3.77293581e-02 -2.96939036e-04 9.99287950e-01 -1.07891728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.57264000000004 meters 0.014386790605597577 Centerline is valid? [True, True] Translation: X:243.65, Y:-40.36, Z:-10.79 [[ 9.77696445e-01 2.06690137e-01 3.72672700e-02 2.43652176e+02] [-2.06548933e-01 9.78406427e-01 -7.64211099e-03 -4.03582257e+01] [-3.80420855e-02 -2.25850125e-04 9.99276112e-01 -1.07893081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60264000000004 meters 0.012942782044619629 Centerline is valid? [True, True] Translation: X:243.68, Y:-40.37, Z:-10.79 [[ 9.78418903e-01 2.03078705e-01 3.81508872e-02 2.43678738e+02] [-2.02928050e-01 9.79162413e-01 -7.82144549e-03 -4.03681980e+01] [-3.89442838e-02 -8.92350363e-05 9.99241380e-01 -1.07900768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.63264000000004 meters 0.012565918742338285 Centerline is valid? [True, True] Translation: X:243.71, Y:-40.38, Z:-10.79 [[ 9.78764291e-01 2.01298281e-01 3.87229234e-02 2.43706106e+02] [-2.01141780e-01 9.79529990e-01 -7.93617223e-03 -4.03761488e+01] [-3.95278026e-02 -2.11557529e-05 9.99218471e-01 -1.07900944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66264000000004 meters 0.012547368642649962 Centerline is valid? [True, True] Translation: X:243.73, Y:-40.38, Z:-10.79 [[ 9.79084989e-01 1.99598850e-01 3.94066381e-02 2.43733064e+02] [-1.99435470e-01 9.79877695e-01 -8.07443228e-03 -4.03845754e+01] [-4.02253331e-02 4.64740547e-05 9.99190633e-01 -1.07909218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.69264000000004 meters 0.013157894697916285 Centerline is valid? [True, True] Translation: X:243.76, Y:-40.40, Z:-10.79 [[ 9.79614022e-01 1.97086444e-01 3.89011894e-02 2.43760294e+02] [-1.96925352e-01 9.80386104e-01 -7.96824784e-03 -4.03954059e+01] [-3.97086192e-02 1.45176874e-04 9.99211291e-01 -1.07928002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.72264000000004 meters 0.013894125150080289 Centerline is valid? [True, True] Translation: X:243.79, Y:-40.40, Z:-10.80 [[ 9.79838890e-01 1.96264152e-01 3.73648607e-02 2.43786741e+02] [-1.96115003e-01 9.80551046e-01 -7.65192527e-03 -4.04020223e+01] [-3.81399519e-02 1.69844201e-04 9.99272393e-01 -1.07968564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.75264000000004 meters 0.014279231752463841 Centerline is valid? [True, True] Translation: X:243.81, Y:-40.41, Z:-10.80 [[ 9.80025030e-01 1.95769284e-01 3.50046760e-02 2.43814666e+02] [-1.95638145e-01 9.80649967e-01 -7.16652908e-03 -4.04070516e+01] [-3.57303206e-02 1.75127990e-04 9.99361453e-01 -1.08011076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.78264000000004 meters 0.014407445342213467 Centerline is valid? [True, True] Translation: X:243.84, Y:-40.41, Z:-10.80 [[ 9.79988412e-01 1.95947898e-01 3.50304526e-02 2.43842111e+02] [-1.95816739e-01 9.80614294e-01 -7.17017696e-03 -4.04128235e+01] [-3.57563437e-02 1.67141329e-04 9.99360524e-01 -1.08038735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.81264000000004 meters 0.014339337324104027 Centerline is valid? [True, True] Translation: X:243.87, Y:-40.42, Z:-10.81 [[ 9.79925828e-01 1.96238711e-01 3.51530940e-02 2.43870133e+02] [-1.96106904e-01 9.80556140e-01 -7.19291471e-03 -4.04187974e+01] [-3.58811105e-02 1.54758475e-04 9.99356054e-01 -1.08050637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.84264000000005 meters 0.013757778971996086 Centerline is valid? [True, True] Translation: X:243.90, Y:-40.42, Z:-10.81 [[ 9.79695294e-01 1.97252517e-01 3.58967342e-02 2.43898148e+02] [-1.97115818e-01 9.80352707e-01 -7.34327503e-03 -4.04247379e+01] [-3.66399401e-02 1.18357849e-04 9.99328525e-01 -1.08051277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.87264000000005 meters 0.013578632765516234 Centerline is valid? [True, True] Translation: X:243.93, Y:-40.43, Z:-10.81 [[ 9.79571218e-01 1.97855961e-01 3.59617631e-02 2.43926887e+02] [-1.97719237e-01 9.80231100e-01 -7.35482351e-03 -4.04301143e+01] [-3.67060343e-02 9.42410632e-05 9.99326102e-01 -1.08060670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90264000000002 meters 0.013345736786492817 Centerline is valid? [True, True] Translation: X:243.96, Y:-40.43, Z:-10.81 [[ 9.79394027e-01 1.98700988e-01 3.61283357e-02 2.43955852e+02] [-1.98563638e-01 9.80060158e-01 -7.38699757e-03 -4.04346278e+01] [-3.68757461e-02 6.10075280e-05 9.99319857e-01 -1.08076622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93264000000002 meters 0.013338669414812326 Centerline is valid? [True, True] Translation: X:243.98, Y:-40.44, Z:-10.81 [[ 9.79243918e-01 1.99477005e-01 3.59203792e-02 2.43984106e+02] [-1.99341798e-01 9.79902507e-01 -7.34331191e-03 -4.04391728e+01] [-3.66632915e-02 3.04605428e-05 9.99327675e-01 -1.08094784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96264000000002 meters 0.013472490425437448 Centerline is valid? [True, True] Translation: X:244.01, Y:-40.44, Z:-10.81 [[ 9.78902696e-01 2.01191082e-01 3.56603548e-02 2.44012184e+02] [-2.01059024e-01 9.79552014e-01 -7.28843887e-03 -4.04432059e+01] [-3.63975413e-02 -3.51636940e-05 9.99337389e-01 -1.08113351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.99264000000002 meters 0.014042343229532551 Centerline is valid? [True, True] Translation: X:244.04, Y:-40.45, Z:-10.81 [[ 9.78672854e-01 2.02325881e-01 3.55483018e-02 2.44039809e+02] [-2.02195457e-01 9.79318248e-01 -7.26399080e-03 -4.04462087e+01] [-3.62827940e-02 -7.86345230e-05 9.99341560e-01 -1.08140905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02264000000002 meters 0.015273753741009446 Centerline is valid? [True, True] Translation: X:244.07, Y:-40.45, Z:-10.82 [[ 9.78186319e-01 2.04718331e-01 3.52410295e-02 2.44068225e+02] [-2.04591795e-01 9.78820911e-01 -7.19867204e-03 -4.04469572e+01] [-3.59683568e-02 -1.68382990e-04 9.99352915e-01 -1.08173578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.05264000000003 meters 0.015084418018097871 Centerline is valid? [True, True] Translation: X:244.10, Y:-40.45, Z:-10.82 [[ 9.77985532e-01 2.05730833e-01 3.49159424e-02 2.44096745e+02] [-2.05607322e-01 9.78608595e-01 -7.13070403e-03 -4.04528728e+01] [-3.56360470e-02 -2.05248046e-04 9.99364813e-01 -1.08168894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08264000000003 meters 0.016635689696309422 Centerline is valid? [True, True] Translation: X:244.13, Y:-40.45, Z:-10.82 [[ 9.77580385e-01 2.07560054e-01 3.54318217e-02 2.44125079e+02] [-2.07434127e-01 9.78222238e-01 -7.23436880e-03 -4.04545490e+01] [-3.61617619e-02 -2.77591948e-04 9.99345911e-01 -1.08190383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.11264000000003 meters 0.016377224001557954 Centerline is valid? [True, True] Translation: X:244.15, Y:-40.46, Z:-10.82 [[ 9.77441818e-01 2.08213968e-01 3.54180268e-02 2.44153219e+02] [-2.08088654e-01 9.78083254e-01 -7.22919199e-03 -4.04588819e+01] [-3.61469977e-02 -3.03974962e-04 9.99346438e-01 -1.08187110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14264000000003 meters 0.017561740495148196 Centerline is valid? [True, True] Translation: X:244.18, Y:-40.46, Z:-10.82 [[ 9.77336388e-01 2.08762879e-01 3.50947966e-02 2.44180737e+02] [-2.08640248e-01 9.77966235e-01 -7.16173501e-03 -4.04618247e+01] [-3.58166305e-02 -3.22762847e-04 9.99358327e-01 -1.08223280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.17264000000003 meters 0.016884829827328213 Centerline is valid? [True, True] Translation: X:244.21, Y:-40.47, Z:-10.82 [[ 9.77307341e-01 2.09031714e-01 3.42943770e-02 2.44208901e+02] [-2.08914878e-01 9.77908807e-01 -6.99560582e-03 -4.04683895e+01] [-3.49990767e-02 -3.27748676e-04 9.99387291e-01 -1.08228285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20264000000003 meters 0.02386726452124692 Centerline is valid? [True, True] Translation: X:244.24, Y:-40.47, Z:-10.83 [[ 9.77105559e-01 2.10051918e-01 3.38070843e-02 2.44237279e+02] [-2.09939044e-01 9.77690166e-01 -6.89464642e-03 -4.04661609e+01] [-3.45010876e-02 -3.60629632e-04 9.99404595e-01 -1.08297865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.23264000000003 meters 0.019543710644483337 Centerline is valid? [True, True] Translation: X:244.27, Y:-40.47, Z:-10.83 [[ 9.77055502e-01 2.10234072e-01 3.41201013e-02 2.44265295e+02] [-2.10119283e-01 9.77651009e-01 -6.95633671e-03 -4.04715077e+01] [-3.48200105e-02 -3.72564167e-04 9.99393530e-01 -1.08293361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26264000000003 meters 0.03189462478928569 Centerline is valid? [True, True] Translation: X:244.29, Y:-40.47, Z:-10.83 [[ 9.76925441e-01 2.11024895e-01 3.29420076e-02 2.44293034e+02] [-2.10918428e-01 9.77480610e-01 -6.71374394e-03 -4.04725429e+01] [-3.36169408e-02 -3.89249202e-04 9.99434715e-01 -1.08345048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.29264000000003 meters 0.022612779883411042 Centerline is valid? [True, True] Translation: X:244.32, Y:-40.48, Z:-10.83 [[ 9.76713012e-01 2.11900187e-01 3.36155087e-02 2.44321412e+02] [-2.11789913e-01 9.77291219e-01 -6.84885098e-03 -4.04804392e+01] [-3.43034143e-02 -4.30063787e-04 9.99411372e-01 -1.08293063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32264000000004 meters 0.019686637960434693 Centerline is valid? [True, True] Translation: X:244.35, Y:-40.48, Z:-10.83 [[ 9.76404758e-01 2.12717664e-01 3.72148248e-02 2.44351781e+02] [-2.12523572e-01 9.77113177e-01 -9.14168153e-03 -4.04835283e+01] [-3.83076928e-02 1.01695386e-03 9.99265473e-01 -1.08305836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.35264000000004 meters 0.021266378625523025 Centerline is valid? [True, True] Translation: X:244.38, Y:-40.49, Z:-10.83 [[ 9.76610848e-01 2.12193423e-01 3.47160317e-02 2.44376980e+02] [-2.12127386e-01 9.77225881e-01 -5.61692802e-03 -4.04857882e+01] [-3.51172799e-02 -1.87866825e-03 9.99381432e-01 -1.08344185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38264000000004 meters 0.019810476376833232 Centerline is valid? [True, True] Translation: X:244.41, Y:-40.49, Z:-10.84 [[ 9.76722433e-01 2.11880230e-01 3.34672601e-02 2.44405008e+02] [-2.11771260e-01 9.77295542e-01 -6.80857218e-03 -4.04923222e+01] [-3.41500060e-02 -4.37318676e-04 9.99416623e-01 -1.08355328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.41264000000004 meters 0.020094786660138454 Centerline is valid? [True, True] Translation: X:244.43, Y:-40.50, Z:-10.84 [[ 9.76843288e-01 2.11317591e-01 3.34972742e-02 2.44432091e+02] [-2.11208147e-01 9.77417362e-01 -6.81313515e-03 -4.04965005e+01] [-3.41805527e-02 -4.19531883e-04 9.99415586e-01 -1.08378950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.44264000000004 meters 0.028592155091375266 Centerline is valid? [True, True] Translation: X:244.46, Y:-40.50, Z:-10.84 [[ 9.76940493e-01 2.10993209e-01 3.26977021e-02 2.44460577e+02] [-2.10888820e-01 9.77487445e-01 -6.64833665e-03 -4.05013819e+01] [-3.33643472e-02 -4.00550537e-04 9.99443175e-01 -1.08386243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.47264000000004 meters 0.018045383091731138 Centerline is valid? [True, True] Translation: X:244.49, Y:-40.51, Z:-10.84 [[ 9.77074990e-01 2.09449459e-01 3.81495564e-02 2.44489827e+02] [-2.09596007e-01 9.77788059e-01 -1.61554820e-04 -4.05106754e+01] [-3.73360182e-02 -7.83814350e-03 9.99272028e-01 -1.08431715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.50264000000004 meters 0.017860197937648148 Centerline is valid? [True, True] Translation: X:244.52, Y:-40.51, Z:-10.84 [[ 9.77485218e-01 2.08634882e-01 3.15299059e-02 2.44517335e+02] [-2.08283023e-01 9.77967012e-01 -1.40963269e-02 -4.05071088e+01] [-3.37761934e-02 7.21180704e-03 9.99403401e-01 -1.08423880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.53264000000004 meters 0.01726589750730638 Centerline is valid? [True, True] Translation: X:244.54, Y:-40.52, Z:-10.84 [[ 9.77706535e-01 2.07291036e-01 3.34717628e-02 2.44543689e+02] [-2.07179790e-01 9.78279276e-01 -6.79648362e-03 -4.05186161e+01] [-3.41535820e-02 -2.89706332e-04 9.99416554e-01 -1.08437092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.56264000000004 meters 0.01636944120451757 Centerline is valid? [True, True] Translation: X:244.57, Y:-40.53, Z:-10.85 [[ 9.78114331e-01 2.05339048e-01 3.35891508e-02 2.44570786e+02] [-2.05225973e-01 9.78690873e-01 -6.81728606e-03 -4.05259644e+01] [-3.42732504e-02 -2.25280987e-04 9.99412474e-01 -1.08458816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.59264000000005 meters 0.0174865476206725 Centerline is valid? [True, True] Translation: X:244.60, Y:-40.53, Z:-10.85 [[ 9.78282139e-01 2.04570885e-01 3.33887537e-02 2.44597624e+02] [-2.04458807e-01 9.78851732e-01 -6.77369728e-03 -4.05300285e+01] [-3.40683407e-02 -2.00037705e-04 9.99419486e-01 -1.08514839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.62264000000005 meters 0.015180398814204873 Centerline is valid? [True, True] Translation: X:244.63, Y:-40.54, Z:-10.85 [[ 9.78512759e-01 2.03523806e-01 3.30278892e-02 2.44625065e+02] [-2.03413639e-01 9.79069984e-01 -6.69762126e-03 -4.05378094e+01] [-3.36997403e-02 -1.64615265e-04 9.99431989e-01 -1.08477713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65264000000005 meters 0.01479910493521803 Centerline is valid? [True, True] Translation: X:244.65, Y:-40.54, Z:-10.85 [[ 9.78717471e-01 2.02569599e-01 3.28278695e-02 2.44652491e+02] [-2.02460309e-01 9.79267859e-01 -6.65459730e-03 -4.05435440e+01] [-3.34952966e-02 -1.33369960e-04 9.99438866e-01 -1.08491426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68264000000002 meters 0.01486093744801613 Centerline is valid? [True, True] Translation: X:244.68, Y:-40.55, Z:-10.85 [[ 9.78994370e-01 2.01155475e-01 3.32640784e-02 2.44679628e+02] [-2.01042529e-01 9.79559323e-01 -6.74053235e-03 -4.05483978e+01] [-3.39400331e-02 -8.85512182e-05 9.99423867e-01 -1.08524551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.71264000000002 meters 0.014895490433550224 Centerline is valid? [True, True] Translation: X:244.71, Y:-40.55, Z:-10.85 [[ 9.79123644e-01 2.00588453e-01 3.28810248e-02 2.44707619e+02] [-2.00477881e-01 9.79675593e-01 -6.65968962e-03 -4.05541251e+01] [-3.35485943e-02 -7.12586222e-05 9.99437085e-01 -1.08542601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74264000000002 meters 0.014297403214420903 Centerline is valid? [True, True] Translation: X:244.73, Y:-40.56, Z:-10.85 [[ 9.79239955e-01 2.00019451e-01 3.28835715e-02 2.44734568e+02] [-1.99908582e-01 9.79791925e-01 -6.65900947e-03 -4.05602410e+01] [-3.35509893e-02 -5.29400289e-05 9.99437006e-01 -1.08531089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.77264000000002 meters 0.0242323697098447 Centerline is valid? [True, True] Translation: X:244.76, Y:-40.56, Z:-10.85 [[ 9.79345959e-01 1.99580801e-01 3.23882210e-02 2.44763583e+02] [-1.99473100e-01 9.79881372e-01 -6.55591161e-03 -4.05646725e+01] [-3.30450485e-02 -4.00733076e-05 9.99453862e-01 -1.08529881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80264000000003 meters 0.014117279431730613 Centerline is valid? [True, True] Translation: X:244.79, Y:-40.57, Z:-10.85 [[ 9.79332731e-01 1.99520040e-01 3.31535184e-02 2.44791349e+02] [-1.99407198e-01 9.79893745e-01 -6.70951278e-03 -4.05685041e+01] [-3.38256075e-02 -4.02047289e-05 9.99427750e-01 -1.08544778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.83264000000003 meters 0.021716275951705975 Centerline is valid? [True, True] Translation: X:244.82, Y:-40.57, Z:-10.86 [[ 9.79279104e-01 1.99911696e-01 3.23689733e-02 2.44818613e+02] [-1.99804445e-01 9.79813916e-01 -6.54773646e-03 -4.05715545e+01] [-3.30245396e-02 -5.54032587e-05 9.99454540e-01 -1.08578617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86264000000003 meters 0.017128599297574546 Centerline is valid? [True, True] Translation: X:244.85, Y:-40.57, Z:-10.86 [[ 9.79088914e-01 2.00909175e-01 3.19437217e-02 2.44847631e+02] [-2.00805326e-01 9.79609869e-01 -6.45953063e-03 -4.05735236e+01] [-3.25901640e-02 -9.00146318e-05 9.99468795e-01 -1.08597334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.89264000000003 meters 0.015179475804131853 Centerline is valid? [True, True] Translation: X:244.88, Y:-40.58, Z:-10.86 [[ 9.79024142e-01 2.01164254e-01 3.23213951e-02 2.44875866e+02] [-2.01058127e-01 9.79557519e-01 -6.53429907e-03 -4.05769508e+01] [-3.29751330e-02 -1.01242608e-04 9.99456167e-01 -1.08612200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92264000000003 meters 0.015280700522869258 Centerline is valid? [True, True] Translation: X:244.90, Y:-40.58, Z:-10.86 [[ 9.78978293e-01 2.01370743e-01 3.24241461e-02 2.44904039e+02] [-2.01264094e-01 9.79515090e-01 -6.55382271e-03 -4.05798453e+01] [-3.30796886e-02 -1.09766227e-04 9.99452711e-01 -1.08622780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.95264000000003 meters 0.015113886767202944 Centerline is valid? [True, True] Translation: X:244.93, Y:-40.58, Z:-10.86 [[ 9.78794336e-01 2.02166477e-01 3.30206587e-02 2.44933436e+02] [-2.02056413e-01 9.79351160e-01 -6.67161209e-03 -4.05814621e+01] [-3.36875968e-02 -1.41899741e-04 9.99432402e-01 -1.08612881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98264000000003 meters 0.015587126467047893 Centerline is valid? [True, True] Translation: X:244.96, Y:-40.58, Z:-10.86 [[ 9.78685274e-01 2.02655144e-01 3.32569813e-02 2.44960093e+02] [-2.02543821e-01 9.79250155e-01 -6.71817775e-03 -4.05846273e+01] [-3.39283774e-02 -1.61014422e-04 9.99424254e-01 -1.08633807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.01264000000003 meters 0.015800418133273687 Centerline is valid? [True, True] Translation: X:244.99, Y:-40.59, Z:-10.86 [[ 9.78595868e-01 2.03130549e-01 3.29864575e-02 2.44988412e+02] [-2.03021412e-01 9.79151647e-01 -6.66020400e-03 -4.05891412e+01] [-3.36516351e-02 -1.79309051e-04 9.99433607e-01 -1.08645545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04264000000003 meters 0.015411243531831825 Centerline is valid? [True, True] Translation: X:245.01, Y:-40.60, Z:-10.87 [[ 9.77794001e-01 2.05156211e-01 4.27763945e-02 2.45012467e+02] [-2.05865459e-01 9.78495993e-01 1.28454182e-02 -4.06040548e+01] [-3.92212133e-02 -2.13663549e-02 9.99002090e-01 -1.08665457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.07264000000004 meters 0.01751157346287183 Centerline is valid? [True, True] Translation: X:245.05, Y:-40.58, Z:-10.87 [[ 9.78285759e-01 2.05347877e-01 2.80931126e-02 2.45048806e+02] [-2.04615551e-01 9.78473445e-01 -2.68736616e-02 -4.05777137e+01] [-3.30068141e-02 2.05418327e-02 9.99244006e-01 -1.08680854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.10264000000004 meters 0.017403922324069624 Centerline is valid? [True, True] Translation: X:245.07, Y:-40.59, Z:-10.87 [[ 9.78326054e-01 2.04627042e-01 3.17160076e-02 2.45074454e+02] [-2.04527235e-01 9.78839987e-01 -6.39449497e-03 -4.05934991e+01] [-3.23533831e-02 -2.30886313e-04 9.99476466e-01 -1.08710148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.13264000000004 meters 0.017371605655518575 Centerline is valid? [True, True] Translation: X:245.10, Y:-40.60, Z:-10.87 [[ 9.78358940e-01 2.04453680e-01 3.18194550e-02 2.45100659e+02] [-2.04353329e-01 9.78876212e-01 -6.40921323e-03 -4.05978122e+01] [-3.24576948e-02 -2.31900474e-04 9.99473083e-01 -1.08725746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16264000000004 meters 0.017508675187631596 Centerline is valid? [True, True] Translation: X:245.13, Y:-40.60, Z:-10.87 [[ 9.78452519e-01 2.04093920e-01 3.12464436e-02 2.45128692e+02] [-2.03997063e-01 9.78951288e-01 -6.29082287e-03 -4.06009781e+01] [-3.18726649e-02 -2.18911245e-04 9.99491914e-01 -1.08742325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.19264000000004 meters 0.017318922848660313 Centerline is valid? [True, True] Translation: X:245.16, Y:-40.60, Z:-10.87 [[ 9.78444537e-01 2.04049243e-01 3.17835490e-02 2.45156973e+02] [-2.03949072e-01 9.78960600e-01 -6.39681015e-03 -4.06043804e+01] [-3.24201065e-02 -2.23301393e-04 9.99474305e-01 -1.08748854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.22264000000004 meters 0.01760409358012112 Centerline is valid? [True, True] Translation: X:245.18, Y:-40.61, Z:-10.88 [[ 9.78643577e-01 2.03286452e-01 3.05183331e-02 2.45184846e+02] [-2.03193712e-01 9.79119289e-01 -6.14269542e-03 -4.06073338e+01] [-3.11298154e-02 -1.89623992e-04 9.99515332e-01 -1.08782406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.25264000000004 meters 0.01664415732849741 Centerline is valid? [True, True] Translation: X:245.21, Y:-40.61, Z:-10.88 [[ 9.78711489e-01 2.02993383e-01 3.02903967e-02 2.45212975e+02] [-2.02902097e-01 9.79180092e-01 -6.08989725e-03 -4.06128736e+01] [-3.08959623e-02 -1.85732622e-04 9.99522589e-01 -1.08779194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.28264000000004 meters 0.016657541097550608 Centerline is valid? [True, True] Translation: X:245.24, Y:-40.62, Z:-10.88 [[ 9.78779096e-01 2.02772954e-01 2.95738244e-02 2.45241574e+02] [-2.02685880e-01 9.79225765e-01 -5.94440061e-03 -4.06171349e+01] [-3.01648145e-02 -1.75941575e-04 9.99544923e-01 -1.08797432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.31264000000004 meters 0.016657541097550608 Centerline is valid? [True, True] Translation: X:245.27, Y:-40.62, Z:-10.88 [[ 9.78793871e-01 2.02701590e-01 2.95740320e-02 2.45268522e+02] [-2.02614514e-01 9.79240540e-01 -5.94336774e-03 -4.06224153e+01] [-3.01648211e-02 -1.74796216e-04 9.99544923e-01 -1.08810457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.34264000000005 meters 0.02310834788627915 Centerline is valid? [True, True] Translation: X:245.30, Y:-40.63, Z:-10.88 [[ 9.78812725e-01 2.02655000e-01 2.92677290e-02 2.45297348e+02] [-2.02569777e-01 9.79250183e-01 -5.87918921e-03 -4.06254872e+01] [-2.98518761e-02 -1.74132138e-04 9.99554318e-01 -1.08827838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.37264000000005 meters 0.016288246485599046 Centerline is valid? [True, True] Translation: X:245.33, Y:-40.63, Z:-10.88 [[ 9.78984011e-01 2.01779464e-01 2.95863887e-02 2.45325163e+02] [-2.01692020e-01 9.79430970e-01 -5.94169168e-03 -4.06316096e+01] [-3.01767367e-02 -1.50517346e-04 9.99544567e-01 -1.08835675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40264000000005 meters 0.015971570241908966 Centerline is valid? [True, True] Translation: X:245.35, Y:-40.64, Z:-10.88 [[ 9.79168631e-01 2.00820404e-01 2.99992964e-02 2.45352467e+02] [-2.00730093e-01 9.79628067e-01 -6.02325756e-03 -4.06372556e+01] [-3.05977458e-02 -1.23976713e-04 9.99531772e-01 -1.08848736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.43264000000002 meters 0.015146648738850353 Centerline is valid? [True, True] Translation: X:245.38, Y:-40.64, Z:-10.88 [[ 9.79515629e-01 1.99137987e-01 2.98863684e-02 2.45380959e+02] [-1.99047635e-01 9.79971457e-01 -5.99851994e-03 -4.06427690e+01] [-3.04823212e-02 -7.31669017e-05 9.99535303e-01 -1.08842139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46264000000002 meters 0.0160993932099513 Centerline is valid? [True, True] Translation: X:245.41, Y:-40.65, Z:-10.89 [[ 9.79698468e-01 1.98291784e-01 2.95174625e-02 2.45407950e+02] [-1.98203287e-01 9.80143034e-01 -5.92375561e-03 -4.06475960e+01] [-3.01059673e-02 -4.69637987e-05 9.99546712e-01 -1.08896745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.49264000000002 meters 0.0296968411462233 Centerline is valid? [True, True] Translation: X:245.44, Y:-40.65, Z:-10.89 [[ 9.79793794e-01 1.97916326e-01 2.88660667e-02 2.45436284e+02] [-1.97831633e-01 9.80218918e-01 -5.78953991e-03 -4.06535419e+01] [-2.94409091e-02 -3.80658265e-05 9.99566522e-01 -1.08891558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52264000000002 meters 0.015400255028966957 Centerline is valid? [True, True] Translation: X:245.46, Y:-40.66, Z:-10.89 [[ 9.80212326e-01 1.95793221e-01 2.91343604e-02 2.45464230e+02] [-1.95706050e-01 9.80645203e-01 -5.84190560e-03 -4.06618900e+01] [-2.97142763e-02 2.45372801e-05 9.99558433e-01 -1.08900687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.55264000000003 meters 0.01529162936358035 Centerline is valid? [True, True] Translation: X:245.49, Y:-40.67, Z:-10.89 [[ 9.80411243e-01 1.94723481e-01 2.96067822e-02 2.45491262e+02] [-1.94633011e-01 9.80858177e-01 -5.93532168e-03 -4.06680038e+01] [-3.01958009e-02 5.65989180e-05 9.99544001e-01 -1.08911282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58264000000003 meters 0.015280328803912604 Centerline is valid? [True, True] Translation: X:245.52, Y:-40.67, Z:-10.89 [[ 9.80659987e-01 1.93467639e-01 2.96017292e-02 2.45519171e+02] [-1.93376690e-01 9.81106653e-01 -5.93227307e-03 -4.06749120e+01] [-3.01901563e-02 9.32584213e-05 9.99544169e-01 -1.08914475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.61264000000003 meters 0.016219641351104055 Centerline is valid? [True, True] Translation: X:245.55, Y:-40.68, Z:-10.89 [[ 9.80988165e-01 1.91790116e-01 2.96440723e-02 2.45545479e+02] [-1.91698179e-01 9.81435954e-01 -5.93947501e-03 -4.06832426e+01] [-3.02328910e-02 1.43840013e-04 9.99542871e-01 -1.08946804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64264000000003 meters 0.017317220816847594 Centerline is valid? [True, True] Translation: X:245.57, Y:-40.70, Z:-10.89 [[ 9.81623441e-01 1.88476683e-01 2.98657029e-02 2.45572128e+02] [-1.88381896e-01 9.82077634e-01 -5.98176734e-03 -4.06956156e+01] [-3.04578625e-02 2.45685294e-04 9.99536021e-01 -1.08949164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.67264000000003 meters 0.01907000287454821 Centerline is valid? [True, True] Translation: X:245.60, Y:-40.70, Z:-10.90 [[ 9.81944359e-01 1.86664494e-01 3.06862059e-02 2.45597692e+02] [-1.86563573e-01 9.82423672e-01 -6.14509880e-03 -4.07045293e+01] [-3.12939268e-02 3.09216883e-04 9.99510177e-01 -1.08972830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70264000000003 meters 0.019451731911000254 Centerline is valid? [True, True] Translation: X:245.63, Y:-40.71, Z:-10.90 [[ 9.82239045e-01 1.85088113e-01 3.08033910e-02 2.45625521e+02] [-1.84985746e-01 9.82721864e-01 -6.16532176e-03 -4.07126824e+01] [-3.14122936e-02 3.57631499e-04 9.99506448e-01 -1.08968067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.73264000000003 meters 0.021406313714298186 Centerline is valid? [True, True] Translation: X:245.65, Y:-40.73, Z:-10.90 [[ 9.82708069e-01 1.82655002e-01 3.03644746e-02 2.45652014e+02] [-1.82554416e-01 9.83176977e-01 -6.07602322e-03 -4.07254837e+01] [-3.09634684e-02 4.27788125e-04 9.99520425e-01 -1.08988459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76264000000003 meters 0.025350269645494587 Centerline is valid? [True, True] Translation: X:245.68, Y:-40.73, Z:-10.90 [[ 9.82739863e-01 1.82531577e-01 3.00763366e-02 2.45680256e+02] [-1.82432878e-01 9.83199899e-01 -6.01692814e-03 -4.07329199e+01] [-3.06693305e-02 4.26162501e-04 9.99529495e-01 -1.09001031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.79264000000003 meters 0.018358706731678418 Centerline is valid? [True, True] Translation: X:245.70, Y:-40.74, Z:-10.90 [[ 9.82178112e-01 1.84612282e-01 3.52769193e-02 2.45703698e+02] [-1.84816418e-01 9.82769655e-01 2.58785263e-03 -4.07418939e+01] [-3.41913365e-02 -9.06148606e-03 9.99374225e-01 -1.09009326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82264000000004 meters 0.018726011822834045 Centerline is valid? [True, True] Translation: X:245.74, Y:-40.73, Z:-10.91 [[ 9.82004654e-01 1.86999753e-01 2.64187937e-02 2.45738130e+02] [-1.86666496e-01 9.82315076e-01 -1.45846377e-02 -4.07344410e+01] [-2.86789030e-02 9.39067847e-03 9.99544564e-01 -1.09051458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.85264000000004 meters 0.018018361771277226 Centerline is valid? [True, True] Translation: X:245.77, Y:-40.74, Z:-10.91 [[ 9.81512883e-01 1.89428763e-01 2.73715945e-02 2.45765282e+02] [-1.89349842e-01 9.81894449e-01 -5.47068683e-03 -4.07419165e+01] [-2.79123221e-02 1.86742498e-04 9.99610358e-01 -1.09097804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88264000000004 meters 0.016941964022923254 Centerline is valid? [True, True] Translation: X:245.79, Y:-40.74, Z:-10.91 [[ 9.80973582e-01 1.92205960e-01 2.73441010e-02 2.45794477e+02] [-1.92128329e-01 9.81354604e-01 -5.46325456e-03 -4.07431524e+01] [-2.78843295e-02 1.05731950e-04 9.99611151e-01 -1.09113236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.91264000000004 meters 0.015929542832713455 Centerline is valid? [True, True] Translation: X:245.82, Y:-40.74, Z:-10.91 [[ 9.80428810e-01 1.95010693e-01 2.70218142e-02 2.45823149e+02] [-1.94935967e-01 9.80801116e-01 -5.39811907e-03 -4.07445611e+01] [-2.75557165e-02 2.49479769e-05 9.99620269e-01 -1.09104175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.94264000000004 meters 0.02097092732672037 Centerline is valid? [True, True] Translation: X:245.85, Y:-40.75, Z:-10.91 [[ 9.78704436e-01 2.02538453e-01 3.34036254e-02 2.45846060e+02] [-2.02800335e-01 9.79209249e-01 4.61208272e-03 -4.07504637e+01] [-3.17750148e-02 -1.12881322e-02 9.99431302e-01 -1.09109646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.97264000000004 meters 0.017471271056957224 Centerline is valid? [True, True] Translation: X:245.88, Y:-40.74, Z:-10.91 [[ 9.78804234e-01 2.03159675e-01 2.58537644e-02 2.45882807e+02] [-2.02794761e-01 9.79089594e-01 -1.60577443e-02 -4.07395122e+01] [-2.85754378e-02 1.04743801e-02 9.99536759e-01 -1.09108838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.00264000000004 meters 0.018658834358453103 Centerline is valid? [True, True] Translation: X:245.91, Y:-40.75, Z:-10.91 [[ 9.78448890e-01 2.04553140e-01 2.82096300e-02 2.45909368e+02] [-2.04475838e-01 9.78855426e-01 -5.62907095e-03 -4.07478639e+01] [-2.87645936e-02 -2.60429534e-04 9.99586180e-01 -1.09135156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.03264000000004 meters 0.020414202095467203 Centerline is valid? [True, True] Translation: X:245.94, Y:-40.75, Z:-10.92 [[ 9.77975058e-01 2.06830811e-01 2.80321521e-02 2.45937845e+02] [-2.06755465e-01 9.78376670e-01 -5.59187151e-03 -4.07485018e+01] [-2.85825749e-02 -3.27089771e-04 9.99591381e-01 -1.09153120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.06264000000004 meters 0.022646317968347755 Centerline is valid? [True, True] Translation: X:245.97, Y:-40.75, Z:-10.92 [[ 9.77907118e-01 2.07064419e-01 2.86704558e-02 2.45965489e+02] [-2.06985758e-01 9.78327250e-01 -5.71730596e-03 -4.07506786e+01] [-2.92329388e-02 -3.43381835e-04 9.99572567e-01 -1.09203952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.09264000000005 meters 0.020300126278253592 Centerline is valid? [True, True] Translation: X:245.99, Y:-40.76, Z:-10.92 [[ 9.78084078e-01 2.06284829e-01 2.82507782e-02 2.45992234e+02] [-2.06208106e-01 9.78491937e-01 -5.63440954e-03 -4.07589749e+01] [-2.88054519e-02 -3.14613205e-04 9.99584987e-01 -1.09179547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.12264000000005 meters 0.018912332653153018 Centerline is valid? [True, True] Translation: X:246.02, Y:-40.77, Z:-10.92 [[ 9.78463404e-01 2.04419184e-01 2.86734156e-02 2.46020439e+02] [-2.04339540e-01 9.78883407e-01 -5.71208219e-03 -4.07677081e+01] [-2.92355900e-02 -2.70049182e-04 9.99572512e-01 -1.09184320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15264000000005 meters 0.01852441934297307 Centerline is valid? [True, True] Translation: X:246.05, Y:-40.78, Z:-10.92 [[ 9.78686524e-01 2.03300278e-01 2.90118083e-02 2.46047378e+02] [-2.03218449e-01 9.79116406e-01 -5.77284117e-03 -4.07751274e+01] [-2.95795577e-02 -2.45932827e-04 9.99562399e-01 -1.09200443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18264000000002 meters 0.019327104425111267 Centerline is valid? [True, True] Translation: X:246.07, Y:-40.78, Z:-10.92 [[ 9.78874612e-01 2.02376777e-01 2.91227549e-02 2.46074534e+02] [-2.02293967e-01 9.79307710e-01 -5.79304670e-03 -4.07809223e+01] [-2.96925165e-02 -2.20691280e-04 9.99559056e-01 -1.09247736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.21264000000002 meters 0.01733554179509006 Centerline is valid? [True, True] Translation: X:246.10, Y:-40.79, Z:-10.92 [[ 9.79230552e-01 2.00782685e-01 2.81751582e-02 2.46101797e+02] [-2.00704571e-01 9.79635792e-01 -5.60270537e-03 -4.07901568e+01] [-2.87263196e-02 -1.68542750e-04 9.99587300e-01 -1.09227971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24264000000002 meters 0.016921238294957335 Centerline is valid? [True, True] Translation: X:246.13, Y:-40.80, Z:-10.92 [[ 9.79370937e-01 2.00060998e-01 2.84282384e-02 2.46129333e+02] [-1.99981212e-01 9.79783432e-01 -5.65158108e-03 -4.07972002e+01] [-2.89841779e-02 -1.50119314e-04 9.99579859e-01 -1.09238317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.27264000000002 meters 0.016316294671483534 Centerline is valid? [True, True] Translation: X:246.16, Y:-40.80, Z:-10.92 [[ 9.79507468e-01 1.99332971e-01 2.88355012e-02 2.46156911e+02] [-1.99250609e-01 9.79931809e-01 -5.73107019e-03 -4.08049431e+01] [-2.93992161e-02 -1.31865128e-04 9.99567741e-01 -1.09240127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30264000000003 meters 0.016569612841536425 Centerline is valid? [True, True] Translation: X:246.18, Y:-40.81, Z:-10.93 [[ 9.79951791e-01 1.97172817e-01 2.85896319e-02 2.46182297e+02] [-1.97090958e-01 9.80368745e-01 -5.68143389e-03 -4.08137794e+01] [-2.91486058e-02 -6.72266139e-05 9.99575087e-01 -1.09282963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.33264000000003 meters 0.01645842926244757 Centerline is valid? [True, True] Translation: X:246.21, Y:-40.82, Z:-10.93 [[ 9.80157186e-01 1.96234202e-01 2.80005268e-02 2.46210511e+02] [-1.96155389e-01 9.80557054e-01 -5.56121381e-03 -4.08213629e+01] [-2.85474144e-02 -4.15905496e-05 9.99592439e-01 -1.09301607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36264000000003 meters 0.016272015050442196 Centerline is valid? [True, True] Translation: X:246.24, Y:-40.83, Z:-10.93 [[ 9.80359087e-01 1.95280603e-01 2.75961419e-02 2.46238417e+02] [-1.95203709e-01 9.80747412e-01 -5.47960008e-03 -4.08294561e+01] [-2.81349043e-02 -1.48935113e-05 9.99604135e-01 -1.09310306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.39264000000003 meters 0.02904522535823089 Centerline is valid? [True, True] Translation: X:246.26, Y:-40.84, Z:-10.94 [[ 9.80465410e-01 1.94846516e-01 2.68777941e-02 2.46264914e+02] [-1.94773440e-01 9.80833745e-01 -5.33590590e-03 -4.08371970e+01] [-2.74023302e-02 -3.40926794e-06 9.99624486e-01 -1.09353573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42264000000003 meters 0.017061711599984066 Centerline is valid? [True, True] Translation: X:246.29, Y:-40.85, Z:-10.94 [[ 9.80657962e-01 1.93939040e-01 2.64122971e-02 2.46292058e+02] [-1.93868195e-01 9.81013582e-01 -5.24162035e-03 -4.08461469e+01] [-2.69273770e-02 1.97323623e-05 9.99637392e-01 -1.09379245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.45264000000003 meters 0.0256454840821753 Centerline is valid? [True, True] Translation: X:246.32, Y:-40.85, Z:-10.94 [[ 9.80584775e-01 1.94331533e-01 2.62441399e-02 2.46320348e+02] [-1.94261761e-01 9.80935908e-01 -5.20701569e-03 -4.08510957e+01] [-2.67557065e-02 7.68749872e-06 9.99642002e-01 -1.09368822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48264000000003 meters 0.01612115099873323 Centerline is valid? [True, True] Translation: X:246.35, Y:-40.86, Z:-10.94 [[ 9.80356293e-01 1.95199325e-01 2.82624006e-02 2.46347590e+02] [-1.95118806e-01 9.80763592e-01 -5.60609268e-03 -4.08557816e+01] [-2.88130391e-02 -1.85576331e-05 9.99584818e-01 -1.09350791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.51264000000003 meters 0.030797408678446953 Centerline is valid? [True, True] Translation: X:246.38, Y:-40.86, Z:-10.94 [[ 9.80206713e-01 1.95863494e-01 2.88494771e-02 2.46375176e+02] [-1.95779937e-01 9.80631169e-01 -5.72069280e-03 -4.08617492e+01] [-2.94111713e-02 -4.06873100e-05 9.99567397e-01 -1.09352919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54264000000003 meters 0.015279799138287468 Centerline is valid? [True, True] Translation: X:246.40, Y:-40.87, Z:-10.93 [[ 9.80198329e-01 1.95914388e-01 2.87886972e-02 2.46402637e+02] [-1.95831248e-01 9.80621003e-01 -5.70716421e-03 -4.08679467e+01] [-2.93489167e-02 -4.35736918e-05 9.99569227e-01 -1.09336522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.57264000000004 meters 0.016591730133177704 Centerline is valid? [True, True] Translation: X:246.43, Y:-40.87, Z:-10.94 [[ 9.80240545e-01 1.95860705e-01 2.76958087e-02 2.46429975e+02] [-1.95783801e-01 9.80631726e-01 -5.48824913e-03 -4.08732437e+01] [-2.82343210e-02 -4.25863849e-05 9.99601331e-01 -1.09403811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.60264000000004 meters 0.026569662896381907 Centerline is valid? [True, True] Translation: X:246.46, Y:-40.88, Z:-10.94 [[ 9.80234054e-01 1.95922197e-01 2.74898724e-02 2.46457736e+02] [-1.95846514e-01 9.80619442e-01 -5.44539673e-03 -4.08794485e+01] [-2.80239775e-02 -4.60323605e-05 9.99607250e-01 -1.09426949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.63264000000004 meters 0.016133420576852363 Centerline is valid? [True, True] Translation: X:246.48, Y:-40.89, Z:-10.94 [[ 9.80320720e-01 1.95499191e-01 2.74107973e-02 2.46484997e+02] [-1.95423800e-01 9.80703862e-01 -5.42891468e-03 -4.08860787e+01] [-2.79432232e-02 -3.46446206e-05 9.99609511e-01 -1.09421382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.66264000000004 meters 0.016778392529584654 Centerline is valid? [True, True] Translation: X:246.51, Y:-40.89, Z:-10.94 [[ 9.80097579e-01 1.96505986e-01 2.81803556e-02 2.46512786e+02] [-1.96426796e-01 9.80502623e-01 -5.57862557e-03 -4.08911413e+01] [-2.87271459e-02 -6.77795287e-05 9.99587288e-01 -1.09444836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.69264000000004 meters 0.016920668232285604 Centerline is valid? [True, True] Translation: X:246.54, Y:-40.90, Z:-10.94 [[ 9.79919979e-01 1.97435536e-01 2.78575580e-02 2.46541322e+02] [-1.97358565e-01 9.80315868e-01 -5.51332678e-03 -4.08962855e+01] [-2.83977327e-02 -9.53086036e-05 9.99596699e-01 -1.09449087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.72264000000004 meters 0.01765565153489037 Centerline is valid? [True, True] Translation: X:246.57, Y:-40.90, Z:-10.95 [[ 9.79755975e-01 1.98254777e-01 2.78077713e-02 2.46568805e+02] [-1.98178442e-01 9.80150514e-01 -5.50234867e-03 -4.09013636e+01] [-2.83466682e-02 -1.19941816e-04 9.99598145e-01 -1.09482416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.75264000000004 meters 0.017850820891197886 Centerline is valid? [True, True] Translation: X:246.60, Y:-40.91, Z:-10.95 [[ 9.79540535e-01 1.99349953e-01 2.75669616e-02 2.46597566e+02] [-1.99275422e-01 9.79928351e-01 -5.45282043e-03 -4.09064302e+01] [-2.81006667e-02 -1.52159258e-04 9.99605087e-01 -1.09482286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.78264000000004 meters 0.01926083423861341 Centerline is valid? [True, True] Translation: X:246.63, Y:-40.91, Z:-10.95 [[ 9.79117069e-01 2.01424124e-01 2.75334050e-02 2.46625221e+02] [-2.01350624e-01 9.79504098e-01 -5.44507554e-03 -4.09083021e+01] [-2.80658526e-02 -2.12501877e-04 9.99606054e-01 -1.09500242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.81264000000004 meters 0.01901958675853565 Centerline is valid? [True, True] Translation: X:246.65, Y:-40.91, Z:-10.95 [[ 9.79011702e-01 2.01920294e-01 2.76456456e-02 2.46653139e+02] [-2.01846445e-01 9.79401931e-01 -5.46537348e-03 -4.09138512e+01] [-2.81797685e-02 -2.29510698e-04 9.99602845e-01 -1.09501659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.84264000000005 meters 0.020493685319821434 Centerline is valid? [True, True] Translation: X:246.68, Y:-40.92, Z:-10.95 [[ 9.78967495e-01 2.02179939e-01 2.73114667e-02 2.46680844e+02] [-2.02107997e-01 9.79348363e-01 -5.39822259e-03 -4.09180439e+01] [-2.78388526e-02 -2.35181375e-04 9.99612396e-01 -1.09545876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.87264000000005 meters 0.019426615097531495 Centerline is valid? [True, True] Translation: X:246.71, Y:-40.92, Z:-10.95 [[ 9.78988401e-01 2.02012796e-01 2.77946124e-02 2.46708896e+02] [-2.01938274e-01 9.79382854e-01 -5.49173388e-03 -4.09249140e+01] [-2.83309673e-02 -2.36452267e-04 9.99598570e-01 -1.09531525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90264000000005 meters 0.01777439381625829 Centerline is valid? [True, True] Translation: X:246.74, Y:-40.93, Z:-10.95 [[ 9.79178000e-01 2.01064686e-01 2.79899221e-02 2.46736408e+02] [-2.00988764e-01 9.79577943e-01 -5.52899215e-03 -4.09340599e+01] [-2.85299954e-02 -2.11792353e-04 9.99592914e-01 -1.09515801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.93264000000002 meters 0.018405929620264428 Centerline is valid? [True, True] Translation: X:246.76, Y:-40.94, Z:-10.96 [[ 9.79330341e-01 2.00336586e-01 2.78807253e-02 2.46762559e+02] [-2.00260980e-01 9.79727113e-01 -5.50671637e-03 -4.09399063e+01] [-2.84186993e-02 -1.90526951e-04 9.99596089e-01 -1.09555225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96264000000002 meters 0.018465334862336875 Centerline is valid? [True, True] Translation: X:246.79, Y:-40.95, Z:-10.96 [[ 9.79338988e-01 2.00296314e-01 2.78663432e-02 2.46789775e+02] [-2.00220847e-01 9.79735347e-01 -5.50112402e-03 -4.09469103e+01] [-2.84034963e-02 -1.91957626e-04 9.99596521e-01 -1.09571814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.99264000000002 meters 0.018586073364820387 Centerline is valid? [True, True] Translation: X:246.82, Y:-40.95, Z:-10.96 [[ 9.79343558e-01 2.00259924e-01 2.79670841e-02 2.46816246e+02] [-2.00183924e-01 9.79742786e-01 -5.52003218e-03 -4.09526408e+01] [-2.85059901e-02 -1.92552677e-04 9.99593603e-01 -1.09585729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02264 meters 0.01978933418848776 Centerline is valid? [True, True] Translation: X:246.84, Y:-40.96, Z:-10.96 [[ 9.79299230e-01 2.00472378e-01 2.79972124e-02 2.46843061e+02] [-2.00396430e-01 9.79699334e-01 -5.52148043e-03 -4.09565812e+01] [-2.85357546e-02 -2.03359880e-04 9.99592752e-01 -1.09620615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.05264 meters 0.018399691271996803 Centerline is valid? [True, True] Translation: X:246.87, Y:-40.96, Z:-10.96 [[ 9.79167851e-01 2.00978097e-01 2.89503587e-02 2.46871288e+02] [-2.00897202e-01 9.79595709e-01 -5.70630256e-03 -4.09623107e+01] [-2.95064890e-02 -2.28618046e-04 9.99564563e-01 -1.09587523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08264 meters 0.017630431474509187 Centerline is valid? [True, True] Translation: X:246.90, Y:-40.97, Z:-10.96 [[ 9.79237984e-01 2.00688193e-01 2.85870415e-02 2.46899450e+02] [-2.00609232e-01 9.79655144e-01 -5.63334842e-03 -4.09696199e+01] [-2.91359888e-02 -2.18435698e-04 9.99575433e-01 -1.09585129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.11264 meters 0.01792966143469381 Centerline is valid? [True, True] Translation: X:246.93, Y:-40.98, Z:-10.96 [[ 9.79428122e-01 1.99788906e-01 2.83715948e-02 2.46925647e+02] [-1.99710775e-01 9.79838944e-01 -5.59015143e-03 -4.09762249e+01] [-2.89164438e-02 -1.90961686e-04 9.99581814e-01 -1.09620865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14264000000003 meters 0.01719267225898135 Centerline is valid? [True, True] Translation: X:246.95, Y:-40.98, Z:-10.96 [[ 9.79829229e-01 1.97815248e-01 2.83515337e-02 2.46952557e+02] [-1.97736488e-01 9.80239312e-01 -5.58318050e-03 -4.09846610e+01] [-2.88957261e-02 -1.35569260e-04 9.99582422e-01 -1.09634356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.17264 meters 0.01719267225898135 Centerline is valid? [True, True] Translation: X:246.98, Y:-40.99, Z:-10.96 [[ 9.79843097e-01 1.97746505e-01 2.83518195e-02 2.46979530e+02] [-1.97667759e-01 9.80253182e-01 -5.58172829e-03 -4.09898316e+01] [-2.88957286e-02 -1.35022696e-04 9.99582422e-01 -1.09647384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20264000000003 meters 0.016426732720297835 Centerline is valid? [True, True] Translation: X:247.01, Y:-41.00, Z:-10.96 [[ 9.80110776e-01 1.96462385e-01 2.80249419e-02 2.47006263e+02] [-1.96384975e-01 9.80511357e-01 -5.51541406e-03 -4.09975993e+01] [-2.85623452e-02 -9.79607546e-05 9.99592008e-01 -1.09649617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.23264 meters 0.016819457824242323 Centerline is valid? [True, True] Translation: X:247.03, Y:-41.01, Z:-10.97 [[ 9.80437293e-01 1.94903945e-01 2.74802914e-02 2.47032338e+02] [-1.94828951e-01 9.80822333e-01 -5.40650457e-03 -4.10060696e+01] [-2.80070326e-02 -5.32176296e-05 9.99607725e-01 -1.09695829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26264000000003 meters 0.016280923185201617 Centerline is valid? [True, True] Translation: X:247.06, Y:-41.02, Z:-10.97 [[ 9.81011847e-01 1.92056046e-01 2.70228074e-02 2.47059071e+02] [-1.91982534e-01 9.81383959e-01 -5.31337208e-03 -4.10196986e+01] [-2.75402150e-02 2.45739072e-05 9.99620696e-01 -1.09700177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.29264 meters 0.016204187781353827 Centerline is valid? [True, True] Translation: X:247.09, Y:-41.03, Z:-10.97 [[ 9.81313002e-01 1.90494274e-01 2.71426615e-02 2.47086324e+02] [-1.90419535e-01 9.81688304e-01 -5.33606929e-03 -4.10285962e+01] [-2.76621239e-02 6.78612074e-05 9.99617328e-01 -1.09700752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32264 meters 0.01673236775430192 Centerline is valid? [True, True] Translation: X:247.11, Y:-41.04, Z:-10.97 [[ 9.81547831e-01 1.89158723e-01 2.79791406e-02 2.47112930e+02] [-1.89078834e-01 9.81946519e-01 -5.49802714e-03 -4.10385523e+01] [-2.85140195e-02 1.06313341e-04 9.99593387e-01 -1.09723748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.35264 meters 0.016318591705459594 Centerline is valid? [True, True] Translation: X:247.14, Y:-41.05, Z:-10.97 [[ 9.81731151e-01 1.88189378e-01 2.80838944e-02 2.47140532e+02] [-1.88108551e-01 9.82132751e-01 -5.51660253e-03 -4.10470008e+01] [-2.86202785e-02 1.32999880e-04 9.99590347e-01 -1.09703741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38264 meters 0.016029780858513205 Centerline is valid? [True, True] Translation: X:247.17, Y:-41.05, Z:-10.97 [[ 9.81668544e-01 1.88435408e-01 2.86176081e-02 2.47168371e+02] [-1.88351627e-01 9.82085577e-01 -5.61993972e-03 -4.10545943e+01] [-2.91639358e-02 1.26744993e-04 9.99574634e-01 -1.09698966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.41264 meters 0.02812362438080831 Centerline is valid? [True, True] Translation: X:247.20, Y:-41.06, Z:-10.97 [[ 9.81546853e-01 1.89097129e-01 2.84262527e-02 2.47195961e+02] [-1.89014778e-01 9.81958382e-01 -5.58114647e-03 -4.10600215e+01] [-2.89687759e-02 1.05174921e-04 9.99580311e-01 -1.09740149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.44264 meters 0.016169528725319703 Centerline is valid? [True, True] Translation: X:247.22, Y:-41.06, Z:-10.98 [[ 9.81116211e-01 1.91328149e-01 2.83640458e-02 2.47223073e+02] [-1.91247142e-01 9.81526127e-01 -5.56710087e-03 -4.10637855e+01] [-2.89051952e-02 3.74302128e-05 9.99582157e-01 -1.09754480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.47264 meters 0.01598999084439855 Centerline is valid? [True, True] Translation: X:247.25, Y:-41.07, Z:-10.98 [[ 9.80648927e-01 1.93763054e-01 2.79921576e-02 2.47252229e+02] [-1.93685203e-01 9.81048357e-01 -5.49221233e-03 -4.10671750e+01] [-2.85258481e-02 -3.57345979e-05 9.99593055e-01 -1.09760194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.50264 meters 0.018449857094342798 Centerline is valid? [True, True] Translation: X:247.28, Y:-41.07, Z:-10.98 [[ 9.79500493e-01 1.99477144e-01 2.80651569e-02 2.47281264e+02] [-1.99401262e-01 9.79902458e-01 -5.50535402e-03 -4.10654639e+01] [-2.85993085e-02 -2.03730728e-04 9.99590935e-01 -1.09788785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.53264 meters 0.020028004937100073 Centerline is valid? [True, True] Translation: X:247.31, Y:-41.07, Z:-10.98 [[ 9.78895689e-01 2.02430532e-01 2.80198079e-02 2.47310721e+02] [-2.02356161e-01 9.79296582e-01 -5.49447664e-03 -4.10672798e+01] [-2.85519519e-02 -2.91461259e-04 9.99592267e-01 -1.09795943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.56264 meters 0.024790957665132306 Centerline is valid? [True, True] Translation: X:247.34, Y:-41.06, Z:-10.98 [[ 9.77747848e-01 2.07899107e-01 2.80554305e-02 2.47341251e+02] [-2.07826842e-01 9.78150170e-01 -5.49983453e-03 -4.10616698e+01] [-2.85858348e-02 -4.53220133e-04 9.99591239e-01 -1.09813389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.59264 meters 0.027201666065537335 Centerline is valid? [True, True] Translation: X:247.37, Y:-41.06, Z:-10.98 [[ 9.77212415e-01 2.10343213e-01 2.84890951e-02 2.47369088e+02] [-2.10269746e-01 9.77627459e-01 -5.58442663e-03 -4.10617683e+01] [-2.90263679e-02 -5.33223749e-04 9.99578504e-01 -1.09823851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.62264 meters 0.028776842956606118 Centerline is valid? [True, True] Translation: X:247.40, Y:-41.06, Z:-10.98 [[ 9.76791032e-01 2.12237705e-01 2.88866015e-02 2.47397477e+02] [-2.12163071e-01 9.77217886e-01 -5.65994550e-03 -4.10642921e+01] [-2.94297575e-02 -6.00086065e-04 9.99566671e-01 -1.09826508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.65264 meters 0.03046146216182452 Centerline is valid? [True, True] Translation: X:247.42, Y:-41.07, Z:-10.98 [[ 9.76479776e-01 2.13593399e-01 2.94127091e-02 2.47424797e+02] [-2.13516685e-01 9.76922429e-01 -5.76136618e-03 -4.10669826e+01] [-2.99645250e-02 -6.54246577e-04 9.99550749e-01 -1.09832876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.68264 meters 0.03176433880139626 Centerline is valid? [True, True] Translation: X:247.45, Y:-41.07, Z:-10.98 [[ 9.76153260e-01 2.15130257e-01 2.90479960e-02 2.47453623e+02] [-2.15056124e-01 9.76585118e-01 -5.68956963e-03 -4.10684989e+01] [-2.95918391e-02 -6.93057489e-04 9.99561825e-01 -1.09846294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.71264 meters 0.034195726171340896 Centerline is valid? [True, True] Translation: X:247.48, Y:-41.07, Z:-10.99 [[ 9.76163680e-01 2.15145806e-01 2.85788774e-02 2.47481268e+02] [-2.15074254e-01 9.76581695e-01 -5.59089990e-03 -4.10710918e+01] [-2.91124672e-02 -6.88947299e-04 9.99575905e-01 -1.09881245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.74264 meters 0.03195381318513184 Centerline is valid? [True, True] Translation: X:247.51, Y:-41.08, Z:-10.99 [[ 9.76224230e-01 2.14883741e-01 2.84821211e-02 2.47508284e+02] [-2.14812539e-01 9.76639400e-01 -5.57269135e-03 -4.10768168e+01] [-2.90142425e-02 -6.78120439e-04 9.99578768e-01 -1.09881854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.77264 meters 0.03350848530472405 Centerline is valid? [True, True] Translation: X:247.54, Y:-41.08, Z:-10.99 [[ 9.76252050e-01 2.14683072e-01 2.90364310e-02 2.47536110e+02] [-2.14609228e-01 9.76683520e-01 -5.67285509e-03 -4.10785500e+01] [-2.95772696e-02 -6.93349653e-04 9.99562256e-01 -1.09906413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.80264 meters 0.030206617654867655 Centerline is valid? [True, True] Translation: X:247.56, Y:-41.09, Z:-10.99 [[ 9.76552768e-01 2.13334971e-01 2.88596835e-02 2.47564397e+02] [-2.13261429e-01 9.76978899e-01 -5.63853759e-03 -4.10856606e+01] [-2.93981990e-02 -6.48327837e-04 9.99567569e-01 -1.09903531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.83264 meters 0.029179637056643285 Centerline is valid? [True, True] Translation: X:247.59, Y:-41.09, Z:-10.99 [[ 9.76801502e-01 2.12159841e-01 2.91037467e-02 2.47592500e+02] [-2.12084743e-01 9.77234778e-01 -5.67897151e-03 -4.10917984e+01] [-2.96460432e-02 -6.25232758e-04 9.99560264e-01 -1.09913824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86264 meters 0.028713799866814504 Centerline is valid? [True, True] Translation: X:247.62, Y:-41.10, Z:-10.99 [[ 9.77077625e-01 2.10899610e-01 2.89942802e-02 2.47619419e+02] [-2.10824558e-01 9.77507550e-01 -5.65640080e-03 -4.10969647e+01] [-2.95350606e-02 -5.85963635e-04 9.99563573e-01 -1.09935214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.89264000000003 meters 0.02583210607765166 Centerline is valid? [True, True] Translation: X:247.65, Y:-41.10, Z:-11.00 [[ 9.77792573e-01 2.07715492e-01 2.78560516e-02 2.47647190e+02] [-2.07644977e-01 9.78189170e-01 -5.43251321e-03 -4.11040287e+01] [-2.83769051e-02 -4.72298108e-04 9.99597183e-01 -1.09968408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92264 meters 0.022971276706286563 Centerline is valid? [True, True] Translation: X:247.68, Y:-41.11, Z:-11.00 [[ 9.78197277e-01 2.05808919e-01 2.77988638e-02 2.47675184e+02] [-2.05737961e-01 9.78592109e-01 -5.42003550e-03 -4.11126017e+01] [-2.83192404e-02 -4.17417584e-04 9.99598843e-01 -1.09959585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.95264000000003 meters 0.02637768051931361 Centerline is valid? [True, True] Translation: X:247.70, Y:-41.12, Z:-11.00 [[ 9.78678000e-01 2.03396945e-01 2.86191375e-02 2.47702753e+02] [-2.03320750e-01 9.79096294e-01 -5.57844265e-03 -4.11184185e+01] [-2.91555297e-02 -3.59365402e-04 9.99574823e-01 -1.09991848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98264 meters 0.018902549908699613 Centerline is valid? [True, True] Translation: X:247.73, Y:-41.13, Z:-11.00 [[ 9.79430397e-01 1.99671316e-01 2.91112194e-02 2.47730632e+02] [-1.99590883e-01 9.79862899e-01 -5.67261559e-03 -4.11291403e+01] [-2.96576624e-02 -2.54401855e-04 9.99560082e-01 -1.09986079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.01264000000003 meters 0.02325309718687114 Centerline is valid? [True, True] Translation: X:247.76, Y:-41.14, Z:-11.00 [[ 9.79858476e-01 1.97575069e-01 2.90079058e-02 2.47758185e+02] [-1.97494311e-01 9.80287741e-01 -5.65168525e-03 -4.11367051e+01] [-2.95527266e-02 -1.91044664e-04 9.99563205e-01 -1.09972724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04264 meters 0.01684387960820385 Centerline is valid? [True, True] Translation: X:247.79, Y:-41.14, Z:-11.00 [[ 9.80169797e-01 1.95882548e-01 2.99532497e-02 2.47785607e+02] [-1.95795678e-01 9.80627353e-01 -5.83489321e-03 -4.11426019e+01] [-3.05159297e-02 -1.45530745e-04 9.99534270e-01 -1.10002212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.07264 meters 0.015560455833557852 Centerline is valid? [True, True] Translation: X:247.81, Y:-41.15, Z:-11.00 [[ 9.80833685e-01 1.92569511e-01 2.97029512e-02 2.47812423e+02] [-1.92482667e-01 9.81283334e-01 -5.78285191e-03 -4.11541054e+01] [-3.02606120e-02 -4.52873185e-05 9.99542042e-01 -1.10009281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10264 meters 0.015670777016418277 Centerline is valid? [True, True] Translation: X:247.84, Y:-41.16, Z:-11.00 [[ 9.81079617e-01 1.91360112e-01 2.93954645e-02 2.47838843e+02] [-1.91274551e-01 9.81519897e-01 -5.72177830e-03 -4.11613642e+01] [-2.99471534e-02 -9.08421313e-06 9.99551483e-01 -1.10032889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.13264 meters 0.028752238272007128 Centerline is valid? [True, True] Translation: X:247.87, Y:-41.17, Z:-11.01 [[ 9.81436001e-01 1.89617213e-01 2.87869397e-02 2.47866487e+02] [-1.89534464e-01 9.81858091e-01 -5.60143196e-03 -4.11677117e+01] [-2.93268176e-02 4.13297943e-05 9.99569876e-01 -1.10051768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16264 meters 0.015836120865652264 Centerline is valid? [True, True] Translation: X:247.89, Y:-41.17, Z:-11.01 [[ 9.81437201e-01 1.89567460e-01 2.90723109e-02 2.47894125e+02] [-1.89483076e-01 9.81867698e-01 -5.65572881e-03 -4.11729752e+01] [-2.96173052e-02 4.20317343e-05 9.99561311e-01 -1.10062262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.19264 meters 0.015291852051167664 Centerline is valid? [True, True] Translation: X:247.92, Y:-41.18, Z:-11.01 [[ 9.81514554e-01 1.89187637e-01 2.89347397e-02 2.47922890e+02] [-1.89103942e-01 9.81940953e-01 -5.62705814e-03 -4.11783431e+01] [-2.94767757e-02 5.13661235e-05 9.99565464e-01 -1.10052467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22264 meters 0.015239036010294324 Centerline is valid? [True, True] Translation: X:247.95, Y:-41.18, Z:-11.01 [[ 9.81580605e-01 1.88780765e-01 2.93485674e-02 2.47950662e+02] [-1.88694521e-01 9.82019256e-01 -5.70601551e-03 -4.11841657e+01] [-2.98980443e-02 6.30002782e-05 9.99552952e-01 -1.10064231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.25264 meters 0.015483134788112208 Centerline is valid? [True, True] Translation: X:247.98, Y:-41.19, Z:-11.01 [[ 9.81662978e-01 1.88411760e-01 2.89621611e-02 2.47977733e+02] [-1.88327648e-01 9.82090120e-01 -5.62967257e-03 -4.11902398e+01] [-2.95041488e-02 7.20654446e-05 9.99564655e-01 -1.10085046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28264 meters 0.030853024793816276 Centerline is valid? [True, True] Translation: X:248.01, Y:-41.20, Z:-11.01 [[ 9.81729882e-01 1.88166511e-01 2.82807918e-02 2.48005746e+02] [-1.88086266e-01 9.82137138e-01 -5.49529061e-03 -4.11964988e+01] [-2.88096456e-02 7.56624656e-05 9.99584913e-01 -1.10102763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.31264 meters 0.015568314492740704 Centerline is valid? [True, True] Translation: X:248.03, Y:-41.20, Z:-11.01 [[ 9.81652307e-01 1.88586441e-01 2.81762641e-02 2.48032878e+02] [-1.88506988e-01 9.82056592e-01 -5.47402429e-03 -4.12030594e+01] [-2.87030127e-02 6.21658817e-05 9.99587982e-01 -1.10115900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34264 meters 0.01647529891038551 Centerline is valid? [True, True] Translation: X:248.06, Y:-41.21, Z:-11.02 [[ 9.81652447e-01 1.88737310e-01 2.71422290e-02 2.48059364e+02] [-1.88663694e-01 9.82027609e-01 -5.27120388e-03 -4.12090068e+01] [-2.76492911e-02 5.37369914e-05 9.99617684e-01 -1.10164051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.37264 meters 0.02424397906073073 Centerline is valid? [True, True] Translation: X:248.09, Y:-41.21, Z:-11.02 [[ 9.81481832e-01 1.89693343e-01 2.66429727e-02 2.48087918e+02] [-1.89622829e-01 9.81843386e-01 -5.17181844e-03 -4.12123537e+01] [-2.71402861e-02 2.39299734e-05 9.99631634e-01 -1.10176488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40264 meters 0.01984623632176236 Centerline is valid? [True, True] Translation: X:248.12, Y:-41.22, Z:-11.02 [[ 9.81228501e-01 1.90923526e-01 2.71815561e-02 2.48115589e+02] [-1.90850624e-01 9.81604914e-01 -5.27560797e-03 -4.12155479e+01] [-2.76887867e-02 -1.10400546e-05 9.99616592e-01 -1.10190116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.43264 meters 0.01645205765515666 Centerline is valid? [True, True] Translation: X:248.14, Y:-41.22, Z:-11.02 [[ 9.80414834e-01 1.94746375e-01 2.93360350e-02 2.48144418e+02] [-1.94663260e-01 9.80853624e-01 -5.69061763e-03 -4.12151038e+01] [-2.98825834e-02 -1.31482264e-04 9.99553407e-01 -1.10166484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46264 meters 0.016818366345708557 Centerline is valid? [True, True] Translation: X:248.17, Y:-41.22, Z:-11.02 [[ 9.79979214e-01 1.96752249e-01 3.04843020e-02 2.48173023e+02] [-1.96663535e-01 9.80453217e-01 -5.91120125e-03 -4.12176436e+01] [-3.10514741e-02 -2.02296252e-04 9.99517766e-01 -1.10154106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.49264 meters 0.018075839813875928 Centerline is valid? [True, True] Translation: X:248.20, Y:-41.22, Z:-11.02 [[ 9.79608046e-01 1.98540561e-01 3.08175452e-02 2.48200852e+02] [-1.98450823e-01 9.80092637e-01 -5.97447646e-03 -4.12200599e+01] [-3.13902251e-02 -2.63122013e-04 9.99507171e-01 -1.10166491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52264 meters 0.021153115913514334 Centerline is valid? [True, True] Translation: X:248.23, Y:-41.22, Z:-11.02 [[ 9.79096077e-01 2.01358540e-01 2.87334488e-02 2.48229608e+02] [-2.01281802e-01 9.79517549e-01 -5.56844764e-03 -4.12218322e+01] [-2.92661718e-02 -3.31475124e-04 9.99571599e-01 -1.10225103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.55264 meters 0.022727661327294934 Centerline is valid? [True, True] Translation: X:248.26, Y:-41.22, Z:-11.03 [[ 9.78867565e-01 2.02548465e-01 2.81497618e-02 2.48257633e+02] [-2.02475321e-01 9.79272173e-01 -5.45478238e-03 -4.12238050e+01] [-2.86711363e-02 -3.60122520e-04 9.99588834e-01 -1.10264056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58264 meters 0.022250226121885205 Centerline is valid? [True, True] Translation: X:248.29, Y:-41.23, Z:-11.03 [[ 9.78683494e-01 2.03481392e-01 2.78198000e-02 2.48286294e+02] [-2.03410382e-01 9.79078738e-01 -5.38900890e-03 -4.12281457e+01] [-2.83343377e-02 -3.84702067e-04 9.99598428e-01 -1.10261945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.61264 meters 0.02298819904756773 Centerline is valid? [True, True] Translation: X:248.31, Y:-41.23, Z:-11.03 [[ 9.78669429e-01 2.03445737e-01 2.85653683e-02 2.48314236e+02] [-2.03370891e-01 9.79086143e-01 -5.53216048e-03 -4.12306651e+01] [-2.90934508e-02 -3.95208057e-04 9.99576618e-01 -1.10286566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64264000000003 meters 0.027618817815517994 Centerline is valid? [True, True] Translation: X:248.34, Y:-41.24, Z:-11.03 [[ 9.78901332e-01 2.02399549e-01 2.80464703e-02 2.48342216e+02] [-2.02327023e-01 9.79302963e-01 -5.42976364e-03 -4.12381946e+01] [-2.85649732e-02 -3.59355983e-04 9.99591873e-01 -1.10278864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.67264 meters 0.02125922795541441 Centerline is valid? [True, True] Translation: X:248.37, Y:-41.24, Z:-11.03 [[ 9.79082947e-01 2.01375967e-01 2.90568828e-02 2.48369907e+02] [-2.01297716e-01 9.79513962e-01 -5.62380706e-03 -4.12434375e+01] [-2.95941220e-02 -3.42910536e-04 9.99561939e-01 -1.10304251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70264000000003 meters 0.01862701071470639 Centerline is valid? [True, True] Translation: X:248.40, Y:-41.25, Z:-11.03 [[ 9.79468953e-01 1.99445172e-01 2.93631430e-02 2.48397714e+02] [-1.99364440e-01 9.79908945e-01 -5.68158408e-03 -4.12532573e+01] [-2.99063710e-02 -2.89031346e-04 9.99552663e-01 -1.10288715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.73264 meters 0.016603517127730026 Centerline is valid? [True, True] Translation: X:248.42, Y:-41.27, Z:-11.03 [[ 9.80485027e-01 1.94430419e-01 2.90847605e-02 2.48422904e+02] [-1.94349040e-01 9.80916303e-01 -5.62647979e-03 -4.12669106e+01] [-2.96236746e-02 -1.35916082e-04 9.99561113e-01 -1.10320732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76264000000003 meters 0.01582287929663234 Centerline is valid? [True, True] Translation: X:248.45, Y:-41.28, Z:-11.03 [[ 9.81065944e-01 1.91522159e-01 2.87902120e-02 2.48449731e+02] [-1.91441226e-01 9.81488288e-01 -5.56748069e-03 -4.12774132e+01] [-2.93235518e-02 -4.95677789e-05 9.99569971e-01 -1.10336531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.79264 meters 0.01543200589153699 Centerline is valid? [True, True] Translation: X:248.48, Y:-41.29, Z:-11.03 [[ 9.81572066e-01 1.88914732e-01 2.87663456e-02 2.48476423e+02] [-1.88832841e-01 9.81993494e-01 -5.56190746e-03 -4.12873061e+01] [-2.92990905e-02 2.73822262e-05 9.99570689e-01 -1.10337437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82264 meters 0.029473346291163674 Centerline is valid? [True, True] Translation: X:248.50, Y:-41.30, Z:-11.03 [[ 9.82418344e-01 1.84416629e-01 2.90637888e-02 2.48501738e+02] [-1.84331135e-01 9.82848148e-01 -5.61708020e-03 -4.13015482e+01] [-2.96011740e-02 1.60961453e-04 9.99561776e-01 -1.10348139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.85264 meters 0.016340566544801285 Centerline is valid? [True, True] Translation: X:248.53, Y:-41.31, Z:-11.03 [[ 9.82597723e-01 1.83272601e-01 3.02137077e-02 2.48529391e+02] [-1.83179743e-01 9.83062111e-01 -5.83679236e-03 -4.13102942e+01] [-3.07716754e-02 2.00679662e-04 9.99526420e-01 -1.10334525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88264 meters 0.028950681571738905 Centerline is valid? [True, True] Translation: X:248.56, Y:-41.32, Z:-11.04 [[ 9.82795918e-01 1.82344258e-01 2.93726864e-02 2.48555389e+02] [-1.82256115e-01 9.83234724e-01 -5.67332026e-03 -4.13187409e+01] [-2.99147426e-02 2.22364300e-04 9.99552429e-01 -1.10386316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.91264 meters 0.017503543273617746 Centerline is valid? [True, True] Translation: X:248.58, Y:-41.33, Z:-11.04 [[ 9.82788658e-01 1.82309684e-01 2.98267164e-02 2.48583965e+02] [-1.82218862e-01 9.83241135e-01 -5.75826584e-03 -4.13254709e+01] [-3.03766421e-02 2.24168046e-04 9.99538498e-01 -1.10383379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.94264 meters 0.01747953681625756 Centerline is valid? [True, True] Translation: X:248.61, Y:-41.33, Z:-11.04 [[ 9.82651726e-01 1.83178178e-01 2.90058529e-02 2.48611941e+02] [-1.83092712e-01 9.83079711e-01 -5.59822945e-03 -4.13325540e+01] [-2.95405390e-02 1.90349564e-04 9.99563565e-01 -1.10416847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.97264 meters 0.023231043192974286 Centerline is valid? [True, True] Translation: X:248.64, Y:-41.34, Z:-11.04 [[ 9.82564051e-01 1.83775326e-01 2.81871514e-02 2.48640278e+02] [-1.83694884e-01 9.82968261e-01 -5.43948245e-03 -4.13376520e+01] [-2.87067178e-02 1.66804425e-04 9.99587863e-01 -1.10430516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.00264 meters 0.03257532982591813 Centerline is valid? [True, True] Translation: X:248.67, Y:-41.34, Z:-11.05 [[ 9.82449884e-01 1.84352321e-01 2.83980239e-02 2.48667593e+02] [-1.84270953e-01 9.82860214e-01 -5.47873352e-03 -4.13434082e+01] [-2.89213051e-02 1.49650175e-04 9.99581680e-01 -1.10451699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.03264 meters 0.016154028683224502 Centerline is valid? [True, True] Translation: X:248.70, Y:-41.35, Z:-11.04 [[ 9.82244172e-01 1.85072377e-01 3.07343662e-02 2.48695077e+02] [-1.84977472e-01 9.82724883e-01 -5.92776388e-03 -4.13513711e+01] [-3.13004918e-02 1.37346143e-04 9.99510010e-01 -1.10435659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.06264 meters 0.02735304945807911 Centerline is valid? [True, True] Translation: X:248.72, Y:-41.36, Z:-11.05 [[ 9.82252240e-01 1.85227945e-01 2.95151657e-02 2.48723008e+02] [-1.85140533e-01 9.82695575e-01 -5.69127083e-03 -4.13586113e+01] [-3.00586051e-02 1.25810031e-04 9.99548130e-01 -1.10460156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.09264 meters 0.016259718245848157 Centerline is valid? [True, True] Translation: X:248.75, Y:-41.37, Z:-11.05 [[ 9.82155303e-01 1.85573962e-01 3.05493957e-02 2.48749203e+02] [-1.85480525e-01 9.82630292e-01 -5.88933821e-03 -4.13700115e+01] [-3.11116695e-02 1.17926792e-04 9.99515908e-01 -1.10481179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.12264 meters 0.016259718245848157 Centerline is valid? [True, True] Translation: X:248.78, Y:-41.38, Z:-11.05 [[ 9.82163734e-01 1.85529270e-01 3.05497728e-02 2.48777009e+02] [-1.85435872e-01 9.82638731e-01 -5.88738118e-03 -4.13752769e+01] [-3.11116716e-02 1.17348514e-04 9.99515908e-01 -1.10494602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.15264 meters 0.016132144004178187 Centerline is valid? [True, True] Translation: X:248.80, Y:-41.38, Z:-11.05 [[ 9.82137911e-01 1.85803688e-01 2.97003864e-02 2.48804581e+02] [-1.85715578e-01 9.82586881e-01 -5.72237639e-03 -4.13826208e+01] [-3.02464487e-02 1.04338359e-04 9.99542466e-01 -1.10506304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.18264 meters 0.01596128753336517 Centerline is valid? [True, True] Translation: X:248.83, Y:-41.39, Z:-11.05 [[ 9.82044431e-01 1.86384076e-01 2.91498014e-02 2.48832120e+02] [-1.86299499e-01 9.82476956e-01 -5.61493754e-03 -4.13895130e+01] [-2.96855431e-02 8.35247598e-05 9.99559284e-01 -1.10521779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.21264 meters 0.016189236184242936 Centerline is valid? [True, True] Translation: X:248.86, Y:-41.40, Z:-11.05 [[ 9.81923270e-01 1.87018501e-01 2.91680080e-02 2.48858894e+02] [-1.86934135e-01 9.82356390e-01 -5.61721120e-03 -4.13963286e+01] [-2.97039014e-02 6.31740527e-05 9.99558740e-01 -1.10548884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.24264 meters 0.015285293284133175 Centerline is valid? [True, True] Translation: X:248.89, Y:-41.40, Z:-11.05 [[ 9.81513283e-01 1.89172981e-01 2.90733440e-02 2.48886699e+02] [-1.89090164e-01 9.81943778e-01 -5.59702656e-03 -4.14039721e+01] [-2.96071955e-02 -3.92748597e-06 9.99561611e-01 -1.10531271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.27264 meters 0.01611491751738209 Centerline is valid? [True, True] Translation: X:248.91, Y:-41.41, Z:-11.06 [[ 9.81304473e-01 1.90254696e-01 2.90634129e-02 2.48913686e+02] [-1.90172447e-01 9.81734765e-01 -5.59383781e-03 -4.14103535e+01] [-2.95968168e-02 -3.78022900e-05 9.99561918e-01 -1.10576744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.30264 meters 0.02353521000377437 Centerline is valid? [True, True] Translation: X:248.94, Y:-41.42, Z:-11.06 [[ 9.80894809e-01 1.92576232e-01 2.75638934e-02 2.48940007e+02] [-1.92503209e-01 9.81282011e-01 -5.30378281e-03 -4.14176487e+01] [-2.80693352e-02 -1.03684922e-04 9.99605973e-01 -1.10607937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.33264 meters 0.016740595761020497 Centerline is valid? [True, True] Translation: X:248.97, Y:-41.42, Z:-11.06 [[ 9.80629506e-01 1.93826420e-01 2.82327811e-02 2.48968284e+02] [-1.93750401e-01 9.81035829e-01 -5.42996832e-03 -4.14245750e+01] [-2.87498412e-02 -1.45325497e-04 9.99586627e-01 -1.10589263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36264 meters 0.02096659186887503 Centerline is valid? [True, True] Translation: X:249.00, Y:-41.43, Z:-11.06 [[ 9.80368119e-01 1.95213322e-01 2.77508670e-02 2.48996497e+02] [-1.95140470e-01 9.80760789e-01 -5.33591997e-03 -4.14292002e+01] [-2.82586049e-02 -1.84151398e-04 9.99600629e-01 -1.10599133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.39264000000003 meters 0.019542075028062687 Centerline is valid? [True, True] Translation: X:249.02, Y:-41.43, Z:-11.06 [[ 9.80019019e-01 1.96876113e-01 2.83287766e-02 2.49024247e+02] [-1.96800925e-01 9.80428345e-01 -5.44576788e-03 -4.14315421e+01] [-2.88464772e-02 -2.38173361e-04 9.99583825e-01 -1.10646626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42264 meters 0.020555217998752807 Centerline is valid? [True, True] Translation: X:249.05, Y:-41.44, Z:-11.06 [[ 9.79245912e-01 2.00690124e-01 2.83004885e-02 2.49052971e+02] [-2.00616736e-01 9.79654710e-01 -5.43830058e-03 -4.14360287e+01] [-2.88161200e-02 -3.52118009e-04 9.99584667e-01 -1.10623830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.45264000000003 meters 0.022470580719124212 Centerline is valid? [True, True] Translation: X:249.08, Y:-41.44, Z:-11.06 [[ 9.78716759e-01 2.03122679e-01 2.92349555e-02 2.49080522e+02] [-2.03045489e-01 9.79153198e-01 -5.61650714e-03 -4.14390836e+01] [-2.97663401e-02 -4.39056166e-04 9.99556788e-01 -1.10625009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48264 meters 0.025459048251138237 Centerline is valid? [True, True] Translation: X:249.11, Y:-41.43, Z:-11.06 [[ 9.77722319e-01 2.08313676e-01 2.57774821e-02 2.49110715e+02] [-2.07894445e-01 9.77985168e-01 -1.80252979e-02 -4.14345258e+01] [-2.89649112e-02 1.22647408e-02 9.99505183e-01 -1.10616609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.51264000000003 meters 0.027388678186516576 Centerline is valid? [True, True] Translation: X:249.14, Y:-41.45, Z:-11.06 [[ 9.77538144e-01 2.08309257e-01 3.20379602e-02 2.49136913e+02] [-2.08629090e-01 9.77970144e-01 6.94986417e-03 -4.14514589e+01] [-2.98844475e-02 -1.34778078e-02 9.99462490e-01 -1.10640979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54264 meters 0.03465186445283174 Centerline is valid? [True, True] Translation: X:249.17, Y:-41.44, Z:-11.07 [[ 9.76241522e-01 2.14759875e-01 2.88216294e-02 2.49169250e+02] [-2.14690070e-01 9.76666563e-01 -5.53152485e-03 -4.14384522e+01] [-2.93370714e-02 -7.87613408e-04 9.99569265e-01 -1.10670152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.57264 meters 0.03567971476896515 Centerline is valid? [True, True] Translation: X:249.20, Y:-41.44, Z:-11.07 [[ 9.75778238e-01 2.16853755e-01 2.88319225e-02 2.49198497e+02] [-2.16784821e-01 9.76203731e-01 -5.53322397e-03 -4.14406012e+01] [-2.93457307e-02 -8.51123638e-04 9.99568959e-01 -1.10676367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60264 meters 0.038825603291898436 Centerline is valid? [True, True] Translation: X:249.23, Y:-41.44, Z:-11.07 [[ 9.75237748e-01 2.19243399e-01 2.90459254e-02 2.49228046e+02] [-2.19174548e-01 9.75669752e-01 -5.57256798e-03 -4.14387907e+01] [-2.95609795e-02 -9.31548914e-04 9.99562545e-01 -1.10693632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.63264 meters 0.03759260277454567 Centerline is valid? [True, True] Translation: X:249.26, Y:-41.44, Z:-11.07 [[ 9.75235468e-01 2.19163003e-01 2.97213826e-02 2.49256659e+02] [-2.19090902e-01 9.75687795e-01 -5.70123061e-03 -4.14437199e+01] [-3.02482891e-02 -9.51642242e-04 9.99541963e-01 -1.10686540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66264 meters 0.03735704324507985 Centerline is valid? [True, True] Translation: X:249.29, Y:-41.45, Z:-11.07 [[ 9.75381976e-01 2.18469154e-01 3.00204905e-02 2.49285336e+02] [-2.18395313e-01 9.75843401e-01 -5.75707085e-03 -4.14479858e+01] [-3.05530400e-02 -9.40991284e-04 9.99532704e-01 -1.10698791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.69264 meters 0.03489958262542609 Centerline is valid? [True, True] Translation: X:249.31, Y:-41.46, Z:-11.08 [[ 9.76344537e-01 2.14264528e-01 2.90182164e-02 2.49312412e+02] [-2.14193733e-01 9.76775357e-01 -5.56305914e-03 -4.14594473e+01] [-2.95362449e-02 -7.84057686e-04 9.99563402e-01 -1.10752559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72264 meters 0.035297248704763244 Centerline is valid? [True, True] Translation: X:249.34, Y:-41.47, Z:-11.08 [[ 9.76883195e-01 2.11941405e-01 2.79296418e-02 2.49341391e+02] [-2.11702827e-01 9.77269071e-01 -1.12727956e-02 -4.14698816e+01] [-2.96839472e-02 5.09942046e-03 9.99546327e-01 -1.10770644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.75264 meters 0.0283015704660386 Centerline is valid? [True, True] Translation: X:249.37, Y:-41.48, Z:-11.08 [[ 9.77788283e-01 2.07439287e-01 2.99835805e-02 2.49365550e+02] [-2.07535458e-01 9.78227491e-01 9.75755900e-05 -4.14843389e+01] [-2.93105217e-02 -6.31806437e-03 9.99550387e-01 -1.10784369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78264 meters 0.024997120881423873 Centerline is valid? [True, True] Translation: X:249.39, Y:-41.49, Z:-11.08 [[ 9.78517466e-01 2.04132868e-01 2.88676335e-02 2.49394011e+02] [-2.04058468e-01 9.78943075e-01 -5.53152320e-03 -4.14900294e+01] [-2.93889356e-02 -4.77992998e-04 9.99567938e-01 -1.10792885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.81264 meters 0.019796064792116957 Centerline is valid? [True, True] Translation: X:249.42, Y:-41.50, Z:-11.08 [[ 9.79847656e-01 1.97580254e-01 2.93362295e-02 2.49420648e+02] [-1.97500530e-01 9.80286673e-01 -5.61963117e-03 -4.15028824e+01] [-2.98682429e-02 -2.87538439e-04 9.99553803e-01 -1.10803144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84264 meters 0.01817289898262566 Centerline is valid? [True, True] Translation: X:249.45, Y:-41.51, Z:-11.08 [[ 9.80374627e-01 1.94897768e-01 2.96723786e-02 2.49447459e+02] [-1.94814998e-01 9.80823540e-01 -5.68332332e-03 -4.15118638e+01] [-3.02110344e-02 -2.08838399e-04 9.99543521e-01 -1.10812018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.87264 meters 0.02844420721474301 Centerline is valid? [True, True] Translation: X:249.47, Y:-41.52, Z:-11.09 [[ 9.81324096e-01 1.90291095e-01 2.81481493e-02 2.49473032e+02] [-1.90214760e-01 9.81727709e-01 -5.38979566e-03 -4.15243874e+01] [-2.86594482e-02 -6.50571195e-05 9.99589232e-01 -1.10861258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90264 meters 0.023175674869212265 Centerline is valid? [True, True] Translation: X:249.50, Y:-41.53, Z:-11.09 [[ 9.81690831e-01 1.88507729e-01 2.73486516e-02 2.49500524e+02] [-1.88435027e-01 9.82071706e-01 -5.23493137e-03 -4.15340663e+01] [-2.78451619e-02 -1.43597702e-05 9.99612248e-01 -1.10864474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.93264 meters 0.029644322512679174 Centerline is valid? [True, True] Translation: X:249.53, Y:-41.54, Z:-11.09 [[ 9.81944432e-01 1.87195847e-01 2.72552249e-02 2.49527375e+02] [-1.87123164e-01 9.82322612e-01 -5.21604339e-03 -4.15419630e+01] [-2.77498454e-02 2.17808453e-05 9.99614899e-01 -1.10897298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96264 meters 0.01811923048343018 Centerline is valid? [True, True] Translation: X:249.56, Y:-41.55, Z:-11.09 [[ 9.81959488e-01 1.86923839e-01 2.85489384e-02 2.49559154e+02] [-1.86680171e-01 9.82359179e-01 -1.09980925e-02 -4.15464753e+01] [-3.01011173e-02 5.47016063e-03 9.99531890e-01 -1.10893844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.99264 meters 0.016712669214625085 Centerline is valid? [True, True] Translation: X:249.58, Y:-41.56, Z:-11.09 [[ 9.82290044e-01 1.85150824e-01 2.87305066e-02 2.49584232e+02] [-1.85224868e-01 9.82696159e-01 -8.56190907e-05 -4.15586551e+01] [-2.82492110e-02 -5.23750152e-03 9.99587190e-01 -1.10893616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02264 meters 0.017350855441572357 Centerline is valid? [True, True] Translation: X:249.61, Y:-41.56, Z:-11.09 [[ 9.82350808e-01 1.84991330e-01 2.76603872e-02 2.49612961e+02] [-1.84915587e-01 9.82740149e-01 -5.29391045e-03 -4.15620234e+01] [-2.81623006e-02 8.56404806e-05 9.99603360e-01 -1.10929587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.05264 meters 0.017074131209138633 Centerline is valid? [True, True] Translation: X:249.64, Y:-41.57, Z:-11.09 [[ 9.82453278e-01 1.84452557e-01 2.76190297e-02 2.49642271e+02] [-1.84376862e-01 9.82841414e-01 -5.28473123e-03 -4.15692850e+01] [-2.81199083e-02 9.96914972e-05 9.99604552e-01 -1.10930642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08264 meters 0.015605775864256568 Centerline is valid? [True, True] Translation: X:249.67, Y:-41.58, Z:-11.09 [[ 9.82233765e-01 1.84757221e-01 3.28876972e-02 2.49671309e+02] [-1.84857370e-01 9.82765360e-01 4.69367213e-06 -4.15817732e+01] [-3.23200224e-02 -6.08414351e-03 9.99459053e-01 -1.10921993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.11264 meters 0.017651035096125117 Centerline is valid? [True, True] Translation: X:249.70, Y:-41.58, Z:-11.10 [[ 9.82481579e-01 1.84527162e-01 2.60705452e-02 2.49701874e+02] [-1.84287102e-01 9.82806925e-01 -1.13495537e-02 -4.15815813e+01] [-2.77166133e-02 6.34626216e-03 9.99595675e-01 -1.10979792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14264000000003 meters 0.017678959914069054 Centerline is valid? [True, True] Translation: X:249.73, Y:-41.59, Z:-11.10 [[ 9.82447160e-01 1.84557875e-01 2.71287580e-02 2.49730283e+02] [-1.84484794e-01 9.82821643e-01 -5.19420508e-03 -4.15924645e+01] [-2.76213619e-02 9.81887052e-05 9.99618453e-01 -1.11000233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.17264 meters 0.017894612907102696 Centerline is valid? [True, True] Translation: X:249.76, Y:-41.60, Z:-11.10 [[ 9.82200086e-01 1.85837374e-01 2.73397343e-02 2.49757715e+02] [-1.85763659e-01 9.82580514e-01 -5.23416053e-03 -4.15990500e+01] [-2.78361928e-02 6.22638555e-05 9.99612496e-01 -1.11031466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20264000000003 meters 0.017467485010145493 Centerline is valid? [True, True] Translation: X:249.79, Y:-41.60, Z:-11.10 [[ 9.82025233e-01 1.86624165e-01 2.82464673e-02 2.49786308e+02] [-1.86545830e-01 9.82431382e-01 -5.40685640e-03 -4.16034190e+01] [-2.87592660e-02 4.04087336e-05 9.99586366e-01 -1.11028292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.23264 meters 0.016466837274407217 Centerline is valid? [True, True] Translation: X:249.82, Y:-41.61, Z:-11.10 [[ 9.81774652e-01 1.87819513e-01 2.90234934e-02 2.49815708e+02] [-1.87737382e-01 9.82203559e-01 -5.55380674e-03 -4.16075966e+01] [-2.95500917e-02 3.79201920e-06 9.99563301e-01 -1.11004317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26264000000003 meters 0.015313535951204486 Centerline is valid? [True, True] Translation: X:249.84, Y:-41.62, Z:-11.10 [[ 9.80788166e-01 1.91780876e-01 3.57025028e-02 2.49843962e+02] [-1.92059915e-01 9.81372769e-01 4.52524810e-03 -4.16179753e+01] [-3.41696080e-02 -1.12953295e-02 9.99352217e-01 -1.10985765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.29264 meters 0.025519602060875335 Centerline is valid? [True, True] Translation: X:249.88, Y:-41.61, Z:-11.10 [[ 9.80736528e-01 1.93748397e-01 2.48479583e-02 2.49877608e+02] [-1.93390673e-01 9.80989818e-01 -1.60942195e-02 -4.16075998e+01] [-2.74938233e-02 1.09788256e-02 9.99561681e-01 -1.11032733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32264 meters 0.024423904643390275 Centerline is valid? [True, True] Translation: X:249.90, Y:-41.63, Z:-11.10 [[ 9.80061255e-01 1.95627410e-01 3.47829517e-02 2.49902988e+02] [-1.95995606e-01 9.80576260e-01 7.47796225e-03 -4.16291791e+01] [-3.26444423e-02 -1.41461668e-02 9.99366913e-01 -1.11022416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.35264 meters 0.018184434417821256 Centerline is valid? [True, True] Translation: X:249.93, Y:-41.62, Z:-11.10 [[ 9.79164533e-01 2.00431059e-01 3.26222072e-02 2.49934210e+02] [-2.00280850e-01 9.79707139e-01 -7.84233922e-03 -4.16247987e+01] [-3.35320577e-02 1.14533704e-03 9.99436986e-01 -1.11036273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38264 meters 0.02220949002417671 Centerline is valid? [True, True] Translation: X:249.97, Y:-41.62, Z:-11.11 [[ 9.79282149e-01 2.00753004e-01 2.65462530e-02 2.49966821e+02] [-2.00348823e-01 9.79574960e-01 -1.71244304e-02 -4.16177430e+01] [-2.94418256e-02 1.14511384e-02 9.99500901e-01 -1.11089487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.41264 meters 0.02575553247584292 Centerline is valid? [True, True] Translation: X:249.99, Y:-41.63, Z:-11.12 [[ 9.78489283e-01 2.03368724e-01 3.46393740e-02 2.49994878e+02] [-2.03252580e-01 9.79102174e-01 -6.87910483e-03 -4.16259058e+01] [-3.53144811e-02 -3.09411791e-04 9.99376201e-01 -1.11160757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.44264 meters 0.02210060278216854 Centerline is valid? [True, True] Translation: X:250.02, Y:-41.64, Z:-11.11 [[ 9.78272443e-01 2.03939356e-01 3.73063865e-02 2.50020261e+02] [-2.04134741e-01 9.78941705e-01 1.46491766e-03 -4.16408826e+01] [-3.62220232e-02 -9.04861814e-03 9.99302801e-01 -1.11122783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.47264 meters 0.023887137928177277 Centerline is valid? [True, True] Translation: X:250.05, Y:-41.63, Z:-11.11 [[ 9.78327013e-01 2.05047949e-01 2.88373876e-02 2.50050794e+02] [-2.04658857e-01 9.78704474e-01 -1.58841244e-02 -4.16327923e+01] [-3.14802874e-02 9.63804117e-03 9.99457903e-01 -1.11127808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.50264 meters 0.025081025733448777 Centerline is valid? [True, True] Translation: X:250.08, Y:-41.65, Z:-11.12 [[ 9.77558999e-01 2.06846085e-01 3.99136734e-02 2.50076705e+02] [-2.07275074e-01 9.78258497e-01 6.88168555e-03 -4.16511750e+01] [-3.76224405e-02 -1.50003632e-02 9.99179434e-01 -1.11162881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.53264 meters 0.026200385133552898 Centerline is valid? [True, True] Translation: X:250.11, Y:-41.64, Z:-11.12 [[ 9.77757814e-01 2.07919209e-01 2.75546654e-02 2.50108989e+02] [-2.07423514e-01 9.78050832e-01 -1.98004131e-02 -4.16371778e+01] [-3.10667497e-02 1.36445231e-02 9.99424176e-01 -1.11168650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.56264 meters 0.02918444111879915 Centerline is valid? [True, True] Translation: X:250.14, Y:-41.65, Z:-11.12 [[ 9.77702728e-01 2.07848546e-01 2.99392467e-02 2.50135169e+02] [-2.07770253e-01 9.78160829e-01 -5.73706038e-03 -4.16463212e+01] [-3.04778380e-02 -6.11345275e-04 9.99535256e-01 -1.11219419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.59264 meters 0.029629859985758712 Centerline is valid? [True, True] Translation: X:250.16, Y:-41.65, Z:-11.12 [[ 9.77734163e-01 2.07697129e-01 2.99634513e-02 2.50162500e+02] [-2.07618693e-01 9.78192993e-01 -5.73991486e-03 -4.16499521e+01] [-3.05022019e-02 -6.08861729e-04 9.99534514e-01 -1.11241891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.62264 meters 0.027333407829342602 Centerline is valid? [True, True] Translation: X:250.19, Y:-41.66, Z:-11.12 [[ 9.77853538e-01 2.07185392e-01 2.96086492e-02 2.50190952e+02] [-2.07108642e-01 9.78301522e-01 -5.66950355e-03 -4.16571913e+01] [-3.01408249e-02 -5.88263020e-04 9.99545489e-01 -1.11238382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.65264 meters 0.027594561968541573 Centerline is valid? [True, True] Translation: X:250.22, Y:-41.66, Z:-11.13 [[ 9.78120534e-01 2.05953011e-01 2.93867172e-02 2.50218903e+02] [-2.05876888e-01 9.78561729e-01 -5.62578796e-03 -4.16603093e+01] [-2.99153648e-02 -5.47347157e-04 9.99552285e-01 -1.11272753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.68264 meters 0.03481837914413837 Centerline is valid? [True, True] Translation: X:250.25, Y:-41.66, Z:-11.15 [[ 9.77804866e-01 2.05100255e-01 4.27963829e-02 2.50249205e+02] [-2.05372559e-01 9.78681785e-01 2.01895137e-03 -4.16628015e+01] [-4.14699529e-02 -1.07633431e-02 9.99081775e-01 -1.11459025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.71264 meters 0.023825738338581075 Centerline is valid? [True, True] Translation: X:250.28, Y:-41.67, Z:-11.13 [[ 9.78578304e-01 2.03945353e-01 2.81211050e-02 2.50278031e+02] [-2.03580882e-01 9.78938632e-01 -1.52963678e-02 -4.16688389e+01] [-3.06484592e-02 9.24377430e-03 9.99487481e-01 -1.11274972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.74264 meters 0.02222618206225896 Centerline is valid? [True, True] Translation: X:250.30, Y:-41.68, Z:-11.13 [[ 9.79408861e-01 1.99578689e-01 3.04406145e-02 2.50303924e+02] [-1.99494055e-01 9.79881733e-01 -5.82335768e-03 -4.16830576e+01] [-3.09904202e-02 -3.69273515e-04 9.99519613e-01 -1.11314494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.77264 meters 0.025292901530058184 Centerline is valid? [True, True] Translation: X:250.33, Y:-41.69, Z:-11.13 [[ 9.79825196e-01 1.97509112e-01 3.05407424e-02 2.50331453e+02] [-1.97422962e-01 9.80301003e-01 -5.84096578e-03 -4.16919663e+01] [-3.10927644e-02 -3.06318412e-04 9.99516456e-01 -1.11292479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.80264 meters 0.018983503336590036 Centerline is valid? [True, True] Translation: X:250.36, Y:-41.70, Z:-11.13 [[ 9.80186842e-01 1.95541152e-01 3.15818519e-02 2.50358662e+02] [-1.95448053e-01 9.80695464e-01 -6.03861918e-03 -4.16990171e+01] [-3.21529774e-02 -2.53636413e-04 9.99482927e-01 -1.11315331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.83264 meters 0.016063853323795767 Centerline is valid? [True, True] Translation: X:250.38, Y:-41.72, Z:-11.13 [[ 9.80214730e-01 1.92676803e-01 4.53291515e-02 2.50383498e+02] [-1.93558539e-01 9.80959884e-01 1.58996291e-02 -4.17219485e+01] [-4.14025895e-02 -2.43588950e-02 9.98845569e-01 -1.11310395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86264 meters 0.016935312220276808 Centerline is valid? [True, True] Translation: X:250.42, Y:-41.70, Z:-11.13 [[ 9.80874198e-01 1.92668828e-01 2.76501431e-02 2.50420588e+02] [-1.91848226e-01 9.80972268e-01 -2.97937631e-02 -4.16979798e+01] [-3.28643530e-02 2.39193026e-02 9.99173559e-01 -1.11333665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.89264000000003 meters 0.015618698075123656 Centerline is valid? [True, True] Translation: X:250.44, Y:-41.73, Z:-11.14 [[ 9.80639390e-01 1.90372720e-01 4.58760742e-02 2.50443403e+02] [-1.91263680e-01 9.81410810e-01 1.58438324e-02 -4.17337176e+01] [-4.20070417e-02 -2.43115129e-02 9.98821485e-01 -1.11354934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92264 meters 0.029126354533142045 Centerline is valid? [True, True] Translation: X:250.48, Y:-41.71, Z:-11.14 [[ 9.81149051e-01 1.91374500e-01 2.68763928e-02 2.50480218e+02] [-1.90573804e-01 9.81221988e-01 -2.97495450e-02 -4.17087818e+01] [-3.20650118e-02 2.40668014e-02 9.99195989e-01 -1.11374486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.95264000000003 meters 0.015870340329947587 Centerline is valid? [True, True] Translation: X:250.51, Y:-41.73, Z:-11.14 [[ 9.81581912e-01 1.88365958e-01 3.18624506e-02 2.50506556e+02] [-1.88267455e-01 9.82098908e-01 -6.09097063e-03 -4.17303535e+01] [-3.24394095e-02 -1.98759010e-05 9.99473704e-01 -1.11364682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98264 meters 0.015870340329947587 Centerline is valid? [True, True] Translation: X:250.54, Y:-41.74, Z:-11.14 [[ 9.81581916e-01 1.88365900e-01 3.18626762e-02 2.50535991e+02] [-1.88267435e-01 9.82098919e-01 -6.08979015e-03 -4.17359800e+01] [-3.24394087e-02 -2.10764454e-05 9.99473704e-01 -1.11379504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.01264000000003 meters 0.01497575752351798 Centerline is valid? [True, True] Translation: X:250.56, Y:-41.76, Z:-11.14 [[ 9.81313122e-01 1.87625276e-01 4.26768460e-02 2.50562551e+02] [-1.88344199e-01 9.82010790e-01 1.34636955e-02 -4.17557792e+01] [-3.93829937e-02 -2.12500375e-02 9.98998206e-01 -1.11399567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04264 meters 0.014703089594806353 Centerline is valid? [True, True] Translation: X:250.59, Y:-41.75, Z:-11.14 [[ 9.81377664e-01 1.87568783e-01 4.14226131e-02 2.50594017e+02] [-1.87678044e-01 9.82229779e-01 -1.26993721e-03 -4.17544160e+01] [-4.09247247e-02 -6.52782700e-03 9.99140908e-01 -1.11407718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.07264 meters 0.017628908292805414 Centerline is valid? [True, True] Translation: X:250.63, Y:-41.75, Z:-11.15 [[ 9.82359889e-01 1.85144313e-01 2.62798872e-02 2.50629468e+02] [-1.84307290e-01 9.82368577e-01 -3.13496791e-02 -4.17450740e+01] [-3.16207502e-02 2.59530925e-02 9.99162932e-01 -1.11484277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10264 meters 0.01756755161699232 Centerline is valid? [True, True] Translation: X:250.66, Y:-41.77, Z:-11.15 [[ 9.82638858e-01 1.82928488e-01 3.09522740e-02 2.50656261e+02] [-1.82832481e-01 9.83126208e-01 -5.92816790e-03 -4.17673432e+01] [-3.15144226e-02 1.66167088e-04 9.99503283e-01 -1.11489863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.13264 meters 0.01830375958628006 Centerline is valid? [True, True] Translation: X:250.69, Y:-41.77, Z:-11.15 [[ 9.82809385e-01 1.82000898e-01 3.10062198e-02 2.50686053e+02] [-1.81904102e-01 9.83298345e-01 -5.93826559e-03 -4.17739447e+01] [-3.15691343e-02 1.96024596e-04 9.99501551e-01 -1.11519423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16264 meters 0.018044096331249614 Centerline is valid? [True, True] Translation: X:250.72, Y:-41.78, Z:-11.15 [[ 9.82988281e-01 1.80997639e-01 3.12072754e-02 2.50717264e+02] [-1.80899073e-01 9.83483504e-01 -5.97693226e-03 -4.17793914e+01] [-3.17736512e-02 2.29887168e-04 9.99495064e-01 -1.11518961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.19264 meters 0.018697956642449123 Centerline is valid? [True, True] Translation: X:250.75, Y:-41.79, Z:-11.16 [[ 9.82958864e-01 1.81148120e-01 3.12606766e-02 2.50747609e+02] [-1.81049310e-01 9.83455799e-01 -5.98660377e-03 -4.17858896e+01] [-3.18279557e-02 2.24861313e-04 9.99493337e-01 -1.11552229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22264 meters 0.018703747383315327 Centerline is valid? [True, True] Translation: X:250.78, Y:-41.79, Z:-11.16 [[ 9.82841853e-01 1.81765134e-01 3.13580606e-02 2.50777053e+02] [-1.81665857e-01 9.83341951e-01 -6.01037887e-03 -4.17908821e+01] [-3.19281738e-02 2.10562943e-04 9.99490144e-01 -1.11579073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.25264 meters 0.017731612279952298 Centerline is valid? [True, True] Translation: X:250.81, Y:-41.79, Z:-11.16 [[ 9.82744147e-01 1.82335023e-01 3.11107963e-02 2.50807130e+02] [-1.82237610e-01 9.83236443e-01 -5.96238684e-03 -4.17942528e+01] [-3.16764206e-02 1.89943609e-04 9.99498158e-01 -1.11580080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28264 meters 0.018770963649854283 Centerline is valid? [True, True] Translation: X:250.84, Y:-41.80, Z:-11.16 [[ 9.82676383e-01 1.82840153e-01 3.02754683e-02 2.50836351e+02] [-1.82748148e-01 9.83142640e-01 -5.80211521e-03 -4.17988246e+01] [-3.08259634e-02 1.68815830e-04 9.99524753e-01 -1.11639811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.31264 meters 0.029672098256064157 Centerline is valid? [True, True] Translation: X:250.87, Y:-41.80, Z:-11.16 [[ 9.82376126e-01 1.84527518e-01 2.97782303e-02 2.50867154e+02] [-1.84439271e-01 9.82827341e-01 -5.70727805e-03 -4.18003007e+01] [-3.03200088e-02 1.14418597e-04 9.99540236e-01 -1.11615830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34264 meters 0.01713571935620964 Centerline is valid? [True, True] Translation: X:250.90, Y:-41.81, Z:-11.16 [[ 9.82309418e-01 1.84549220e-01 3.17772298e-02 2.50896289e+02] [-1.84448728e-01 9.82823265e-01 -6.09063230e-03 -4.18056082e+01] [-3.23554222e-02 1.21615847e-04 9.99476419e-01 -1.11647647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.37264 meters 0.017210320879531376 Centerline is valid? [True, True] Translation: X:250.92, Y:-41.81, Z:-11.17 [[ 9.82308953e-01 1.84541961e-01 3.18337225e-02 2.50924460e+02] [-1.84441107e-01 9.82824628e-01 -6.10147396e-03 -4.18094295e+01] [-3.24129445e-02 1.22085463e-04 9.99474555e-01 -1.11664572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40264 meters 0.017229151824557767 Centerline is valid? [True, True] Translation: X:250.95, Y:-41.81, Z:-11.17 [[ 9.82370565e-01 1.84329541e-01 3.11559378e-02 2.50953645e+02] [-1.84232873e-01 9.82864489e-01 -5.97026120e-03 -4.18133106e+01] [-3.17225604e-02 1.25060942e-04 9.99496705e-01 -1.11675676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.43264 meters 0.01756039503461915 Centerline is valid? [True, True] Translation: X:250.98, Y:-41.82, Z:-11.17 [[ 9.82488531e-01 1.83785921e-01 3.06434609e-02 2.50982286e+02] [-1.83692166e-01 9.82966284e-01 -5.87132757e-03 -4.18190363e+01] [-3.12005562e-02 1.39548304e-04 9.99513134e-01 -1.11704014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46264 meters 0.017548061665185417 Centerline is valid? [True, True] Translation: X:251.01, Y:-41.83, Z:-11.17 [[ 9.82524027e-01 1.83592982e-01 3.06619182e-02 2.51011545e+02] [-1.83499043e-01 9.83002338e-01 -5.87411116e-03 -4.18255912e+01] [-3.12191829e-02 1.45022685e-04 9.99512552e-01 -1.11723047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.49264 meters 0.017296851621662807 Centerline is valid? [True, True] Translation: X:251.04, Y:-41.83, Z:-11.17 [[ 9.82549195e-01 1.83472766e-01 3.05748994e-02 2.51041501e+02] [-1.83379339e-01 9.83024782e-01 -5.85622680e-03 -4.18305829e+01] [-3.11303419e-02 1.47226082e-04 9.99515323e-01 -1.11725292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52264 meters 0.01699073751057001 Centerline is valid? [True, True] Translation: X:251.07, Y:-41.83, Z:-11.17 [[ 9.82480759e-01 1.83852189e-01 3.04947815e-02 2.51071449e+02] [-1.83759434e-01 9.82953892e-01 -5.84088126e-03 -4.18337892e+01] [-3.10488230e-02 1.34849666e-04 9.99517860e-01 -1.11735858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.55264 meters 0.01666449504027548 Centerline is valid? [True, True] Translation: X:251.10, Y:-41.83, Z:-11.17 [[ 9.82213051e-01 1.85072166e-01 3.17145869e-02 2.51100486e+02] [-1.84972454e-01 9.82724928e-01 -6.07519627e-03 -4.18346326e+01] [-3.22910649e-02 1.00812088e-04 9.99478503e-01 -1.11749669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58264 meters 0.016439894222747494 Centerline is valid? [True, True] Translation: X:251.13, Y:-41.84, Z:-11.18 [[ 9.82063612e-01 1.85752229e-01 3.23600351e-02 2.51128740e+02] [-1.85648828e-01 9.82596613e-01 -6.19755827e-03 -4.18383556e+01] [-3.29480711e-02 7.87938857e-05 9.99457062e-01 -1.11757737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.61264 meters 0.015838041176300718 Centerline is valid? [True, True] Translation: X:251.16, Y:-41.84, Z:-11.18 [[ 9.81789201e-01 1.87168010e-01 3.25284602e-02 2.51159135e+02] [-1.87064352e-01 9.82327916e-01 -6.22841853e-03 -4.18396092e+01] [-3.31193753e-02 3.00787283e-05 9.99451403e-01 -1.11754178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64264000000003 meters 0.01585166711111004 Centerline is valid? [True, True] Translation: X:251.19, Y:-41.84, Z:-11.18 [[ 9.81699330e-01 1.87633460e-01 3.25593506e-02 2.51188359e+02] [-1.87529873e-01 9.82239118e-01 -6.23395016e-03 -4.18422628e+01] [-3.31507655e-02 1.40138119e-05 9.99450362e-01 -1.11767392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.67264 meters 0.015271350773128672 Centerline is valid? [True, True] Translation: X:251.22, Y:-41.85, Z:-11.18 [[ 9.81621720e-01 1.87904364e-01 3.33278940e-02 2.51217007e+02] [-1.87796041e-01 9.82187329e-01 -6.37942717e-03 -4.18454078e+01] [-3.39329575e-02 3.33771183e-06 9.99424111e-01 -1.11764424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70264000000003 meters 0.015512740927360796 Centerline is valid? [True, True] Translation: X:251.25, Y:-41.85, Z:-11.18 [[ 9.81603293e-01 1.87909924e-01 3.38354093e-02 2.51245046e+02] [-1.87798353e-01 9.82186266e-01 -6.47441583e-03 -4.18494479e+01] [-3.44492813e-02 1.07375480e-06 9.99406447e-01 -1.11790541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.73264 meters 0.01597088320138019 Centerline is valid? [True, True] Translation: X:251.27, Y:-41.85, Z:-11.18 [[ 9.81781579e-01 1.87208664e-01 3.25245560e-02 2.51273786e+02] [-1.87105198e-01 9.82320170e-01 -6.22329073e-03 -4.18540238e+01] [-3.31145813e-02 2.43987068e-05 9.99451562e-01 -1.11822926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76264000000003 meters 0.015427460287551936 Centerline is valid? [True, True] Translation: X:251.30, Y:-41.86, Z:-11.18 [[ 9.81937808e-01 1.86339360e-01 3.27991448e-02 2.51302779e+02] [-1.86233722e-01 9.82485440e-01 -6.27382745e-03 -4.18591477e+01] [-3.33937432e-02 5.22015795e-05 9.99442272e-01 -1.11815150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.79264 meters 0.015809412536766026 Centerline is valid? [True, True] Translation: X:251.33, Y:-41.87, Z:-11.18 [[ 9.82125826e-01 1.85118012e-01 3.40614606e-02 2.51331214e+02] [-1.85003380e-01 9.82716293e-01 -6.51437419e-03 -4.18651389e+01] [-3.46786802e-02 9.64498000e-05 9.99398509e-01 -1.11836510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82264 meters 0.016800058724309598 Centerline is valid? [True, True] Translation: X:251.36, Y:-41.87, Z:-11.18 [[ 9.82721931e-01 1.81740216e-01 3.50442586e-02 2.51359386e+02] [-1.81616756e-01 9.83346554e-01 -6.70140959e-03 -4.18738481e+01] [-3.56785665e-02 2.20997619e-04 9.99363293e-01 -1.11833911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.85264 meters 0.017507877498707244 Centerline is valid? [True, True] Translation: X:251.39, Y:-41.88, Z:-11.18 [[ 9.83040362e-01 1.79954490e-01 3.53274333e-02 2.51388424e+02] [-1.79827910e-01 9.83674895e-01 -6.75453711e-03 -4.18818510e+01] [-3.59662185e-02 2.87124127e-04 9.99352965e-01 -1.11835811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88264 meters 0.01781301997790091 Centerline is valid? [True, True] Translation: X:251.41, Y:-41.90, Z:-11.19 [[ 9.82897197e-01 1.78921120e-01 4.35928015e-02 2.51413564e+02] [-1.79410278e-01 9.83745384e-01 7.54788860e-03 -4.19002607e+01] [-4.15337406e-02 -1.52397952e-02 9.99020869e-01 -1.11862956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.91264 meters 0.02450995817015479 Centerline is valid? [True, True] Translation: X:251.45, Y:-41.89, Z:-11.19 [[ 9.84032171e-01 1.75166326e-01 3.15823619e-02 2.51449003e+02] [-1.74535585e-01 9.84410591e-01 -2.17512529e-02 -4.18935827e+01] [-3.49000986e-02 1.58916866e-02 9.99264448e-01 -1.11864109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.94264 meters 0.021674077248914056 Centerline is valid? [True, True] Translation: X:251.48, Y:-41.91, Z:-11.19 [[ 9.84333056e-01 1.72814583e-01 3.49793447e-02 2.51478914e+02] [-1.72685996e-01 9.84954225e-01 -6.68736595e-03 -4.19100189e+01] [-3.56087277e-02 5.42152382e-04 9.99365661e-01 -1.11870415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.97264 meters 0.037768585011311445 Centerline is valid? [True, True] Translation: X:251.51, Y:-41.92, Z:-11.19 [[ 9.84515144e-01 1.72041643e-01 3.36393168e-02 2.51508914e+02] [-1.71922071e-01 9.85089522e-01 -6.43703213e-03 -4.19195663e+01] [-3.42451761e-02 5.54014605e-04 9.99413308e-01 -1.11915391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.00264 meters 0.025367521229739728 Centerline is valid? [True, True] Translation: X:251.54, Y:-41.93, Z:-11.19 [[ 9.84698394e-01 1.70915981e-01 3.40117762e-02 2.51538237e+02] [-1.70792840e-01 9.85285420e-01 -6.51509042e-03 -4.19295090e+01] [-3.46248403e-02 6.06431222e-04 9.99400196e-01 -1.11944758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.03264 meters 0.025262105501494322 Centerline is valid? [True, True] Translation: X:251.57, Y:-41.94, Z:-11.20 [[ 9.84679754e-01 1.71032136e-01 3.39674822e-02 2.51569572e+02] [-1.70909318e-01 9.85265266e-01 -6.50851435e-03 -4.19372809e+01] [-3.45801455e-02 6.03443095e-04 9.99401746e-01 -1.11964396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.06264 meters 0.02460042585147287 Centerline is valid? [True, True] Translation: X:251.60, Y:-41.94, Z:-11.20 [[ 9.84578746e-01 1.71659114e-01 3.37318984e-02 2.51602088e+02] [-1.71538182e-01 9.85156236e-01 -6.46859844e-03 -4.19443804e+01] [-3.43415840e-02 5.82536016e-04 9.99409984e-01 -1.11977037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.09264 meters 0.02187512236815901 Centerline is valid? [True, True] Translation: X:251.63, Y:-41.95, Z:-11.20 [[ 9.84232314e-01 1.73666109e-01 3.35683642e-02 2.51633917e+02] [-1.73547281e-01 9.84804456e-01 -6.44403830e-03 -4.19489839e+01] [-3.41773856e-02 5.16732403e-04 9.99415649e-01 -1.11981970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.12264 meters 0.02210595158735006 Centerline is valid? [True, True] Translation: X:251.66, Y:-41.96, Z:-11.20 [[ 9.83948113e-01 1.75253037e-01 3.36523934e-02 2.51664603e+02] [-1.75134328e-01 9.84523313e-01 -6.46638430e-03 -4.19554479e+01] [-3.42648193e-02 4.68897325e-04 9.99412679e-01 -1.12015147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.15264 meters 0.020018993725707337 Centerline is valid? [True, True] Translation: X:251.70, Y:-41.96, Z:-11.20 [[ 9.83649201e-01 1.76981242e-01 3.33449927e-02 2.51696669e+02] [-1.76865507e-01 9.84214139e-01 -6.41253683e-03 -4.19594669e+01] [-3.39535120e-02 4.10107691e-04 9.99423329e-01 -1.12023691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.18264 meters 0.019146595467820784 Centerline is valid? [True, True] Translation: X:251.73, Y:-41.97, Z:-11.21 [[ 9.83311489e-01 1.78900866e-01 3.30604822e-02 2.51726318e+02] [-1.78787897e-01 9.83867043e-01 -6.36628889e-03 -4.19652298e+01] [-3.36660535e-02 3.49230912e-04 9.99433077e-01 -1.12055745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.21264 meters 0.016361171139928136 Centerline is valid? [True, True] Translation: X:251.76, Y:-41.97, Z:-11.21 [[ 9.82474779e-01 1.83426686e-01 3.31354763e-02 2.51756970e+02] [-1.83315754e-01 9.83033373e-01 -6.38135393e-03 -4.19668866e+01] [-3.37437896e-02 1.95264483e-04 9.99430497e-01 -1.12064057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.24264 meters 0.01627190576721414 Centerline is valid? [True, True] Translation: X:251.79, Y:-41.97, Z:-11.21 [[ 9.81962607e-01 1.86002437e-01 3.39489683e-02 2.51786209e+02] [-1.85887521e-01 9.82549277e-01 -6.53821574e-03 -4.19711247e+01] [-3.45726583e-02 1.09593820e-04 9.99402181e-01 -1.12101679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.27264 meters 0.018897783497123684 Centerline is valid? [True, True] Translation: X:251.82, Y:-41.97, Z:-11.21 [[ 9.81527562e-01 1.88355546e-01 3.35534468e-02 2.51815786e+02] [-1.88244674e-01 9.82100905e-01 -6.46183141e-03 -4.19748888e+01] [-3.41699923e-02 2.62079881e-05 9.99416035e-01 -1.12086578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.30264 meters 0.0159410055151463 Centerline is valid? [True, True] Translation: X:251.84, Y:-41.98, Z:-11.21 [[ 9.80817828e-01 1.91985488e-01 3.37336769e-02 2.51844267e+02] [-1.91875588e-01 9.81397759e-01 -6.49589015e-03 -4.19769623e+01] [-3.43532715e-02 -1.01384207e-04 9.99409747e-01 -1.12125846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.33264 meters 0.0281820910902494 Centerline is valid? [True, True] Translation: X:251.87, Y:-41.98, Z:-11.21 [[ 9.80430939e-01 1.94082159e-01 3.29740851e-02 2.51873470e+02] [-1.93978385e-01 9.80985263e-01 -6.34822961e-03 -4.19813361e+01] [-3.35791696e-02 -1.72259075e-04 9.99436046e-01 -1.12128025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36264 meters 0.01742214071391689 Centerline is valid? [True, True] Translation: X:251.90, Y:-41.98, Z:-11.22 [[ 9.80084394e-01 1.95599142e-01 3.42863946e-02 2.51901108e+02] [-1.95487882e-01 9.80683905e-01 -6.60054571e-03 -4.19846083e+01] [-3.49151764e-02 -2.33482811e-04 9.99390252e-01 -1.12150811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.39264000000003 meters 0.02310971688199762 Centerline is valid? [True, True] Translation: X:251.93, Y:-41.99, Z:-11.22 [[ 9.79727271e-01 1.97527521e-01 3.34268400e-02 2.51929292e+02] [-1.97422966e-01 9.80297297e-01 -6.43286633e-03 -4.19884615e+01] [-3.40389091e-02 -2.96771339e-04 9.99420464e-01 -1.12163033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42264 meters 0.029473621533538347 Centerline is valid? [True, True] Translation: X:251.96, Y:-41.99, Z:-11.22 [[ 9.79162843e-01 2.00282464e-01 3.35717255e-02 2.51958118e+02] [-2.00178675e-01 9.79738117e-01 -6.45909195e-03 -4.19913987e+01] [-3.41851419e-02 -3.95840690e-04 9.99415439e-01 -1.12172729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.45264000000003 meters 0.02025876388689178 Centerline is valid? [True, True] Translation: X:251.99, Y:-42.00, Z:-11.22 [[ 9.78948305e-01 2.01141486e-01 3.46744727e-02 2.51986275e+02] [-2.01031366e-01 9.79562100e-01 -6.66948849e-03 -4.19974586e+01] [-3.53073101e-02 -4.41572167e-04 9.99376405e-01 -1.12171506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48264 meters 0.021635445079720088 Centerline is valid? [True, True] Translation: X:252.01, Y:-42.00, Z:-11.22 [[ 9.78558655e-01 2.03150517e-01 3.39532988e-02 2.52014454e+02] [-2.03046197e-01 9.79147391e-01 -6.52911693e-03 -4.20030563e+01] [-3.45716774e-02 -5.04964338e-04 9.99402093e-01 -1.12197095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.51264000000003 meters 0.02456049545909908 Centerline is valid? [True, True] Translation: X:252.04, Y:-42.00, Z:-11.22 [[ 9.78352696e-01 2.04145283e-01 3.39220365e-02 2.52041848e+02] [-2.04041799e-01 9.78940453e-01 -6.52176297e-03 -4.20045887e+01] [-3.45390409e-02 -5.40928985e-04 9.99403203e-01 -1.12240717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54264 meters 0.024912794341614957 Centerline is valid? [True, True] Translation: X:252.07, Y:-42.01, Z:-11.23 [[ 9.78214989e-01 2.04806390e-01 3.39083847e-02 2.52070667e+02] [-2.04703491e-01 9.78802340e-01 -6.51610447e-03 -4.20096718e+01] [-3.45241461e-02 -5.67013661e-04 9.99403703e-01 -1.12251562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.57264 meters 0.024708850054919598 Centerline is valid? [True, True] Translation: X:252.10, Y:-42.01, Z:-11.23 [[ 9.78124686e-01 2.05181628e-01 3.42432341e-02 2.52099111e+02] [-2.05076975e-01 9.78723737e-01 -6.57877455e-03 -4.20139605e+01] [-3.48645098e-02 -5.87637069e-04 9.99391875e-01 -1.12255114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60264 meters 0.02576001946446523 Centerline is valid? [True, True] Translation: X:252.13, Y:-42.02, Z:-11.23 [[ 9.78189753e-01 2.04877906e-01 3.42030707e-02 2.52126677e+02] [-2.04773364e-01 9.78787367e-01 -6.56956379e-03 -4.20178923e+01] [-3.48234920e-02 -5.77597884e-04 9.99393311e-01 -1.12284320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.63264 meters 0.02280348448183533 Centerline is valid? [True, True] Translation: X:252.15, Y:-42.03, Z:-11.23 [[ 9.78380640e-01 2.03996539e-01 3.40108239e-02 2.52153994e+02] [-2.03892715e-01 9.78971458e-01 -6.53040334e-03 -4.20282028e+01] [-3.46278055e-02 -5.45339023e-04 9.99400129e-01 -1.12276900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66264 meters 0.02686273842735223 Centerline is valid? [True, True] Translation: X:252.18, Y:-42.04, Z:-11.23 [[ 9.78819805e-01 2.02131585e-01 3.24747790e-02 2.52180921e+02] [-2.02035953e-01 9.79358265e-01 -6.23393657e-03 -4.20384543e+01] [-3.30645187e-02 -4.59172356e-04 9.99453114e-01 -1.12308590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.69264 meters 0.020558379118564295 Centerline is valid? [True, True] Translation: X:252.21, Y:-42.04, Z:-11.23 [[ 9.79049310e-01 2.00936557e-01 3.29689042e-02 2.52208721e+02] [-2.00837374e-01 9.79604164e-01 -6.32706124e-03 -4.20447043e+01] [-3.35678138e-02 -4.26883197e-04 9.99436351e-01 -1.12322153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72264 meters 0.01981839289398081 Centerline is valid? [True, True] Translation: X:252.24, Y:-42.05, Z:-11.23 [[ 9.79290218e-01 1.99742461e-01 3.30698997e-02 2.52237065e+02] [-1.99642045e-01 9.79848355e-01 -6.34474921e-03 -4.20512443e+01] [-3.36708027e-02 -3.88791558e-04 9.99432902e-01 -1.12343009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.75264 meters 0.019472664903573626 Centerline is valid? [True, True] Translation: X:252.27, Y:-42.06, Z:-11.24 [[ 9.79577835e-01 1.98338475e-01 3.30017250e-02 2.52265185e+02] [-1.98237739e-01 9.80133528e-01 -6.32978219e-03 -4.20582141e+01] [-3.36015365e-02 -3.41673025e-04 9.99435251e-01 -1.12370840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78264 meters 0.018257462037450482 Centerline is valid? [True, True] Translation: X:252.29, Y:-42.07, Z:-11.24 [[ 9.80168570e-01 1.95429164e-01 3.28179308e-02 2.52292737e+02] [-1.95327965e-01 9.80717790e-01 -6.29306420e-03 -4.20684527e+01] [-3.34149768e-02 -2.41995913e-04 9.99441534e-01 -1.12401834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.81264 meters 0.016694166378523986 Centerline is valid? [True, True] Translation: X:252.32, Y:-42.08, Z:-11.24 [[ 9.80418523e-01 1.94161622e-01 3.28752920e-02 2.52321234e+02] [-1.94059383e-01 9.80969533e-01 -6.30326006e-03 -4.20761710e+01] [-3.34735110e-02 -1.99925972e-04 9.99439585e-01 -1.12390410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84264 meters 0.016508257022221962 Centerline is valid? [True, True] Translation: X:252.35, Y:-42.08, Z:-11.24 [[ 9.80567010e-01 1.93389977e-01 3.29947961e-02 2.52349729e+02] [-1.93286578e-01 9.81121953e-01 -6.32554415e-03 -4.20817093e+01] [-3.35952156e-02 -1.74831308e-04 9.99435506e-01 -1.12409172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.87264 meters 0.01643053728207888 Centerline is valid? [True, True] Translation: X:252.38, Y:-42.09, Z:-11.24 [[ 9.80925961e-01 1.91679426e-01 3.22994843e-02 2.52377018e+02] [-1.91579452e-01 9.81457582e-01 -6.19106415e-03 -4.20892703e+01] [-3.28872733e-02 -1.14941931e-04 9.99459061e-01 -1.12441981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90264 meters 0.016075381299551432 Centerline is valid? [True, True] Translation: X:252.41, Y:-42.10, Z:-11.25 [[ 9.81139845e-01 1.90571502e-01 3.23590523e-02 2.52405466e+02] [-1.90470603e-01 9.81673315e-01 -6.20105700e-03 -4.20980870e+01] [-3.29477629e-02 -7.93440888e-05 9.99457072e-01 -1.12455288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.93264 meters 0.016075381299551432 Centerline is valid? [True, True] Translation: X:252.43, Y:-42.10, Z:-11.25 [[ 9.81144374e-01 1.90548155e-01 3.23592002e-02 2.52434086e+02] [-1.90447269e-01 9.81677846e-01 -6.20028487e-03 -4.21035244e+01] [-3.29477628e-02 -7.93466928e-05 9.99457072e-01 -1.12470051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96264 meters 0.016075867586072535 Centerline is valid? [True, True] Translation: X:252.46, Y:-42.11, Z:-11.25 [[ 9.81314587e-01 1.89614365e-01 3.26814042e-02 2.52462437e+02] [-1.89510991e-01 9.81858641e-01 -6.26053484e-03 -4.21118326e+01] [-3.32756064e-02 -4.99311319e-05 9.99446212e-01 -1.12485498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.99264 meters 0.015121168987465081 Centerline is valid? [True, True] Translation: X:252.49, Y:-42.12, Z:-11.25 [[ 9.81541423e-01 1.88358177e-01 3.31305187e-02 2.52492429e+02] [-1.88251201e-01 9.82100401e-01 -6.34730665e-03 -4.21189954e+01] [-3.37330628e-02 -6.71553287e-06 9.99430878e-01 -1.12461750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02264 meters 0.015290413347001807 Centerline is valid? [True, True] Translation: X:252.52, Y:-42.13, Z:-11.25 [[ 9.81627798e-01 1.87994043e-01 3.26359736e-02 2.52523563e+02] [-1.87890051e-01 9.82170168e-01 -6.25212540e-03 -4.21251605e+01] [-3.32294420e-02 5.28535077e-06 9.99447750e-01 -1.12483065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.05264 meters 0.015288440585391553 Centerline is valid? [True, True] Translation: X:252.55, Y:-42.13, Z:-11.25 [[ 9.81685943e-01 1.87704740e-01 3.25521228e-02 2.52554103e+02] [-1.87601095e-01 9.82225499e-01 -6.23688350e-03 -4.21318591e+01] [-3.31442176e-02 1.58469684e-05 9.99450579e-01 -1.12497699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08264 meters 0.015270001856738442 Centerline is valid? [True, True] Translation: X:252.58, Y:-42.14, Z:-11.25 [[ 9.81723799e-01 1.87254573e-01 3.39721446e-02 2.52583915e+02] [-1.87141378e-01 9.82311419e-01 -6.51008259e-03 -4.21387757e+01] [-3.45902683e-02 3.35090721e-05 9.99401577e-01 -1.12506598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.11264 meters 0.015274349386623108 Centerline is valid? [True, True] Translation: X:252.61, Y:-42.14, Z:-11.25 [[ 9.81742102e-01 1.87096202e-01 3.43140813e-02 2.52614015e+02] [-1.86980603e-01 9.82341595e-01 -6.57605883e-03 -4.21449484e+01] [-3.49385050e-02 3.99262248e-05 9.99389463e-01 -1.12521803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14264000000003 meters 0.013856882017566586 Centerline is valid? [True, True] Translation: X:252.65, Y:-42.15, Z:-11.25 [[ 9.81751128e-01 1.86936532e-01 3.49207128e-02 2.52650523e+02] [-1.86537829e-01 9.82342603e-01 -1.43752830e-02 -4.21467058e+01] [-3.69913695e-02 7.59891635e-03 9.99286693e-01 -1.12489686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.17264 meters 0.014633663449521791 Centerline is valid? [True, True] Translation: X:252.68, Y:-42.16, Z:-11.25 [[ 9.81819564e-01 1.86340409e-01 3.61606887e-02 2.52675186e+02] [-1.86479274e-01 9.82458779e-01 4.76458486e-04 -4.21623453e+01] [-3.54376027e-02 -7.21101525e-03 9.99345875e-01 -1.12514608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20264000000003 meters 0.014404220815538877 Centerline is valid? [True, True] Translation: X:252.71, Y:-42.16, Z:-11.25 [[ 9.81819455e-01 1.86351904e-01 3.61043812e-02 2.52709993e+02] [-1.86026874e-01 9.82469017e-01 -1.21915274e-02 -4.21619691e+01] [-3.77433502e-02 5.25349364e-03 9.99273656e-01 -1.12541176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.23264 meters 0.013770599167052795 Centerline is valid? [True, True] Translation: X:252.74, Y:-42.17, Z:-11.25 [[ 9.81942898e-01 1.85416107e-01 3.75368179e-02 2.52741133e+02] [-1.85427999e-01 9.82652660e-01 -3.19484967e-03 -4.21736392e+01] [-3.74780305e-02 -3.82321709e-03 9.99290138e-01 -1.12534456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26264000000003 meters 0.014409836283363358 Centerline is valid? [True, True] Translation: X:252.77, Y:-42.18, Z:-11.26 [[ 9.81995132e-01 1.85366961e-01 3.63957504e-02 2.52772037e+02] [-1.85126596e-01 9.82664850e-01 -9.89624824e-03 -4.21764374e+01] [-3.75992621e-02 2.98024621e-03 9.99288454e-01 -1.12573176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.29264 meters 0.014474269794070984 Centerline is valid? [True, True] Translation: X:252.80, Y:-42.19, Z:-11.26 [[ 9.82248761e-01 1.83713940e-01 3.79019757e-02 2.52801950e+02] [-1.83643679e-01 9.82978282e-01 -5.35688982e-03 -4.21878026e+01] [-3.82409543e-02 -1.69865989e-03 9.99267103e-01 -1.12575268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32264 meters 0.014599885263131279 Centerline is valid? [True, True] Translation: X:252.83, Y:-42.19, Z:-11.26 [[ 9.82375406e-01 1.83150397e-01 3.73429265e-02 2.52834748e+02] [-1.83007930e-01 9.83084870e-01 -7.22744551e-03 -4.21939847e+01] [-3.80349756e-02 2.66013020e-04 9.99276373e-01 -1.12590659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.35264 meters 0.015170970680680698 Centerline is valid? [True, True] Translation: X:252.86, Y:-42.21, Z:-11.26 [[ 9.82285193e-01 1.83208724e-01 3.93746419e-02 2.52863596e+02] [-1.83249056e-01 9.83063047e-01 -2.61315525e-03 -4.22059440e+01] [-3.91865083e-02 -4.64850226e-03 9.99221101e-01 -1.12645511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38264 meters 0.014988017578161927 Centerline is valid? [True, True] Translation: X:252.90, Y:-42.20, Z:-11.26 [[ 9.82347243e-01 1.84089572e-01 3.32404002e-02 2.52897799e+02] [-1.83535005e-01 9.82828489e-01 -1.90542231e-02 -4.22021868e+01] [-3.61772961e-02 1.26170865e-02 9.99265737e-01 -1.12647782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.41264 meters 0.014355205594082177 Centerline is valid? [True, True] Translation: X:252.93, Y:-42.23, Z:-11.26 [[ 9.82196949e-01 1.83349085e-01 4.08933467e-02 2.52926121e+02] [-1.83762113e-01 9.82948930e-01 6.54874744e-03 -4.22251376e+01] [-3.89953645e-02 -1.39468076e-02 9.99142056e-01 -1.12644089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.44264 meters 0.01586877140599622 Centerline is valid? [True, True] Translation: X:252.96, Y:-42.22, Z:-11.27 [[ 9.82160135e-01 1.85430666e-01 3.12560018e-02 2.52957282e+02] [-1.84924071e-01 9.82580327e-01 -1.84116399e-02 -4.22166298e+01] [-3.41256151e-02 1.23031917e-02 9.99341820e-01 -1.12698635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.47264 meters 0.025162367909288205 Centerline is valid? [True, True] Translation: X:252.99, Y:-42.23, Z:-11.27 [[ 9.82148003e-01 1.85211812e-01 3.28920234e-02 2.52987517e+02] [-1.85103941e-01 9.82698616e-01 -6.32145878e-03 -4.22323334e+01] [-3.34937547e-02 1.20164964e-04 9.99438920e-01 -1.12678975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.50264 meters 0.015898446054824628 Centerline is valid? [True, True] Translation: X:253.02, Y:-42.24, Z:-11.27 [[ 9.82035706e-01 1.85645061e-01 3.37903001e-02 2.53017686e+02] [-1.85531245e-01 9.82616862e-01 -6.50069242e-03 -4.22392903e+01] [-3.44097401e-02 1.14755619e-04 9.99407803e-01 -1.12716774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.53264 meters 0.014296744346446582 Centerline is valid? [True, True] Translation: X:253.05, Y:-42.25, Z:-11.27 [[ 9.81901055e-01 1.85605855e-01 3.76932908e-02 2.53051354e+02] [-1.85510873e-01 9.82623694e-01 -6.03262633e-03 -4.22460540e+01] [-3.81580114e-02 -1.06907312e-03 9.99271146e-01 -1.12703948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.56264 meters 0.015828142567072115 Centerline is valid? [True, True] Translation: X:253.08, Y:-42.25, Z:-11.28 [[ 9.81937828e-01 1.86183077e-01 3.36743854e-02 2.53079884e+02] [-1.86022107e-01 9.82513966e-01 -7.87927740e-03 -4.22529088e+01] [-3.45525421e-02 1.47278041e-03 9.99401797e-01 -1.12755081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.59264 meters 0.015440997122398355 Centerline is valid? [True, True] Translation: X:253.11, Y:-42.26, Z:-11.28 [[ 9.81793287e-01 1.87148989e-01 3.25145860e-02 2.53110343e+02] [-1.87043996e-01 9.82331538e-01 -6.26840176e-03 -4.22631839e+01] [-3.31132283e-02 7.26166855e-05 9.99451604e-01 -1.12768117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.62264 meters 0.015906379764104677 Centerline is valid? [True, True] Translation: X:253.14, Y:-42.27, Z:-11.28 [[ 9.81623647e-01 1.88183417e-01 3.16546682e-02 2.53140466e+02] [-1.88084259e-01 9.82133901e-01 -6.10832575e-03 -4.22698763e+01] [-3.22386084e-02 4.23321771e-05 9.99480200e-01 -1.12813387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.65264 meters 0.01620133252849035 Centerline is valid? [True, True] Translation: X:253.17, Y:-42.28, Z:-11.28 [[ 9.81361486e-01 1.89582304e-01 3.14353878e-02 2.53171403e+02] [-1.89485066e-01 9.81864833e-01 -6.07121896e-03 -4.22752722e+01] [-3.20162975e-02 1.52392877e-06 9.99487347e-01 -1.12848079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.68264 meters 0.029647993836999172 Centerline is valid? [True, True] Translation: X:253.20, Y:-42.28, Z:-11.29 [[ 9.80495323e-01 1.92743446e-01 3.84562693e-02 2.53203082e+02] [-1.92887091e-01 9.81220958e-01 2.55395557e-05 -4.22816136e+01] [-3.77291748e-02 -7.44275934e-03 9.99260284e-01 -1.12856064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.71264 meters 0.015684669049374225 Centerline is valid? [True, True] Translation: X:253.24, Y:-42.28, Z:-11.29 [[ 9.80150002e-01 1.95173019e-01 3.48348306e-02 2.53236052e+02] [-1.94829615e-01 9.80750585e-01 -1.30273530e-02 -4.22774033e+01] [-3.67068683e-02 5.98190341e-03 9.99308172e-01 -1.12864390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.74264 meters 0.016811777411478667 Centerline is valid? [True, True] Translation: X:253.27, Y:-42.28, Z:-11.29 [[ 9.79540633e-01 1.98501000e-01 3.31285543e-02 2.53265441e+02] [-1.98169584e-01 9.80081040e-01 -1.30373072e-02 -4.22825238e+01] [-3.50565865e-02 6.20550032e-03 9.99366063e-01 -1.12876174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.77264 meters 0.020428263266373786 Centerline is valid? [True, True] Translation: X:253.30, Y:-42.29, Z:-11.29 [[ 9.79144311e-01 2.00430598e-01 3.32263868e-02 2.53295900e+02] [-2.00479413e-01 9.79696092e-01 -1.88995671e-03 -4.22897131e+01] [-3.29305664e-02 -4.81066616e-03 9.99446064e-01 -1.12906661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.80264 meters 0.021469751324028712 Centerline is valid? [True, True] Translation: X:253.33, Y:-42.29, Z:-11.29 [[ 9.78893366e-01 2.01870254e-01 3.18775731e-02 2.53325936e+02] [-2.01776035e-01 9.79412198e-01 -6.17886815e-03 -4.22914897e+01] [-3.24686136e-02 -3.83677252e-04 9.99472682e-01 -1.12927309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.83264 meters 0.029431252498015002 Centerline is valid? [True, True] Translation: X:253.36, Y:-42.30, Z:-11.29 [[ 9.78901299e-01 2.02044971e-01 3.04971635e-02 2.53355875e+02] [-2.01958858e-01 9.79376174e-01 -5.91013858e-03 -4.22990738e+01] [-3.10623091e-02 -3.73729971e-04 9.99517380e-01 -1.12934374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86264 meters 0.019179439602842116 Centerline is valid? [True, True] Translation: X:253.39, Y:-42.32, Z:-11.29 [[ 9.78508302e-01 2.01949110e-01 4.16900535e-02 2.53385705e+02] [-2.02532333e-01 9.79222130e-01 1.02310283e-02 -4.23163293e+01] [-3.87576760e-02 -1.84547299e-02 9.99078208e-01 -1.12930697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.89264000000003 meters 0.026671451059244098 Centerline is valid? [True, True] Translation: X:253.42, Y:-42.30, Z:-11.30 [[ 9.78481398e-01 2.04495952e-01 2.74874451e-02 2.53418440e+02] [-2.03871711e-01 9.78706021e-01 -2.38924501e-02 -4.22955615e+01] [-3.17880374e-02 1.77744055e-02 9.99336576e-01 -1.12969106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92264 meters 0.023664372633348845 Centerline is valid? [True, True] Translation: X:253.44, Y:-42.31, Z:-11.30 [[ 9.77724444e-01 2.06175827e-01 3.93248079e-02 2.53441657e+02] [-2.06172601e-01 9.78506706e-01 -4.18152980e-03 -4.23104623e+01] [-3.93417186e-02 -4.01931402e-03 9.99217731e-01 -1.12964514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.95264000000003 meters 0.022650008574058376 Centerline is valid? [True, True] Translation: X:253.47, Y:-42.32, Z:-11.30 [[ 9.77600743e-01 2.06190607e-01 4.22163675e-02 2.53470597e+02] [-2.06348515e-01 9.78478356e-01 -6.29706903e-04 -4.23195558e+01] [-4.14376415e-02 -8.09568283e-03 9.99108293e-01 -1.12961045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98264 meters 0.02279515444730133 Centerline is valid? [True, True] Translation: X:253.50, Y:-42.31, Z:-11.30 [[ 9.77945941e-01 2.06397721e-01 3.19643105e-02 2.53504267e+02] [-2.05922752e-01 9.78411125e-01 -1.75353874e-02 -4.23141074e+01] [-3.48935010e-02 1.05664822e-02 9.99335176e-01 -1.12954496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.01264000000003 meters 0.02337534022179547 Centerline is valid? [True, True] Translation: X:253.53, Y:-42.33, Z:-11.30 [[ 9.77467861e-01 2.07227477e-01 4.01665754e-02 2.53529389e+02] [-2.07362119e-01 9.78263902e-01 -8.30383103e-04 -4.23305202e+01] [-3.94655890e-02 -7.51735340e-03 9.99192652e-01 -1.12992015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04264 meters 0.026039936192823413 Centerline is valid? [True, True] Translation: X:253.56, Y:-42.32, Z:-11.30 [[ 9.77746373e-01 2.07382899e-01 3.16916787e-02 2.53563545e+02] [-2.07069308e-01 9.78241065e-01 -1.29120123e-02 -4.23221763e+01] [-3.36798321e-02 6.06229921e-03 9.99414287e-01 -1.13028529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.07264 meters 0.02639111631303119 Centerline is valid? [True, True] Translation: X:253.59, Y:-42.33, Z:-11.30 [[ 9.77768093e-01 2.07135578e-01 3.26252674e-02 2.53591879e+02] [-2.07039390e-01 9.78312087e-01 -6.33649337e-03 -4.23301523e+01] [-3.32302066e-02 -5.59094425e-04 9.99447568e-01 -1.13025936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10264 meters 0.024018816902953627 Centerline is valid? [True, True] Translation: X:253.62, Y:-42.34, Z:-11.30 [[ 9.77632584e-01 2.07634260e-01 3.35043865e-02 2.53621586e+02] [-2.07533182e-01 9.78206349e-01 -6.50514432e-03 -4.23352888e+01] [-3.41248944e-02 -5.93630877e-04 9.99417400e-01 -1.13013398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.13264 meters 0.024377084829558856 Centerline is valid? [True, True] Translation: X:253.65, Y:-42.34, Z:-11.30 [[ 9.77579981e-01 2.07817071e-01 3.39034690e-02 2.53649585e+02] [-2.07713703e-01 9.78167519e-01 -6.58194927e-03 -4.23394665e+01] [-3.45311136e-02 -6.07833268e-04 9.99403438e-01 -1.13025445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16264 meters 0.0260852990756551 Centerline is valid? [True, True] Translation: X:253.68, Y:-42.34, Z:-11.31 [[ 9.77625031e-01 2.07810450e-01 3.26207944e-02 2.53677548e+02] [-2.07714792e-01 9.78168939e-01 -6.33175714e-03 -4.23433388e+01] [-3.32244531e-02 -5.85737252e-04 9.99447744e-01 -1.13072258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.19264 meters 0.022573542097705 Centerline is valid? [True, True] Translation: X:253.70, Y:-42.37, Z:-11.31 [[ 9.77285387e-01 2.06438750e-01 4.79198908e-02 2.53702417e+02] [-2.07713725e-01 9.77912067e-01 2.33022942e-02 -4.23718604e+01] [-4.20509431e-02 -3.27266106e-02 9.98579334e-01 -1.13076945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22264 meters 0.02542845207494611 Centerline is valid? [True, True] Translation: X:253.74, Y:-42.33, Z:-11.31 [[ 9.77526231e-01 2.09337693e-01 2.49037715e-02 2.53741269e+02] [-2.08344260e-01 9.77339330e-01 -3.74233070e-02 -4.23344604e+01] [-3.21735441e-02 3.13937064e-02 9.98989138e-01 -1.13110003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.25264 meters 0.025071331621768136 Centerline is valid? [True, True] Translation: X:253.77, Y:-42.36, Z:-11.31 [[ 9.77868278e-01 2.07022857e-01 3.02517480e-02 2.53765986e+02] [-2.06940233e-01 9.78335969e-01 -5.87132533e-03 -4.23581901e+01] [-3.08118717e-02 -5.18920986e-04 9.99525067e-01 -1.13138847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28264 meters 0.024376449047364065 Centerline is valid? [True, True] Translation: X:253.79, Y:-42.38, Z:-11.32 [[ 9.77627703e-01 2.05001013e-01 4.71026436e-02 2.53792573e+02] [-2.06061737e-01 9.78357635e-01 1.88387686e-02 -4.23778558e+01] [-4.22212643e-02 -2.81233546e-02 9.98712392e-01 -1.13186481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.31264 meters 0.025319959699554292 Centerline is valid? [True, True] Translation: X:253.83, Y:-42.35, Z:-11.32 [[ 9.77896638e-01 2.07467078e-01 2.59918464e-02 2.53829204e+02] [-2.06581918e-01 9.77869691e-01 -3.30874449e-02 -4.23463213e+01] [-3.22811943e-02 2.69866556e-02 9.99114430e-01 -1.13162717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34264 meters 0.021911852194282558 Centerline is valid? [True, True] Translation: X:253.85, Y:-42.37, Z:-11.31 [[ 9.78438381e-01 2.04045625e-01 3.19955722e-02 2.53854020e+02] [-2.03951605e-01 9.78961276e-01 -6.20982423e-03 -4.23726707e+01] [-3.25895136e-02 -4.49617935e-04 9.99468720e-01 -1.13144159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.37264 meters 0.021124970913204155 Centerline is valid? [True, True] Translation: X:253.88, Y:-42.38, Z:-11.32 [[ 9.78714983e-01 2.02694195e-01 3.21254670e-02 2.53881349e+02] [-2.02598764e-01 9.79242001e-01 -6.23254378e-03 -4.23801790e+01] [-3.27219070e-02 -4.08695926e-04 9.99464411e-01 -1.13163718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40264 meters 0.021303031736892682 Centerline is valid? [True, True] Translation: X:253.91, Y:-42.39, Z:-11.32 [[ 9.78987531e-01 2.01522918e-01 3.11757554e-02 2.53908022e+02] [-2.01432493e-01 9.79483733e-01 -6.04702369e-03 -4.23856268e+01] [-3.17547591e-02 -3.59849342e-04 9.99495626e-01 -1.13203158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.43264 meters 0.020441424856496786 Centerline is valid? [True, True] Translation: X:253.94, Y:-42.39, Z:-11.32 [[ 9.79223237e-01 2.00561331e-01 2.99500222e-02 2.53935826e+02] [-2.00477490e-01 9.79681097e-01 -5.80727310e-03 -4.23924109e+01] [-3.05061851e-02 -3.17688507e-04 9.99534528e-01 -1.13224807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46264 meters 0.02046688102768683 Centerline is valid? [True, True] Translation: X:253.96, Y:-42.40, Z:-11.33 [[ 9.79459247e-01 1.99390392e-01 3.00508723e-02 2.53962769e+02] [-1.99305473e-01 9.79920094e-01 -5.82554952e-03 -4.23966701e+01] [-3.06090122e-02 -2.83414980e-04 9.99531394e-01 -1.13266605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.49264 meters 0.02096506269252574 Centerline is valid? [True, True] Translation: X:253.99, Y:-42.40, Z:-11.33 [[ 9.79454130e-01 1.99503456e-01 2.94614592e-02 2.53990493e+02] [-1.99421938e-01 9.79897082e-01 -5.70961229e-03 -4.24010422e+01] [-3.00082853e-02 -2.82957936e-04 9.99549610e-01 -1.13288005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52264 meters 0.01949347331269869 Centerline is valid? [True, True] Translation: X:254.02, Y:-42.41, Z:-11.33 [[ 9.79481200e-01 1.99437815e-01 2.90023570e-02 2.54018650e+02] [-1.99358855e-01 9.79910445e-01 -5.61842220e-03 -4.24071434e+01] [-2.95402384e-02 -2.78737765e-04 9.99563553e-01 -1.13270419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.55264 meters 0.020842540497708548 Centerline is valid? [True, True] Translation: X:254.05, Y:-42.41, Z:-11.33 [[ 9.79343353e-01 2.00021267e-01 2.96325732e-02 2.54046642e+02] [-1.99939145e-01 9.79791509e-01 -5.73916954e-03 -4.24078481e+01] [-3.01816995e-02 -3.04093809e-04 9.99544382e-01 -1.13300999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58264 meters 0.021079990547688304 Centerline is valid? [True, True] Translation: X:254.08, Y:-42.41, Z:-11.33 [[ 9.79281240e-01 2.00345032e-01 2.94978001e-02 2.54075202e+02] [-2.00263869e-01 9.79725354e-01 -5.71086483e-03 -4.24116922e+01] [-3.00438860e-02 -3.14800770e-04 9.99548531e-01 -1.13317947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.61264 meters 0.021057114728823944 Centerline is valid? [True, True] Translation: X:254.10, Y:-42.42, Z:-11.33 [[ 9.79041196e-01 2.01663410e-01 2.84640992e-02 2.54103854e+02] [-2.01588438e-01 9.79454823e-01 -5.50920039e-03 -4.24171020e+01] [-2.89903034e-02 -3.44299158e-04 9.99579634e-01 -1.13318343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64264000000003 meters 0.02329684004005537 Centerline is valid? [True, True] Translation: X:254.13, Y:-42.42, Z:-11.34 [[ 9.78838375e-01 2.02535470e-01 2.92372920e-02 2.54131557e+02] [-2.02456777e-01 9.79274853e-01 -5.65819346e-03 -4.24178608e+01] [-2.97773297e-02 -3.80831015e-04 9.99556484e-01 -1.13358422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.67264 meters 0.02285396794908025 Centerline is valid? [True, True] Translation: X:254.16, Y:-42.42, Z:-11.33 [[ 9.78630820e-01 2.03529289e-01 2.92839117e-02 2.54160932e+02] [-2.03450855e-01 9.79068770e-01 -5.66503086e-03 -4.24202136e+01] [-2.98239632e-02 -4.13863072e-04 9.99555081e-01 -1.13346337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70264000000003 meters 0.02360101608360828 Centerline is valid? [True, True] Translation: X:254.19, Y:-42.42, Z:-11.34 [[ 9.78388200e-01 2.04691719e-01 2.92887302e-02 2.54189850e+02] [-2.04613824e-01 9.78826387e-01 -5.66447858e-03 -4.24210905e+01] [-2.98280539e-02 -4.50820085e-04 9.99554943e-01 -1.13359094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.73264 meters 0.028376320382154006 Centerline is valid? [True, True] Translation: X:254.22, Y:-42.42, Z:-11.34 [[ 9.78042254e-01 2.06328766e-01 2.93562375e-02 2.54218493e+02] [-2.06251285e-01 9.78482594e-01 -5.67628710e-03 -4.24170346e+01] [-2.98957488e-02 -5.03113094e-04 9.99552896e-01 -1.13425618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76264000000003 meters 0.029200940506027787 Centerline is valid? [True, True] Translation: X:254.25, Y:-42.42, Z:-11.34 [[ 9.77920405e-01 2.06869757e-01 2.96071661e-02 2.54246463e+02] [-2.06791254e-01 9.78368349e-01 -5.72280141e-03 -4.24197693e+01] [-3.01505888e-02 -5.26058730e-04 9.99545229e-01 -1.13435889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.79264 meters 0.029200940506027787 Centerline is valid? [True, True] Translation: X:254.27, Y:-42.42, Z:-11.34 [[ 9.77934243e-01 2.06804293e-01 2.96074416e-02 2.54273457e+02] [-2.06725803e-01 9.78382189e-01 -5.72137581e-03 -4.24248413e+01] [-3.01505986e-02 -5.25492797e-04 9.99545229e-01 -1.13449862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82264 meters 0.0258212169569378 Centerline is valid? [True, True] Translation: X:254.30, Y:-42.43, Z:-11.34 [[ 9.77813329e-01 2.07282900e-01 3.02471934e-02 2.54302127e+02] [-2.07201288e-01 9.78280886e-01 -5.84245583e-03 -4.24317543e+01] [-3.08012924e-02 -5.54426266e-04 9.99525374e-01 -1.13403393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.85264 meters 0.027897847282064025 Centerline is valid? [True, True] Translation: X:254.33, Y:-42.43, Z:-11.34 [[ 9.77711918e-01 2.07669780e-01 3.08653143e-02 2.54330742e+02] [-2.07585034e-01 9.78198818e-01 -5.96047001e-03 -4.24315394e+01] [-3.14302235e-02 -5.79554749e-04 9.99505780e-01 -1.13430678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.88264 meters 0.028232330391660333 Centerline is valid? [True, True] Translation: X:254.36, Y:-42.43, Z:-11.34 [[ 9.77515181e-01 2.08533068e-01 3.12734850e-02 2.54360000e+02] [-2.08446578e-01 9.78015122e-01 -6.03703539e-03 -4.24313663e+01] [-3.18448627e-02 -6.17557189e-04 9.99492633e-01 -1.13429335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.91264 meters 0.028340335714711857 Centerline is valid? [True, True] Translation: X:254.39, Y:-42.43, Z:-11.34 [[ 9.77511607e-01 2.08515526e-01 3.15013191e-02 2.54388515e+02] [-2.08427812e-01 9.78018858e-01 -6.07945788e-03 -4.24339530e+01] [-3.20765455e-02 -6.23010376e-04 9.99485221e-01 -1.13437776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.94264 meters 0.025762999668640315 Centerline is valid? [True, True] Translation: X:254.42, Y:-42.44, Z:-11.34 [[ 9.77614652e-01 2.07978131e-01 3.18541910e-02 2.54416797e+02] [-2.07888205e-01 9.78133284e-01 -6.14603007e-03 -4.24380792e+01] [-3.24358843e-02 -6.13661527e-04 9.99473630e-01 -1.13422074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.97264 meters 0.03420017007936715 Centerline is valid? [True, True] Translation: X:254.45, Y:-42.44, Z:-11.35 [[ 9.77866194e-01 2.06960906e-01 3.07390499e-02 2.54445152e+02] [-2.06876704e-01 9.78349053e-01 -5.92962235e-03 -4.24393771e+01] [-3.13007203e-02 -5.60816083e-04 9.99509855e-01 -1.13457139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.00264 meters 0.027112824094620562 Centerline is valid? [True, True] Translation: X:254.47, Y:-42.44, Z:-11.35 [[ 9.77815407e-01 2.06969567e-01 3.22587564e-02 2.54473321e+02] [-2.06876911e-01 9.78347203e-01 -6.22050644e-03 -4.24418608e+01] [-3.28477196e-02 -5.91084846e-04 9.99460193e-01 -1.13472736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.03264 meters 0.026724209941932343 Centerline is valid? [True, True] Translation: X:254.50, Y:-42.44, Z:-11.35 [[ 9.77904761e-01 2.06522367e-01 3.24159047e-02 2.54502198e+02] [-2.06428633e-01 9.78441707e-01 -6.24860560e-03 -4.24447489e+01] [-3.30075499e-02 -5.81029732e-04 9.99454933e-01 -1.13483853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.06264 meters 0.024128170002695657 Centerline is valid? [True, True] Translation: X:254.53, Y:-42.45, Z:-11.35 [[ 9.78241434e-01 2.04935556e-01 3.23282363e-02 2.54530397e+02] [-2.04841513e-01 9.78775326e-01 -6.23017043e-03 -4.24504404e+01] [-3.29188635e-02 -5.27553991e-04 9.99457888e-01 -1.13486236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.09264 meters 0.02464310541855083 Centerline is valid? [True, True] Translation: X:254.56, Y:-42.45, Z:-11.35 [[ 9.78479495e-01 2.03805893e-01 3.22650824e-02 2.54558515e+02] [-2.03711649e-01 9.79011194e-01 -6.21660251e-03 -4.24530293e+01] [-3.28548570e-02 -4.89955042e-04 9.99460013e-01 -1.13517473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.12264 meters 0.022094878858850232 Centerline is valid? [True, True] Translation: X:254.59, Y:-42.46, Z:-11.35 [[ 9.78772220e-01 2.02343654e-01 3.25881484e-02 2.54587020e+02] [-2.02246778e-01 9.79314477e-01 -6.27657260e-03 -4.24587892e+01] [-3.31840701e-02 -4.47513115e-04 9.99449157e-01 -1.13508324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.15264 meters 0.020381048997405542 Centerline is valid? [True, True] Translation: X:254.61, Y:-42.46, Z:-11.35 [[ 9.79205031e-01 2.00332745e-01 3.20046593e-02 2.54614946e+02] [-2.00238285e-01 9.79727846e-01 -6.16262960e-03 -4.24646648e+01] [-3.25904324e-02 -3.74080177e-04 9.99468721e-01 -1.13525306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.18264 meters 0.017949892310549338 Centerline is valid? [True, True] Translation: X:254.64, Y:-42.48, Z:-11.36 [[ 9.80308187e-01 1.95053223e-01 3.08236722e-02 2.54641451e+02] [-1.94963041e-01 9.80792640e-01 -5.93373856e-03 -4.24756670e+01] [-3.13890256e-02 -1.92584371e-04 9.99507225e-01 -1.13571013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.21264 meters 0.016555032460554772 Centerline is valid? [True, True] Translation: X:254.67, Y:-42.48, Z:-11.36 [[ 9.80864866e-01 1.92089260e-01 3.17148256e-02 2.54669529e+02] [-1.91992292e-01 9.81377453e-01 -6.10359947e-03 -4.24843676e+01] [-3.22966506e-02 -1.02195772e-04 9.99478322e-01 -1.13575048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.24264 meters 0.015987086003306703 Centerline is valid? [True, True] Translation: X:254.70, Y:-42.49, Z:-11.36 [[ 9.81395808e-01 1.89383260e-01 3.15634080e-02 2.54697551e+02] [-1.89285867e-01 9.81903244e-01 -6.07288856e-03 -4.24918029e+01] [-3.21423162e-02 -1.45996787e-05 9.99483302e-01 -1.13578900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.27264 meters 0.016927906965503076 Centerline is valid? [True, True] Translation: X:254.72, Y:-42.50, Z:-11.36 [[ 9.82233572e-01 1.85161059e-01 3.05383758e-02 2.54723894e+02] [-1.85067887e-01 9.82708181e-01 -5.87443388e-03 -4.25003980e+01] [-3.10980281e-02 1.18393496e-04 9.99516332e-01 -1.13612019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.30264 meters 0.016993224110817058 Centerline is valid? [True, True] Translation: X:254.75, Y:-42.51, Z:-11.36 [[ 9.82441472e-01 1.84052839e-01 3.05500532e-02 2.54751978e+02] [-1.83959128e-01 9.82916339e-01 -5.87451289e-03 -4.25064715e+01] [-3.11093672e-02 1.51403959e-04 9.99515975e-01 -1.13620067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.33264 meters 0.017509400779385807 Centerline is valid? [True, True] Translation: X:254.78, Y:-42.51, Z:-11.36 [[ 9.82515957e-01 1.83550363e-01 3.11714401e-02 2.54779044e+02] [-1.83452591e-01 9.83010293e-01 -5.99259312e-03 -4.25116153e+01] [-3.17417891e-02 1.69336908e-04 9.99496088e-01 -1.13642509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36264 meters 0.016965626612484932 Centerline is valid? [True, True] Translation: X:254.81, Y:-42.51, Z:-11.36 [[ 9.82318355e-01 1.84639416e-01 3.09666785e-02 2.54808264e+02] [-1.84543536e-01 9.82806323e-01 -5.95101172e-03 -4.25131193e+01] [-3.15330388e-02 1.31087694e-04 9.99502701e-01 -1.13649447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.39264000000003 meters 0.01685599514680113 Centerline is valid? [True, True] Translation: X:254.84, Y:-42.52, Z:-11.37 [[ 9.82088068e-01 1.85913449e-01 3.06466360e-02 2.54835683e+02] [-1.85820200e-01 9.82566121e-01 -5.88823830e-03 -4.25160472e+01] [-3.12070489e-02 8.80045342e-05 9.99512938e-01 -1.13676484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42264 meters 0.01658073588801331 Centerline is valid? [True, True] Translation: X:254.86, Y:-42.52, Z:-11.37 [[ 9.81832356e-01 1.87236894e-01 3.07826357e-02 2.54864818e+02] [-1.87143542e-01 9.82314788e-01 -5.91196790e-03 -4.25196092e+01] [-3.13451768e-02 4.37898963e-05 9.99508618e-01 -1.13694111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.45264000000003 meters 0.01699000208661158 Centerline is valid? [True, True] Translation: X:254.89, Y:-42.52, Z:-11.37 [[ 9.81615729e-01 1.88409992e-01 3.05325308e-02 2.54892191e+02] [-1.88318738e-01 9.82090462e-01 -5.86328152e-03 -4.25228383e+01] [-3.10904081e-02 5.64170857e-06 9.99516576e-01 -1.13726433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48264 meters 0.017278576933084086 Centerline is valid? [True, True] Translation: X:254.92, Y:-42.52, Z:-11.37 [[ 9.81204169e-01 1.90535019e-01 3.05742710e-02 2.54920229e+02] [-1.90444599e-01 9.81680397e-01 -5.86959923e-03 -4.25228308e+01] [-3.11325267e-02 -6.34295372e-05 9.99515263e-01 -1.13745319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.51264000000003 meters 0.026877997991063496 Centerline is valid? [True, True] Translation: X:254.95, Y:-42.53, Z:-11.37 [[ 9.81048386e-01 1.91525561e-01 2.93602438e-02 2.54948621e+02] [-1.91442689e-01 9.81487621e-01 -5.63433672e-03 -4.25256860e+01] [-2.98958353e-02 -9.32470825e-05 9.99553015e-01 -1.13721355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54264 meters 0.017811481031559825 Centerline is valid? [True, True] Translation: X:254.98, Y:-42.53, Z:-11.38 [[ 9.80724035e-01 1.92963321e-01 3.07493598e-02 2.54975798e+02] [-1.92873187e-01 9.81205960e-01 -5.89900208e-03 -4.25284088e+01] [-3.13097461e-02 -1.45433883e-04 9.99509719e-01 -1.13767227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.57264 meters 0.023590997673227875 Centerline is valid? [True, True] Translation: X:255.00, Y:-42.53, Z:-11.38 [[ 9.80432084e-01 1.94665742e-01 2.92946659e-02 2.55003158e+02] [-1.94584750e-01 9.80869620e-01 -5.61811069e-03 -4.25299302e+01] [-2.98279015e-02 -1.92119271e-04 9.99555031e-01 -1.13792348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60264 meters 0.018278458157435604 Centerline is valid? [True, True] Translation: X:255.03, Y:-42.54, Z:-11.38 [[ 9.80210207e-01 1.95568094e-01 3.06768826e-02 2.55031528e+02] [-1.95479822e-01 9.80690097e-01 -5.87987705e-03 -4.25357532e+01] [-3.12344313e-02 -2.33196040e-04 9.99512059e-01 -1.13777340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.63264 meters 0.019456824205290074 Centerline is valid? [True, True] Translation: X:255.06, Y:-42.54, Z:-11.38 [[ 9.80053511e-01 1.96250036e-01 3.13215284e-02 2.55058734e+02] [-1.96158408e-01 9.80553851e-01 -6.00200121e-03 -4.25391597e+01] [-3.18903382e-02 -2.61698791e-04 9.99491340e-01 -1.13809004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66264 meters 0.021750613557780536 Centerline is valid? [True, True] Translation: X:255.09, Y:-42.54, Z:-11.38 [[ 9.79814129e-01 1.97484483e-01 3.10508024e-02 2.55087760e+02] [-1.97395124e-01 9.80305966e-01 -5.94786910e-03 -4.25432179e+01] [-3.16138987e-02 -3.01470801e-04 9.99500110e-01 -1.13815829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.69264 meters 0.019950021635400886 Centerline is valid? [True, True] Translation: X:255.12, Y:-42.55, Z:-11.38 [[ 9.79620904e-01 1.98301999e-01 3.19249529e-02 2.55116278e+02] [-1.98208022e-01 9.80140910e-01 -6.11369965e-03 -4.25473797e+01] [-3.25033112e-02 -3.38673806e-04 9.99471570e-01 -1.13816656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72264 meters 0.02007420907695989 Centerline is valid? [True, True] Translation: X:255.14, Y:-42.55, Z:-11.38 [[ 9.79461085e-01 1.99082588e-01 3.19704043e-02 2.55144937e+02] [-1.98988811e-01 9.79982647e-01 -6.12079455e-03 -4.25510123e+01] [-3.25489850e-02 -3.66672675e-04 9.99470074e-01 -1.13821522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.75264 meters 0.024194896296933638 Centerline is valid? [True, True] Translation: X:255.17, Y:-42.55, Z:-11.39 [[ 9.79228143e-01 2.00445605e-01 3.05581901e-02 2.55173453e+02] [-2.00360633e-01 9.79704753e-01 -5.84920790e-03 -4.25504928e+01] [-3.11104521e-02 -3.94949324e-04 9.99515875e-01 -1.13878045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78264 meters 0.03200588696199906 Centerline is valid? [True, True] Translation: X:255.20, Y:-42.55, Z:-11.39 [[ 9.79134653e-01 2.01017171e-01 2.97897339e-02 2.55201276e+02] [-2.00936741e-01 9.79587634e-01 -5.70023154e-03 -4.25507894e+01] [-3.03274994e-02 -4.04557814e-04 9.99539934e-01 -1.13925474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.81264 meters 0.026017262185134126 Centerline is valid? [True, True] Translation: X:255.23, Y:-42.55, Z:-11.40 [[ 9.78926479e-01 2.01862896e-01 3.08920546e-02 2.55229704e+02] [-2.01776896e-01 9.79413687e-01 -5.90887845e-03 -4.25544421e+01] [-3.14488844e-02 -4.48945294e-04 9.99505261e-01 -1.13952064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84264 meters 0.02465056894250472 Centerline is valid? [True, True] Translation: X:255.26, Y:-42.56, Z:-11.39 [[ 9.78739040e-01 2.02737471e-01 3.11031981e-02 2.55257601e+02] [-2.02650777e-01 9.79233009e-01 -5.94785837e-03 -4.25607533e+01] [-3.16631320e-02 -4.81686060e-04 9.99498481e-01 -1.13933106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.87264 meters 0.02511236862318669 Centerline is valid? [True, True] Translation: X:255.29, Y:-42.56, Z:-11.39 [[ 9.78663308e-01 2.03089479e-01 3.11896279e-02 2.55285380e+02] [-2.03002522e-01 9.79160057e-01 -5.96306453e-03 -4.25641962e+01] [-3.17506735e-02 -4.95740669e-04 9.99495697e-01 -1.13944607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90264 meters 0.025519825844423718 Centerline is valid? [True, True] Translation: X:255.31, Y:-42.57, Z:-11.40 [[ 9.78630165e-01 2.03209859e-01 3.14444635e-02 2.55311957e+02] [-2.03121558e-01 9.79135077e-01 -6.01113899e-03 -4.25662690e+01] [-3.20098999e-02 -5.04366483e-04 9.99487425e-01 -1.13956794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.93264 meters 0.024837848209390674 Centerline is valid? [True, True] Translation: X:255.34, Y:-42.57, Z:-11.40 [[ 9.78609702e-01 2.03244484e-01 3.18548377e-02 2.55340920e+02] [-2.03154069e-01 9.79127883e-01 -6.08377985e-03 -4.25705351e+01] [-3.24264545e-02 -5.17793914e-04 9.99473990e-01 -1.13954980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96264 meters 0.024517441328124424 Centerline is valid? [True, True] Translation: X:255.37, Y:-42.58, Z:-11.40 [[ 9.78632355e-01 2.03094639e-01 3.21135707e-02 2.55369513e+02] [-2.03002722e-01 9.79158975e-01 -6.13158578e-03 -4.25759620e+01] [-3.26895832e-02 -5.18574039e-04 9.99465418e-01 -1.13966052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.99264 meters 0.02409180222820073 Centerline is valid? [True, True] Translation: X:255.40, Y:-42.58, Z:-11.40 [[ 9.78855346e-01 2.01974262e-01 3.23822370e-02 2.55396099e+02] [-2.01880234e-01 9.79390709e-01 -6.18146196e-03 -4.25827770e+01] [-3.29633583e-02 -4.86576508e-04 9.99456442e-01 -1.13983548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02264 meters 0.0236231880938932 Centerline is valid? [True, True] Translation: X:255.42, Y:-42.59, Z:-11.40 [[ 9.78991332e-01 2.01282737e-01 3.25765416e-02 2.55424983e+02] [-2.01187276e-01 9.79533073e-01 -6.21608149e-03 -4.25879240e+01] [-3.31609898e-02 -4.68495769e-04 9.99449913e-01 -1.13994701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.05264 meters 0.023006348047293707 Centerline is valid? [True, True] Translation: X:255.45, Y:-42.59, Z:-11.40 [[ 9.79128167e-01 2.00512159e-01 3.32100503e-02 2.55452177e+02] [-2.00412517e-01 9.79691110e-01 -6.33660106e-03 -4.25925415e+01] [-3.38061566e-02 -4.51365190e-04 9.99428307e-01 -1.14001728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08264 meters 0.020306743351181038 Centerline is valid? [True, True] Translation: X:255.48, Y:-42.60, Z:-11.40 [[ 9.79516327e-01 1.98493390e-01 3.38842152e-02 2.55480054e+02] [-1.98388584e-01 9.80102147e-01 -6.46145370e-03 -4.26012941e+01] [-3.44925480e-02 -3.93142083e-04 9.99404878e-01 -1.13990288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.11264 meters 0.017478362703324462 Centerline is valid? [True, True] Translation: X:255.51, Y:-42.61, Z:-11.40 [[ 9.79762883e-01 1.97352830e-01 3.34148673e-02 2.55508698e+02] [-1.97224189e-01 9.80332443e-01 -7.13580943e-03 -4.26105473e+01] [-3.41659507e-02 4.01181104e-04 9.99416093e-01 -1.13955792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14264000000003 meters 0.03129859069975329 Centerline is valid? [True, True] Translation: X:255.54, Y:-42.61, Z:-11.40 [[ 9.80080708e-01 1.95905990e-01 3.25982929e-02 2.55537306e+02] [-1.95623975e-01 9.80609685e-01 -1.16578930e-02 -4.26118199e+01] [-3.42500528e-02 5.04866839e-03 9.99400543e-01 -1.14006222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.17264 meters 0.017915244851311168 Centerline is valid? [True, True] Translation: X:255.56, Y:-42.63, Z:-11.41 [[ 9.80328793e-01 1.93896770e-01 3.68714019e-02 2.55558149e+02] [-1.94089600e-01 9.80982350e-01 1.69004066e-03 -4.26288166e+01] [-3.58425010e-02 -8.81315117e-03 9.99318590e-01 -1.14052246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20264000000003 meters 0.02011176416741943 Centerline is valid? [True, True] Translation: X:255.59, Y:-42.63, Z:-11.40 [[ 9.80530850e-01 1.93252586e-01 3.48237038e-02 2.55586204e+02] [-1.93138302e-01 9.81149018e-01 -6.64838621e-03 -4.26315015e+01] [-3.54520606e-02 -2.06843220e-04 9.99371357e-01 -1.14034173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.23264 meters 0.016430050669730165 Centerline is valid? [True, True] Translation: X:255.61, Y:-42.64, Z:-11.41 [[ 9.80660770e-01 1.92453772e-01 3.55808996e-02 2.55614647e+02] [-1.92334059e-01 9.81306023e-01 -6.78958614e-03 -4.26385374e+01] [-3.62224325e-02 -1.85138072e-04 9.99343735e-01 -1.14050560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26264000000003 meters 0.01670919031218542 Centerline is valid? [True, True] Translation: X:255.64, Y:-42.64, Z:-11.41 [[ 9.80760476e-01 1.91940613e-01 3.56046319e-02 2.55641368e+02] [-1.91820424e-01 9.81406528e-01 -6.79352105e-03 -4.26435550e+01] [-3.62465708e-02 -1.66878641e-04 9.99342863e-01 -1.14079859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.29264 meters 0.016171318978712348 Centerline is valid? [True, True] Translation: X:255.67, Y:-42.65, Z:-11.41 [[ 9.80766680e-01 1.91864553e-01 3.58428859e-02 2.55669489e+02] [-1.91742834e-01 9.81421400e-01 -6.83524670e-03 -4.26490880e+01] [-3.64884168e-02 -1.68834298e-04 9.99334062e-01 -1.14075008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32264 meters 0.015934823099048354 Centerline is valid? [True, True] Translation: X:255.70, Y:-42.65, Z:-11.41 [[ 9.80589081e-01 1.93408868e-01 3.22190058e-02 2.55702709e+02] [-1.93106181e-01 9.81100953e-01 -1.22850627e-02 -4.26527824e+01] [-3.39861373e-02 5.82490915e-03 9.99405330e-01 -1.14066952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.35264 meters 0.01631440325136619 Centerline is valid? [True, True] Translation: X:255.73, Y:-42.66, Z:-11.41 [[ 9.80453000e-01 1.94013239e-01 3.27227516e-02 2.55728540e+02] [-1.93931059e-01 9.80998617e-01 -5.69726751e-03 -4.26616818e+01] [-3.32063193e-02 -7.60054840e-04 9.99448229e-01 -1.14094489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.38264 meters 0.019150211156486237 Centerline is valid? [True, True] Translation: X:255.75, Y:-42.66, Z:-11.42 [[ 9.80062823e-01 1.95636098e-01 3.46897655e-02 2.55753148e+02] [-1.95700463e-01 9.80662472e-01 -1.56331166e-03 -4.26610016e+01] [-3.43247914e-02 -5.25665954e-03 9.99396906e-01 -1.14162915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.41264 meters 0.02062911169854095 Centerline is valid? [True, True] Translation: X:255.78, Y:-42.66, Z:-11.42 [[ 9.79847538e-01 1.96789318e-01 3.42456765e-02 2.55780923e+02] [-1.96681592e-01 9.80445737e-01 -6.51977250e-03 -4.26596346e+01] [-3.48590492e-02 -3.47111162e-04 9.99392178e-01 -1.14185882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.44264 meters 0.020065701724969114 Centerline is valid? [True, True] Translation: X:255.81, Y:-42.67, Z:-11.42 [[ 9.79746342e-01 1.97156874e-01 3.50181634e-02 2.55808761e+02] [-1.97044667e-01 9.80371882e-01 -6.66123730e-03 -4.26657449e+01] [-3.56441315e-02 -3.73819461e-04 9.99364476e-01 -1.14174478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.47264 meters 0.019620893468557155 Centerline is valid? [True, True] Translation: X:255.84, Y:-42.67, Z:-11.42 [[ 9.79699651e-01 1.97290048e-01 3.55700958e-02 2.55837280e+02] [-1.97174427e-01 9.80345086e-01 -6.76444900e-03 -4.26720326e+01] [-3.62055271e-02 -3.86384941e-04 9.99344290e-01 -1.14171719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.50264 meters 0.02879951517538141 Centerline is valid? [True, True] Translation: X:255.87, Y:-42.68, Z:-11.42 [[ 9.79753243e-01 1.97083450e-01 3.52377010e-02 2.55865856e+02] [-1.96969910e-01 9.80386644e-01 -6.69949249e-03 -4.26759222e+01] [-3.58669305e-02 -3.76917290e-04 9.99356504e-01 -1.14188226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.53264 meters 0.019961439755777126 Centerline is valid? [True, True] Translation: X:255.89, Y:-42.68, Z:-11.42 [[ 9.79795506e-01 1.96835656e-01 3.54470055e-02 2.55892605e+02] [-1.96720657e-01 9.80436427e-01 -6.73769265e-03 -4.26811143e+01] [-3.60797536e-02 -3.71597250e-04 9.99348845e-01 -1.14219072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.56264 meters 0.01954779466850216 Centerline is valid? [True, True] Translation: X:255.92, Y:-42.69, Z:-11.42 [[ 9.79910340e-01 1.96296913e-01 3.52597282e-02 2.55919428e+02] [-1.96182849e-01 9.80544440e-01 -6.70010427e-03 -4.26880963e+01] [-3.58889402e-02 -3.51852489e-04 9.99355723e-01 -1.14240613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.59264 meters 0.026307167205765876 Centerline is valid? [True, True] Translation: X:255.95, Y:-42.69, Z:-11.43 [[ 9.80061811e-01 1.95560340e-01 3.51425694e-02 2.55947562e+02] [-1.95446666e-01 9.80691617e-01 -6.67489107e-03 -4.26947574e+01] [-3.57693671e-02 -3.26692175e-04 9.99360018e-01 -1.14253782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.62264 meters 0.02280731185269986 Centerline is valid? [True, True] Translation: X:255.98, Y:-42.70, Z:-11.42 [[ 9.80180198e-01 1.94807049e-01 3.60137763e-02 2.55976191e+02] [-1.94687225e-01 9.80841536e-01 -6.83856522e-03 -4.27012843e+01] [-3.66560083e-02 -3.08395949e-04 9.99327895e-01 -1.14238060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.65264 meters 0.018062522025446667 Centerline is valid? [True, True] Translation: X:256.00, Y:-42.71, Z:-11.43 [[ 9.80225785e-01 1.94524521e-01 3.62990469e-02 2.56003836e+02] [-1.94402658e-01 9.80897609e-01 -6.89107990e-03 -4.27068050e+01] [-3.69461323e-02 -3.01816992e-04 9.99317213e-01 -1.14263594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.68264 meters 0.019407507545792485 Centerline is valid? [True, True] Translation: X:256.03, Y:-42.71, Z:-11.43 [[ 9.80294830e-01 1.94275805e-01 3.57625163e-02 2.56031211e+02] [-1.94157433e-01 9.80946903e-01 -6.78704469e-03 -4.27110334e+01] [-3.63996882e-02 -2.90253532e-04 9.99337270e-01 -1.14322122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.71264 meters 0.030155837335342023 Centerline is valid? [True, True] Translation: X:256.06, Y:-42.72, Z:-11.43 [[ 9.80058712e-01 1.95888664e-01 3.33549540e-02 2.56060242e+02] [-1.95786714e-01 9.80626087e-01 -6.32766784e-03 -4.27153479e+01] [-3.39482564e-02 -3.28970849e-04 9.99423538e-01 -1.14338619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.74264 meters 0.030155837335342023 Centerline is valid? [True, True] Translation: X:256.09, Y:-42.72, Z:-11.44 [[ 9.80072591e-01 1.95819214e-01 3.33549470e-02 2.56087244e+02] [-1.95717223e-01 9.80639959e-01 -6.32770484e-03 -4.27203293e+01] [-3.39482800e-02 -3.26527519e-04 9.99423538e-01 -1.14352808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.77264 meters 0.01932390136924955 Centerline is valid? [True, True] Translation: X:256.12, Y:-42.73, Z:-11.43 [[ 9.79321758e-01 1.99463258e-01 3.38127495e-02 2.56115621e+02] [-1.99383349e-01 9.79904680e-01 -5.75310182e-03 -4.27279570e+01] [-3.42808039e-02 -1.10756144e-03 9.99411627e-01 -1.14320066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.80264 meters 0.021458205576843158 Centerline is valid? [True, True] Translation: X:256.14, Y:-42.73, Z:-11.44 [[ 9.79348212e-01 1.99185984e-01 3.46702197e-02 2.56143983e+02] [-1.99053892e-01 9.79961684e-01 -7.25576306e-03 -4.27267300e+01] [-3.54207332e-02 2.04676408e-04 9.99372468e-01 -1.14355298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.83264 meters 0.02334932860666806 Centerline is valid? [True, True] Translation: X:256.17, Y:-42.73, Z:-11.43 [[ 9.78435368e-01 2.03471582e-01 3.55463934e-02 2.56173170e+02] [-2.03361018e-01 9.79080645e-01 -6.73697100e-03 -4.27257710e+01] [-3.61735679e-02 -6.37060050e-04 9.99345319e-01 -1.14333446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86264 meters 0.027505398308833407 Centerline is valid? [True, True] Translation: X:256.20, Y:-42.72, Z:-11.44 [[ 9.77997525e-01 2.05536146e-01 3.57174198e-02 2.56201499e+02] [-2.05425961e-01 9.78649261e-01 -6.76746261e-03 -4.27234123e+01] [-3.63457847e-02 -7.18723602e-04 9.99339015e-01 -1.14374062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.89264000000003 meters 0.028528921793008612 Centerline is valid? [True, True] Translation: X:256.23, Y:-42.73, Z:-11.44 [[ 9.77635726e-01 2.07216548e-01 3.59122589e-02 2.56229919e+02] [-2.07106443e-01 9.78294781e-01 -6.80019921e-03 -4.27265995e+01] [-3.65418893e-02 -7.89542501e-04 9.99331810e-01 -1.14382096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92264 meters 0.027415854357717123 Centerline is valid? [True, True] Translation: X:256.26, Y:-42.74, Z:-11.44 [[ 9.76875679e-01 2.10485882e-01 3.75446477e-02 2.56258827e+02] [-2.10471613e-01 9.77590171e-01 -4.37692789e-03 -4.27365155e+01] [-3.76245601e-02 -3.62636815e-03 9.99285366e-01 -1.14380562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.95264000000003 meters 0.03160661506754831 Centerline is valid? [True, True] Translation: X:256.29, Y:-42.73, Z:-11.44 [[ 9.77131014e-01 2.09458380e-01 3.66356128e-02 2.56287220e+02] [-2.09240094e-01 9.77815815e-01 -9.73729821e-03 -4.27289529e+01] [-3.78624403e-02 1.84897702e-03 9.99281250e-01 -1.14396800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98264 meters 0.028560178061364967 Centerline is valid? [True, True] Translation: X:256.31, Y:-42.74, Z:-11.44 [[ 9.76549132e-01 2.11869157e-01 3.82524830e-02 2.56312617e+02] [-2.11847269e-01 9.77291622e-01 -4.67120343e-03 -4.27424960e+01] [-3.83735151e-02 -3.54202441e-03 9.99257188e-01 -1.14376268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.01264000000003 meters 0.035939494393278544 Centerline is valid? [True, True] Translation: X:256.34, Y:-42.74, Z:-11.44 [[ 9.77245137e-01 2.08951191e-01 3.64875679e-02 2.56343922e+02] [-2.08748842e-01 9.77924945e-01 -9.31254236e-03 -4.27398467e+01] [-3.76279697e-02 1.48389919e-03 9.99290715e-01 -1.14406834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04264 meters 0.031292494782130705 Centerline is valid? [True, True] Translation: X:256.37, Y:-42.74, Z:-11.45 [[ 9.77525932e-01 2.07561116e-01 3.68976455e-02 2.56371717e+02] [-2.07445789e-01 9.78221690e-01 -6.96919921e-03 -4.27421699e+01] [-3.75406119e-02 -8.41688233e-04 9.99294748e-01 -1.14450562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.07264 meters 0.027998079381826982 Centerline is valid? [True, True] Translation: X:256.40, Y:-42.76, Z:-11.45 [[ 9.77056179e-01 2.09207350e-01 3.99187589e-02 2.56396485e+02] [-2.09365182e-01 9.77837495e-01 -2.31626260e-04 -4.27570839e+01] [-3.90825171e-02 -8.13128634e-03 9.99202902e-01 -1.14457324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10264 meters 0.028682947785804505 Centerline is valid? [True, True] Translation: X:256.43, Y:-42.75, Z:-11.45 [[ 9.77945134e-01 2.05681207e-01 3.63119142e-02 2.56428602e+02] [-2.05298092e-01 9.78599040e-01 -1.40218727e-02 -4.27503671e+01] [-3.84188401e-02 6.25785550e-03 9.99242129e-01 -1.14466922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.13264 meters 0.03768875280900293 Centerline is valid? [True, True] Translation: X:256.46, Y:-42.76, Z:-11.45 [[ 9.78554087e-01 2.02717886e-01 3.65698876e-02 2.56455135e+02] [-2.02601504e-01 9.79236961e-01 -6.89956609e-03 -4.27617755e+01] [-3.72092510e-02 -6.57515633e-04 9.99307280e-01 -1.14510531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16264 meters 0.0239932223649384 Centerline is valid? [True, True] Translation: X:256.48, Y:-42.77, Z:-11.45 [[ 9.78826217e-01 2.01385135e-01 3.66505580e-02 2.56483001e+02] [-2.01267372e-01 9.79511948e-01 -6.91301763e-03 -4.27694613e+01] [-3.72918384e-02 -6.09918573e-04 9.99304231e-01 -1.14515442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.19264 meters 0.023103878269473927 Centerline is valid? [True, True] Translation: X:256.51, Y:-42.77, Z:-11.45 [[ 9.79085578e-01 2.00162396e-01 3.64204153e-02 2.56510989e+02] [-2.00045329e-01 9.79762573e-01 -6.86780016e-03 -4.27738075e+01] [-3.70580351e-02 -5.61569867e-04 9.99312957e-01 -1.14540454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22264 meters 0.021622282254477744 Centerline is valid? [True, True] Translation: X:256.54, Y:-42.78, Z:-11.46 [[ 9.79433910e-01 1.98495944e-01 3.61742366e-02 2.56539700e+02] [-1.98379390e-01 9.80101583e-01 -6.81941831e-03 -4.27791583e+01] [-3.68080534e-02 -4.97053442e-04 9.99322230e-01 -1.14561099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.25264 meters 0.022357721270536042 Centerline is valid? [True, True] Translation: X:256.57, Y:-42.78, Z:-11.46 [[ 9.79618945e-01 1.97707562e-01 3.54745255e-02 2.56566161e+02] [-1.97594977e-01 9.80260939e-01 -6.68697144e-03 -4.27824818e+01] [-3.60963565e-02 -4.58904152e-04 9.99348209e-01 -1.14605535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28264 meters 0.02147574839682031 Centerline is valid? [True, True] Translation: X:256.59, Y:-42.79, Z:-11.46 [[ 9.79785396e-01 1.96999236e-01 3.48120600e-02 2.56593965e+02] [-1.96890498e-01 9.80403548e-01 -6.55850891e-03 -4.27879473e+01] [-3.54218884e-02 -4.28232602e-04 9.99372356e-01 -1.14623886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.31264 meters 0.01898700247669637 Centerline is valid? [True, True] Translation: X:256.62, Y:-42.80, Z:-11.46 [[ 9.80214600e-01 1.94791985e-01 3.51485507e-02 2.56621962e+02] [-1.94679777e-01 9.80844513e-01 -6.62018567e-03 -4.27960507e+01] [-3.57648222e-02 -3.53509349e-04 9.99360172e-01 -1.14618873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34264 meters 0.018833666464495493 Centerline is valid? [True, True] Translation: X:256.65, Y:-42.80, Z:-11.46 [[ 9.80503932e-01 1.93303101e-01 3.52980336e-02 2.56649167e+02] [-1.93189014e-01 9.81139042e-01 -6.64714839e-03 -4.28021443e+01] [-3.59171933e-02 -3.01637177e-04 9.99354724e-01 -1.14643508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.37264 meters 0.023870986264004843 Centerline is valid? [True, True] Translation: X:256.67, Y:-42.82, Z:-11.46 [[ 9.79984022e-01 1.94884015e-01 4.06391031e-02 2.56671606e+02] [-1.95117948e-01 9.80778072e-01 1.83329135e-03 -4.28155629e+01] [-3.95006620e-02 -9.72601463e-03 9.99172209e-01 -1.14647094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.40264 meters 0.02813631775201411 Centerline is valid? [True, True] Translation: X:256.70, Y:-42.81, Z:-11.46 [[ 9.81009241e-01 1.90786599e-01 3.49477041e-02 2.56704878e+02] [-1.90339271e-01 9.81592194e-01 -1.57393150e-02 -4.28086815e+01] [-3.73072439e-02 8.78849293e-03 9.99265196e-01 -1.14624801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.43264 meters 0.01553662469776005 Centerline is valid? [True, True] Translation: X:256.73, Y:-42.82, Z:-11.46 [[ 9.81249976e-01 1.89021117e-01 3.76762885e-02 2.56731984e+02] [-1.88888429e-01 9.81973009e-01 -7.08319276e-03 -4.28223180e+01] [-3.83359714e-02 -1.66232229e-04 9.99264893e-01 -1.14621320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46264 meters 0.01552189412736537 Centerline is valid? [True, True] Translation: X:256.76, Y:-42.83, Z:-11.46 [[ 9.81444013e-01 1.88104653e-01 3.72060257e-02 2.56758660e+02] [-1.87974662e-01 9.82148982e-01 -6.99311984e-03 -4.28290906e+01] [-3.78572986e-02 -1.30434502e-04 9.99283147e-01 -1.14647785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.49264 meters 0.015686151663811206 Centerline is valid? [True, True] Translation: X:256.79, Y:-42.83, Z:-11.47 [[ 9.81604717e-01 1.87390156e-01 3.65665128e-02 2.56785351e+02] [-1.87264184e-01 9.82285559e-01 -6.87068556e-03 -4.28348570e+01] [-3.72062563e-02 -1.03300832e-04 9.99307602e-01 -1.14673054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52264 meters 0.015706463422321505 Centerline is valid? [True, True] Translation: X:256.81, Y:-42.84, Z:-11.47 [[ 9.81704775e-01 1.86999372e-01 3.58743486e-02 2.56813143e+02] [-1.86877950e-01 9.82360029e-01 -6.73831192e-03 -4.28405435e+01] [-3.65015862e-02 -8.90917457e-05 9.99333591e-01 -1.14699805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.55264 meters 0.01593711884961847 Centerline is valid? [True, True] Translation: X:256.84, Y:-42.85, Z:-11.47 [[ 9.81722358e-01 1.87055967e-01 3.50895672e-02 2.56841562e+02] [-1.86939896e-01 9.82349254e-01 -6.58924231e-03 -4.28466429e+01] [-3.57027672e-02 -9.08335561e-05 9.99362449e-01 -1.14722970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58264 meters 0.027990775388833943 Centerline is valid? [True, True] Translation: X:256.87, Y:-42.85, Z:-11.48 [[ 9.81664484e-01 1.87520438e-01 3.42188026e-02 2.56868573e+02] [-1.87410390e-01 9.82260696e-01 -6.42431162e-03 -4.28515044e+01] [-3.48164746e-02 -1.06440582e-04 9.99393717e-01 -1.14760335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.61264 meters 0.016474210954215248 Centerline is valid? [True, True] Translation: X:256.90, Y:-42.86, Z:-11.48 [[ 9.81580236e-01 1.87856982e-01 3.47849842e-02 2.56897271e+02] [-1.87743556e-01 9.82196385e-01 -6.52823573e-03 -4.28569216e+01] [-3.53920604e-02 -1.22669454e-04 9.99373497e-01 -1.14765194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64264000000003 meters 0.01757229291045989 Centerline is valid? [True, True] Translation: X:256.93, Y:-42.86, Z:-11.48 [[ 9.81223990e-01 1.89787941e-01 3.43513922e-02 2.56925375e+02] [-1.89678559e-01 9.81825087e-01 -6.44542594e-03 -4.28597364e+01] [-3.49503228e-02 -1.91315998e-04 9.99389033e-01 -1.14786689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.67264 meters 0.01834785497896847 Centerline is valid? [True, True] Translation: X:256.95, Y:-42.86, Z:-11.48 [[ 9.80980841e-01 1.91088080e-01 3.40871806e-02 2.56953507e+02] [-1.90981236e-01 9.81572865e-01 -6.39361724e-03 -4.28637286e+01] [-3.46807956e-02 -2.37995856e-04 9.99398412e-01 -1.14806469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70264000000003 meters 0.019437567490664307 Centerline is valid? [True, True] Translation: X:256.98, Y:-42.87, Z:-11.48 [[ 9.80694971e-01 1.92545011e-01 3.41144093e-02 2.56980812e+02] [-1.92438928e-01 9.81288099e-01 -6.39727987e-03 -4.28666378e+01] [-3.47078282e-02 -2.91160161e-04 9.99397459e-01 -1.14820459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.73264 meters 0.020826855727259175 Centerline is valid? [True, True] Translation: X:257.01, Y:-42.87, Z:-11.48 [[ 9.80181635e-01 1.95135370e-01 3.41489360e-02 2.57010222e+02] [-1.95030719e-01 9.80776243e-01 -6.40153033e-03 -4.28679834e+01] [-3.47416301e-02 -3.85429080e-04 9.99396253e-01 -1.14813385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76264000000003 meters 0.02190330191393658 Centerline is valid? [True, True] Translation: X:257.04, Y:-42.87, Z:-11.48 [[ 9.79948845e-01 1.96291014e-01 3.42067097e-02 2.57039112e+02] [-1.96186771e-01 9.80545590e-01 -6.41068998e-03 -4.28710995e+01] [-3.47995992e-02 -4.28755683e-04 9.99394219e-01 -1.14819589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.79264 meters 0.02175674821832842 Centerline is valid? [True, True] Translation: X:257.07, Y:-42.88, Z:-11.48 [[ 9.79759804e-01 1.97285678e-01 3.38981939e-02 2.57067569e+02] [-1.97183957e-01 9.80345933e-01 -6.35128829e-03 -4.28764247e+01] [-3.44849748e-02 -4.61443024e-04 9.99405110e-01 -1.14810752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82264 meters 0.023670405608651534 Centerline is valid? [True, True] Translation: X:257.10, Y:-42.88, Z:-11.48 [[ 9.79503290e-01 1.98566833e-01 3.38307085e-02 2.57095201e+02] [-1.98466332e-01 9.80087218e-01 -6.33714768e-03 -4.28792866e+01] [-3.44153924e-02 -5.06999620e-04 9.99407486e-01 -1.14841388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.85264 meters 0.027294324733842953 Centerline is valid? [True, True] Translation: X:257.13, Y:-42.88, Z:-11.48 [[ 9.78726379e-01 2.02287624e-01 3.42694051e-02 2.57125641e+02] [-2.02186875e-01 9.79325940e-01 -6.41648304e-03 -4.28776714e+01] [-3.48588924e-02 -6.48842710e-04 9.99392033e-01 -1.14845764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.88264 meters 0.028526246878911827 Centerline is valid? [True, True] Translation: X:257.15, Y:-42.88, Z:-11.48 [[ 9.78352510e-01 2.04024359e-01 3.46471923e-02 2.57154737e+02] [-2.03922409e-01 9.78965549e-01 -6.48877108e-03 -4.28790017e+01] [-3.52422750e-02 -7.17033456e-04 9.99378541e-01 -1.14844627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.91264 meters 0.03092175603656105 Centerline is valid? [True, True] Translation: X:257.18, Y:-42.88, Z:-11.49 [[ 9.78034052e-01 2.05530215e-01 3.47379384e-02 2.57183282e+02] [-2.05428958e-01 9.78650459e-01 -6.49786547e-03 -4.28795877e+01] [-3.53318070e-02 -7.81044801e-04 9.99375332e-01 -1.14864407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.94264 meters 0.034059735594455305 Centerline is valid? [True, True] Translation: X:257.21, Y:-42.88, Z:-11.49 [[ 9.77725999e-01 2.06826412e-01 3.57030150e-02 2.57212111e+02] [-2.06720398e-01 9.78377283e-01 -6.67605748e-03 -4.28784141e+01] [-3.63118038e-02 -8.53186517e-04 9.99340145e-01 -1.14879325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.97264 meters 0.040434034600843764 Centerline is valid? [True, True] Translation: X:257.24, Y:-42.89, Z:-11.49 [[ 9.77799229e-01 2.06711970e-01 3.43340710e-02 2.57239757e+02] [-2.06613864e-01 9.78401500e-01 -6.41999397e-03 -4.28854225e+01] [-3.49195962e-02 -8.16429927e-04 9.99389791e-01 -1.14881841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.00264 meters 0.03265576241930952 Centerline is valid? [True, True] Translation: X:257.27, Y:-42.89, Z:-11.49 [[ 9.77943866e-01 2.06052045e-01 3.41811359e-02 2.57266917e+02] [-2.05954663e-01 9.78540710e-01 -6.38409165e-03 -4.28888797e+01] [-3.47630881e-02 -7.96481051e-04 9.99395264e-01 -1.14928046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.03264 meters 0.030626014288287033 Centerline is valid? [True, True] Translation: X:257.29, Y:-42.90, Z:-11.50 [[ 9.78332525e-01 2.04338215e-01 3.33371404e-02 2.57294089e+02] [-2.04244645e-01 9.78900085e-01 -6.22481203e-03 -4.28974964e+01] [-3.39056965e-02 -7.18996318e-04 9.99424778e-01 -1.14951238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.06264 meters 0.025799780874258188 Centerline is valid? [True, True] Translation: X:257.32, Y:-42.91, Z:-11.50 [[ 9.79264614e-01 1.99710141e-01 3.40099416e-02 2.57321849e+02] [-1.99610253e-01 9.79854849e-01 -6.34205744e-03 -4.29105761e+01] [-3.45913793e-02 -5.78180613e-04 9.99401372e-01 -1.14951603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.09264 meters 0.025451654103614087 Centerline is valid? [True, True] Translation: X:257.35, Y:-42.92, Z:-11.50 [[ 9.79823705e-01 1.97070552e-01 3.32972291e-02 2.57348800e+02] [-1.96973289e-01 9.80389194e-01 -6.20900251e-03 -4.29174579e+01] [-3.38678551e-02 -4.74936875e-04 9.99426207e-01 -1.14979579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.12264 meters 0.02195617335986944 Centerline is valid? [True, True] Translation: X:257.38, Y:-42.93, Z:-11.50 [[ 9.80356354e-01 1.94493735e-01 3.27659392e-02 2.57376676e+02] [-1.94398184e-01 9.80903686e-01 -6.10777037e-03 -4.29262041e+01] [-3.33281536e-02 -3.81847599e-04 9.99444390e-01 -1.15007849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.15264 meters 0.01892636410133455 Centerline is valid? [True, True] Translation: X:257.40, Y:-42.94, Z:-11.50 [[ 9.81351245e-01 1.89683154e-01 3.11453861e-02 2.57402843e+02] [-1.89594442e-01 9.81845333e-01 -5.80432723e-03 -4.29405955e+01] [-3.16809351e-02 -2.08908345e-04 9.99498011e-01 -1.15034780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.18264 meters 0.017603801889544857 Centerline is valid? [True, True] Translation: X:257.43, Y:-42.95, Z:-11.50 [[ 9.81682404e-01 1.87975122e-01 3.10646322e-02 2.57430638e+02] [-1.87886061e-01 9.82173778e-01 -5.78780070e-03 -4.29495891e+01] [-3.15988297e-02 -1.54829257e-04 9.99500620e-01 -1.15032797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.21264 meters 0.01821619047683069 Centerline is valid? [True, True] Translation: X:257.46, Y:-42.96, Z:-11.51 [[ 9.81865370e-01 1.86976607e-01 3.13072593e-02 2.57457191e+02] [-1.86885685e-01 9.82364358e-01 -5.83164075e-03 -4.29555912e+01] [-3.18455161e-02 -1.24992506e-04 9.99492795e-01 -1.15074316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.24264 meters 0.017231110888690764 Centerline is valid? [True, True] Translation: X:257.48, Y:-42.96, Z:-11.51 [[ 9.81999462e-01 1.86299362e-01 3.11384801e-02 2.57484280e+02] [-1.86209131e-01 9.82493021e-01 -5.79851919e-03 -4.29625935e+01] [-3.16735998e-02 -1.04126590e-04 9.99498260e-01 -1.15058301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.27264 meters 0.01681272405114347 Centerline is valid? [True, True] Translation: X:257.51, Y:-42.97, Z:-11.51 [[ 9.81857637e-01 1.85929285e-01 3.72274410e-02 2.57513532e+02] [-1.86019376e-01 9.82545505e-01 -1.05937596e-03 -4.29707958e+01] [-3.67746238e-02 -5.88486897e-03 9.99306257e-01 -1.15098601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.30264 meters 0.017316641252770975 Centerline is valid? [True, True] Translation: X:257.54, Y:-42.97, Z:-11.51 [[ 9.81791231e-01 1.87526393e-01 3.03287183e-02 2.57543822e+02] [-1.87248415e-01 9.82241896e-01 -1.17851176e-02 -4.29667332e+01] [-3.20001584e-02 5.89152066e-03 9.99470500e-01 -1.15062238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.33264 meters 0.019073565606038206 Centerline is valid? [True, True] Translation: X:257.57, Y:-42.97, Z:-11.51 [[ 9.81641897e-01 1.88060508e-01 3.18187359e-02 2.57571025e+02] [-1.87967396e-01 9.82157430e-01 -5.91958039e-03 -4.29717515e+01] [-3.23642471e-02 -1.69976817e-04 9.99476126e-01 -1.15126231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36264 meters 0.01676037835889424 Centerline is valid? [True, True] Translation: X:257.60, Y:-42.98, Z:-11.51 [[ 9.81264256e-01 1.88891510e-01 3.79533659e-02 2.57600040e+02] [-1.89090217e-01 9.81958276e-01 1.68337038e-03 -4.29827742e+01] [-3.69506474e-02 -8.82844136e-03 9.99278094e-01 -1.15078286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.39264000000003 meters 0.018923189526126746 Centerline is valid? [True, True] Translation: X:257.63, Y:-42.98, Z:-11.51 [[ 9.81196789e-01 1.90525110e-01 3.08713916e-02 2.57629689e+02] [-1.90156015e-01 9.81646687e-01 -1.45076726e-02 -4.29764528e+01] [-3.30688752e-02 8.36450096e-03 9.99418073e-01 -1.15105660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42264 meters 0.018230265357453975 Centerline is valid? [True, True] Translation: X:257.66, Y:-42.99, Z:-11.51 [[ 9.81173601e-01 1.89719499e-01 3.61230759e-02 2.57658954e+02] [-1.89606745e-01 9.81838243e-01 -6.55333158e-03 -4.29883207e+01] [-3.67103122e-02 -4.19222916e-04 9.99325861e-01 -1.15135860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.45264000000003 meters 0.02048529362451837 Centerline is valid? [True, True] Translation: X:257.69, Y:-42.99, Z:-11.52 [[ 9.81161326e-01 1.90352281e-01 3.29918507e-02 2.57685347e+02] [-1.90245996e-01 9.81715849e-01 -6.36027089e-03 -4.29907657e+01] [-3.35993148e-02 -3.61156901e-05 9.99435383e-01 -1.15169921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48264 meters 0.02429836833943935 Centerline is valid? [True, True] Translation: X:257.71, Y:-43.00, Z:-11.52 [[ 9.81100623e-01 1.91017670e-01 3.08839426e-02 2.57713337e+02] [-1.90931808e-01 9.81586561e-01 -5.73311955e-03 -4.29953909e+01] [-3.14103901e-02 -2.71959853e-04 9.99506535e-01 -1.15170424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.51264000000003 meters 0.019714252040937404 Centerline is valid? [True, True] Translation: X:257.74, Y:-43.00, Z:-11.52 [[ 9.81065939e-01 1.91216586e-01 3.07545265e-02 2.57741056e+02] [-1.91131606e-01 9.81547828e-01 -5.70701123e-03 -4.30016112e+01] [-3.12783139e-02 -2.79207711e-04 9.99510675e-01 -1.15185905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54264 meters 0.021542647217909053 Centerline is valid? [True, True] Translation: X:257.77, Y:-43.01, Z:-11.53 [[ 9.81038257e-01 1.91345113e-01 3.08380639e-02 2.57767784e+02] [-1.91259760e-01 9.81522779e-01 -5.72169783e-03 -4.30055694e+01] [-3.13630811e-02 -2.84876226e-04 9.99508017e-01 -1.15251126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.57264 meters 0.020832532022267248 Centerline is valid? [True, True] Translation: X:257.80, Y:-43.02, Z:-11.53 [[ 9.80933849e-01 1.90904364e-01 3.63910343e-02 2.57797283e+02] [-1.90957164e-01 9.81596227e-01 -2.05153587e-03 -4.30150091e+01] [-3.61129491e-02 -4.93670772e-03 9.99335521e-01 -1.15280913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60264 meters 0.020832532022267248 Centerline is valid? [True, True] Translation: X:257.82, Y:-43.02, Z:-11.53 [[ 9.80933298e-01 1.91060221e-01 3.55788672e-02 2.57824836e+02] [-1.90939779e-01 9.81578307e-01 -6.78439150e-03 -4.30168811e+01] [-3.62196715e-02 -1.38385517e-04 9.99343843e-01 -1.15291538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.63264 meters 0.020695623349514587 Centerline is valid? [True, True] Translation: X:257.85, Y:-43.02, Z:-11.53 [[ 9.80839643e-01 1.92410880e-01 3.05228969e-02 2.57853148e+02] [-1.92177290e-01 9.81304712e-01 -1.04380193e-02 -4.30205852e+01] [-3.19606510e-02 4.37221555e-03 9.99479565e-01 -1.15253930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66264 meters 0.02099867679815221 Centerline is valid? [True, True] Translation: X:257.88, Y:-43.03, Z:-11.53 [[ 9.80791537e-01 1.92538444e-01 3.12555507e-02 2.57880661e+02] [-1.92451637e-01 9.81289374e-01 -5.79072498e-03 -4.30288729e+01] [-3.17856769e-02 -3.35687843e-04 9.99494651e-01 -1.15276824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.69264 meters 0.02170619341228073 Centerline is valid? [True, True] Translation: X:257.91, Y:-43.03, Z:-11.53 [[ 9.80626948e-01 1.93328328e-01 3.15427837e-02 2.57908441e+02] [-1.93240370e-01 9.81134050e-01 -5.84258423e-03 -4.30335560e+01] [-3.20772362e-02 -3.65943642e-04 9.99485326e-01 -1.15294337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72264 meters 0.02163273241017364 Centerline is valid? [True, True] Translation: X:257.94, Y:-43.04, Z:-11.53 [[ 9.80307718e-01 1.94759589e-01 3.26417086e-02 2.57937269e+02] [-1.94666264e-01 9.80850915e-01 -6.04380635e-03 -4.30381719e+01] [-3.31937390e-02 -4.29449459e-04 9.99448844e-01 -1.15266155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.75264 meters 0.023766179386781713 Centerline is valid? [True, True] Translation: X:257.97, Y:-43.04, Z:-11.53 [[ 9.80070084e-01 1.95945071e-01 3.26827126e-02 2.57965152e+02] [-1.95852218e-01 9.80614760e-01 -6.04995256e-03 -4.30401346e+01] [-3.32346087e-02 -4.71604250e-04 9.99447467e-01 -1.15297787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78264 meters 0.023890900104928534 Centerline is valid? [True, True] Translation: X:257.99, Y:-43.04, Z:-11.53 [[ 9.79861563e-01 1.97101360e-01 3.19745423e-02 2.57993293e+02] [-1.97013176e-01 9.80382987e-01 -5.91664995e-03 -4.30449147e+01] [-3.25134770e-02 -5.01908242e-04 9.99471171e-01 -1.15308404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.81264 meters 0.025341451614267214 Centerline is valid? [True, True] Translation: X:258.02, Y:-43.05, Z:-11.53 [[ 9.79653910e-01 1.98238366e-01 3.13012221e-02 2.58020785e+02] [-1.98154478e-01 9.80153697e-01 -5.79076673e-03 -4.30475788e+01] [-3.18279607e-02 -5.29530053e-04 9.99493222e-01 -1.15338913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84264 meters 0.03122215933319654 Centerline is valid? [True, True] Translation: X:258.05, Y:-43.04, Z:-11.54 [[ 9.79062516e-01 2.01100537e-01 3.15462039e-02 2.58049748e+02] [-2.01016879e-01 9.79570405e-01 -5.83406177e-03 -4.30428765e+01] [-3.20749607e-02 -6.29408262e-04 9.99485268e-01 -1.15396725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.87264 meters 0.0305221990191069 Centerline is valid? [True, True] Translation: X:258.08, Y:-43.05, Z:-11.54 [[ 9.78893667e-01 2.01966544e-01 3.12522605e-02 2.58078461e+02] [-2.01884874e-01 9.79392205e-01 -5.77987425e-03 -4.30481529e+01] [-3.17755616e-02 -6.51476393e-04 9.99494817e-01 -1.15391371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.90264 meters 0.0302963721342487 Centerline is valid? [True, True] Translation: X:258.11, Y:-43.05, Z:-11.54 [[ 9.78771231e-01 2.02586533e-01 3.10736735e-02 2.58107364e+02] [-2.02506270e-01 9.79264134e-01 -5.74168285e-03 -4.30525301e+01] [-3.15925216e-02 -6.72819705e-04 9.99500605e-01 -1.15395773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.93264 meters 0.029763985360455048 Centerline is valid? [True, True] Translation: X:258.14, Y:-43.06, Z:-11.54 [[ 9.78620924e-01 2.03309372e-01 3.10867512e-02 2.58135423e+02] [-2.03229646e-01 9.79114295e-01 -5.73649202e-03 -4.30566719e+01] [-3.16037651e-02 -7.03898325e-04 9.99500228e-01 -1.15394619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96264 meters 0.030668309234326695 Centerline is valid? [True, True] Translation: X:258.16, Y:-43.06, Z:-11.54 [[ 9.78606902e-01 2.03353006e-01 3.12423977e-02 2.58162035e+02] [-2.03272518e-01 9.79105230e-01 -5.76468101e-03 -4.30605132e+01] [-3.17618602e-02 -7.09364229e-04 9.99495213e-01 -1.15416189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.99264 meters 0.03481102544537704 Centerline is valid? [True, True] Translation: X:258.19, Y:-43.07, Z:-11.54 [[ 9.78721874e-01 2.02952893e-01 3.02260792e-02 2.58190336e+02] [-2.02877465e-01 9.79188268e-01 -5.57398891e-03 -4.30658287e+01] [-3.07282793e-02 -6.76805438e-04 9.99527546e-01 -1.15421258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02264 meters 0.0320625862467401 Centerline is valid? [True, True] Translation: X:258.22, Y:-43.07, Z:-11.55 [[ 9.78744213e-01 2.02481765e-01 3.25714736e-02 2.58218794e+02] [-2.02394209e-01 9.79285767e-01 -5.99756656e-03 -4.30669533e+01] [-3.31111784e-02 -7.22194069e-04 9.99451414e-01 -1.15453604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.05264 meters 0.027893262195678767 Centerline is valid? [True, True] Translation: X:258.25, Y:-43.08, Z:-11.54 [[ 9.79032133e-01 2.01065726e-01 3.26903173e-02 2.58246284e+02] [-2.00976797e-01 9.79577518e-01 -6.01776317e-03 -4.30755574e+01] [-3.32326658e-02 -6.78411757e-04 9.99447412e-01 -1.15431362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08264 meters 0.026310850969638762 Centerline is valid? [True, True] Translation: X:258.27, Y:-43.08, Z:-11.54 [[ 9.79281068e-01 2.00034657e-01 3.15392739e-02 2.58274080e+02] [-1.99951395e-01 9.79788625e-01 -5.80437809e-03 -4.30822324e+01] [-3.20628986e-02 -6.22204230e-04 9.99485659e-01 -1.15447409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.11264 meters 0.026569162179953233 Centerline is valid? [True, True] Translation: X:258.30, Y:-43.09, Z:-11.55 [[ 9.79558008e-01 1.98746539e-01 3.10792754e-02 2.58302034e+02] [-1.98665091e-01 9.80050756e-01 -5.71813206e-03 -4.30858794e+01] [-3.15957263e-02 -5.73125018e-04 9.99500566e-01 -1.15488204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14264000000003 meters 0.02520396650294727 Centerline is valid? [True, True] Translation: X:258.33, Y:-43.09, Z:-11.55 [[ 9.79886149e-01 1.97154663e-01 3.08735265e-02 2.58330360e+02] [-1.97073550e-01 9.80372260e-01 -5.67867099e-03 -4.30912181e+01] [-3.13871254e-02 -5.19904409e-04 9.99507168e-01 -1.15508311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.17264 meters 0.022093920394222727 Centerline is valid? [True, True] Translation: X:258.36, Y:-43.10, Z:-11.55 [[ 9.80779024e-01 1.92771386e-01 3.01943357e-02 2.58357467e+02] [-1.92691771e-01 9.81243626e-01 -5.55226490e-03 -4.31000022e+01] [-3.06983172e-02 -3.72655056e-04 9.99528626e-01 -1.15532304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20264000000003 meters 0.027792378353450362 Centerline is valid? [True, True] Translation: X:258.38, Y:-43.11, Z:-11.56 [[ 9.81323790e-01 1.90116033e-01 2.93174444e-02 2.58384243e+02] [-1.90039824e-01 9.81761587e-01 -5.38987991e-03 -4.31064655e+01] [-2.98074433e-02 -2.82264596e-04 9.99555620e-01 -1.15564892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.23264 meters 0.017846859522314882 Centerline is valid? [True, True] Translation: X:258.41, Y:-43.12, Z:-11.55 [[ 9.82126520e-01 1.85577428e-01 3.14406858e-02 2.58411822e+02] [-1.85487530e-01 9.82629632e-01 -5.77778982e-03 -4.31168069e+01] [-3.19667769e-02 -1.57334545e-04 9.99488920e-01 -1.15548620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26264000000003 meters 0.016916716502965265 Centerline is valid? [True, True] Translation: X:258.44, Y:-43.13, Z:-11.56 [[ 9.82562513e-01 1.83312819e-01 3.11017407e-02 2.58439058e+02] [-1.83223745e-01 9.83054629e-01 -5.71453669e-03 -4.31250558e+01] [-3.16222580e-02 -8.36878779e-05 9.99499888e-01 -1.15553051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.29264 meters 0.01659268921115315 Centerline is valid? [True, True] Translation: X:258.47, Y:-43.13, Z:-11.56 [[ 9.83007120e-01 1.80967307e-01 3.07869518e-02 2.58466826e+02] [-1.80878965e-01 9.83489112e-01 -5.65390467e-03 -4.31334529e+01] [-3.13018038e-02 -1.08834251e-05 9.99509978e-01 -1.15565168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32264 meters 0.01653777001759506 Centerline is valid? [True, True] Translation: X:258.49, Y:-43.14, Z:-11.56 [[ 9.83389406e-01 1.78860746e-01 3.08886727e-02 2.58493472e+02] [-1.78770813e-01 9.83874398e-01 -5.67150083e-03 -4.31409298e+01] [-3.14049831e-02 5.53007047e-05 9.99506740e-01 -1.15580735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.35264 meters 0.016985113705058858 Centerline is valid? [True, True] Translation: X:258.52, Y:-43.15, Z:-11.56 [[ 9.83916318e-01 1.75617599e-01 3.26670839e-02 2.58520236e+02] [-1.75515319e-01 9.84458446e-01 -5.99509341e-03 -4.31483437e+01] [-3.32122305e-02 1.65096598e-04 9.99448308e-01 -1.15577913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.38264 meters 0.01664321555814471 Centerline is valid? [True, True] Translation: X:258.55, Y:-43.15, Z:-11.56 [[ 9.84080012e-01 1.74579322e-01 3.32954997e-02 2.58548662e+02] [-1.74472554e-01 9.84643093e-01 -6.10805084e-03 -4.31541188e+01] [-3.38505232e-02 2.01659886e-04 9.99426886e-01 -1.15564994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.41264 meters 0.017009136851852246 Centerline is valid? [True, True] Translation: X:258.58, Y:-43.16, Z:-11.56 [[ 9.84239953e-01 1.73621362e-01 3.35758400e-02 2.58575123e+02] [-1.73512258e-01 9.84812453e-01 -6.15868277e-03 -4.31598610e+01] [-3.41351842e-02 2.35801841e-04 9.99417197e-01 -1.15575063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.44264 meters 0.028936649250397694 Centerline is valid? [True, True] Translation: X:258.60, Y:-43.16, Z:-11.56 [[ 9.84329717e-01 1.73115663e-01 3.35555452e-02 2.58602209e+02] [-1.73006542e-01 9.84901470e-01 -6.15069758e-03 -4.31647039e+01] [-3.41136879e-02 2.48985565e-04 9.99417928e-01 -1.15596338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.47264 meters 0.017543923269206847 Centerline is valid? [True, True] Translation: X:258.63, Y:-43.17, Z:-11.56 [[ 9.84269050e-01 1.73357472e-01 3.40826205e-02 2.58631050e+02] [-1.73245131e-01 9.84858938e-01 -6.24466742e-03 -4.31696053e+01] [-3.46491332e-02 2.41784816e-04 9.99399509e-01 -1.15612036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.50264 meters 0.017729382475374485 Centerline is valid? [True, True] Translation: X:258.66, Y:-43.17, Z:-11.56 [[ 9.84205044e-01 1.73904049e-01 3.31332480e-02 2.58657991e+02] [-1.73798217e-01 9.84762578e-01 -6.06998621e-03 -4.31740375e+01] [-3.36839779e-02 2.15611636e-04 9.99432511e-01 -1.15646516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.53264 meters 0.016995921975927582 Centerline is valid? [True, True] Translation: X:258.69, Y:-43.18, Z:-11.57 [[ 9.84057829e-01 1.74792266e-01 3.28306739e-02 2.58686210e+02] [-1.74688909e-01 9.84605317e-01 -6.01286105e-03 -4.31777638e+01] [-3.33762577e-02 1.81848390e-04 9.99442841e-01 -1.15659471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.56264 meters 0.016059991139808813 Centerline is valid? [True, True] Translation: X:258.72, Y:-43.18, Z:-11.57 [[ 9.83674756e-01 1.76941884e-01 3.27954987e-02 2.58715075e+02] [-1.76840037e-01 9.84221296e-01 -6.00354946e-03 -4.31815354e+01] [-3.33403076e-02 1.05982832e-04 9.99444052e-01 -1.15662772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.59264 meters 0.015935590583374765 Centerline is valid? [True, True] Translation: X:258.74, Y:-43.18, Z:-11.57 [[ 9.83468302e-01 1.78092811e-01 3.27574272e-02 2.58742452e+02] [-1.77991879e-01 9.84013692e-01 -5.99536717e-03 -4.31844678e+01] [-3.33014886e-02 6.56975434e-05 9.99445349e-01 -1.15676963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.62264 meters 0.016019437415856624 Centerline is valid? [True, True] Translation: X:258.77, Y:-43.19, Z:-11.57 [[ 9.83207915e-01 1.79475816e-01 3.30246502e-02 2.58769906e+02] [-1.79374104e-01 9.83762386e-01 -6.04149269e-03 -4.31860557e+01] [-3.35727105e-02 1.62763950e-05 9.99436278e-01 -1.15694911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.65264 meters 0.016257930674820703 Centerline is valid? [True, True] Translation: X:258.80, Y:-43.19, Z:-11.57 [[ 9.82652989e-01 1.82536785e-01 3.27631561e-02 2.58799214e+02] [-1.82438454e-01 9.83199021e-01 -5.99137085e-03 -4.31864457e+01] [-3.33063485e-02 -8.98210730e-05 9.99445186e-01 -1.15713251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.68264 meters 0.01704768436878299 Centerline is valid? [True, True] Translation: X:258.83, Y:-43.19, Z:-11.57 [[ 9.82425996e-01 1.83803988e-01 3.24847041e-02 2.58826762e+02] [-1.83708043e-01 9.82962907e-01 -5.93958052e-03 -4.31903649e+01] [-3.30229777e-02 -1.32503087e-04 9.99454584e-01 -1.15748090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.71264 meters 0.030404795692382403 Centerline is valid? [True, True] Translation: X:258.85, Y:-43.19, Z:-11.58 [[ 9.82170770e-01 1.85459313e-01 3.07477116e-02 2.58854000e+02] [-1.85374257e-01 9.82651928e-01 -5.61910146e-03 -4.31923804e+01] [-3.12564128e-02 -1.80916989e-04 9.99511383e-01 -1.15788172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.74264 meters 0.019024403195970443 Centerline is valid? [True, True] Translation: X:258.88, Y:-43.19, Z:-11.58 [[ 9.81805086e-01 1.87302500e-01 3.12497361e-02 2.58882615e+02] [-1.87215667e-01 9.82302251e-01 -5.70800935e-03 -4.31948510e+01] [-3.17658105e-02 -2.46287558e-04 9.99495309e-01 -1.15790104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.77264 meters 0.021592161461148382 Centerline is valid? [True, True] Translation: X:258.91, Y:-43.19, Z:-11.58 [[ 9.81061530e-01 1.91137504e-01 3.13804059e-02 2.58912722e+02] [-1.91051952e-01 9.81563200e-01 -5.73031025e-03 -4.31924818e+01] [-3.18971289e-02 -3.73500867e-04 9.99491087e-01 -1.15805634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.80264 meters 0.02299301145715679 Centerline is valid? [True, True] Translation: X:258.94, Y:-43.19, Z:-11.58 [[ 9.80663257e-01 1.93095612e-01 3.18380350e-02 2.58942052e+02] [-1.93008629e-01 9.81179844e-01 -5.81226359e-03 -4.31946864e+01] [-3.23611608e-02 -4.45142150e-04 9.99476141e-01 -1.15815629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.83264 meters 0.024743030605547407 Centerline is valid? [True, True] Translation: X:258.97, Y:-43.20, Z:-11.58 [[ 9.80247012e-01 1.95120845e-01 3.23055898e-02 2.58970545e+02] [-1.95032415e-01 9.80779070e-01 -5.89677996e-03 -4.31960791e+01] [-3.28352311e-02 -5.20336274e-04 9.99460643e-01 -1.15826965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86264 meters 0.02779052450656802 Centerline is valid? [True, True] Translation: X:259.00, Y:-43.19, Z:-11.58 [[ 9.79629305e-01 1.98161493e-01 3.25337747e-02 2.58999337e+02] [-1.98073603e-01 9.80169182e-01 -5.93482733e-03 -4.31925919e+01] [-3.30646576e-02 -6.30151211e-04 9.99453016e-01 -1.15838886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.89264000000003 meters 0.028557573981438825 Centerline is valid? [True, True] Translation: X:259.03, Y:-43.19, Z:-11.59 [[ 9.79483978e-01 1.98905913e-01 3.23662660e-02 2.59028363e+02] [-1.98819329e-01 9.80018374e-01 -5.90435845e-03 -4.31949149e+01] [-3.28939472e-02 -6.51814790e-04 9.99458635e-01 -1.15850287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92264 meters 0.029814996914242258 Centerline is valid? [True, True] Translation: X:259.06, Y:-43.20, Z:-11.59 [[ 9.79383262e-01 1.99378065e-01 3.25086541e-02 2.59056089e+02] [-1.99291213e-01 9.79922409e-01 -5.92319734e-03 -4.31974195e+01] [-3.30369143e-02 -6.77608789e-04 9.99453902e-01 -1.15870517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.95264000000003 meters 0.029504472460421878 Centerline is valid? [True, True] Translation: X:259.08, Y:-43.20, Z:-11.59 [[ 9.79444566e-01 1.98854846e-01 3.38392228e-02 2.59084495e+02] [-1.98760494e-01 9.80028712e-01 -6.16362692e-03 -4.31997574e+01] [-3.43890770e-02 -6.88969766e-04 9.99408283e-01 -1.15867356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98264 meters 0.02874331756873768 Centerline is valid? [True, True] Translation: X:259.11, Y:-43.20, Z:-11.59 [[ 9.79669106e-01 1.97787869e-01 3.35916931e-02 2.59113431e+02] [-1.97694459e-01 9.80244629e-01 -6.11289675e-03 -4.32036314e+01] [-3.41371336e-02 -6.52275511e-04 9.99416945e-01 -1.15884036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.01264000000003 meters 0.027143421811512806 Centerline is valid? [True, True] Translation: X:259.14, Y:-43.21, Z:-11.59 [[ 9.79996003e-01 1.96242539e-01 3.31164647e-02 2.59141921e+02] [-1.96151054e-01 9.80555206e-01 -6.02098963e-03 -4.32087328e+01] [-3.36540962e-02 -5.95283688e-04 9.99433363e-01 -1.15903393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04264 meters 0.027663469729966847 Centerline is valid? [True, True] Translation: X:259.17, Y:-43.22, Z:-11.59 [[ 9.80874735e-01 1.91992517e-01 3.19941881e-02 2.59169586e+02] [-1.91905035e-01 9.81396291e-01 -5.81180478e-03 -4.32161281e+01] [-3.25148005e-02 -4.39193293e-04 9.99471158e-01 -1.15934391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.07264 meters 0.028089895638671758 Centerline is valid? [True, True] Translation: X:259.20, Y:-43.22, Z:-11.59 [[ 9.81382201e-01 1.89344202e-01 3.22141112e-02 2.59197766e+02] [-1.89254272e-01 9.81910711e-01 -5.84605256e-03 -4.32241194e+01] [-3.27382969e-02 -3.59446232e-04 9.99463894e-01 -1.15947377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10264 meters 0.01820307405180957 Centerline is valid? [True, True] Translation: X:259.23, Y:-43.23, Z:-11.59 [[ 9.81827418e-01 1.86804526e-01 3.34513272e-02 2.59226113e+02] [-1.86706263e-01 9.82397061e-01 -6.06519721e-03 -4.32335120e+01] [-3.39954918e-02 -2.90595400e-04 9.99421944e-01 -1.15916850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.13264 meters 0.016354903358630837 Centerline is valid? [True, True] Translation: X:259.25, Y:-43.24, Z:-11.59 [[ 9.82738232e-01 1.81777418e-01 3.43880575e-02 2.59253008e+02] [-1.81670761e-01 9.83339694e-01 -6.22738580e-03 -4.32421450e+01] [-3.49471400e-02 -1.27414459e-04 9.99389154e-01 -1.15935541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16264 meters 0.015532323162386834 Centerline is valid? [True, True] Translation: X:259.28, Y:-43.25, Z:-11.59 [[ 9.83160480e-01 1.79387126e-01 3.48672995e-02 2.59281524e+02] [-1.79276068e-01 9.83778561e-01 -6.31147562e-03 -4.32494864e+01] [-3.54338992e-02 -4.56789537e-05 9.99372021e-01 -1.15938538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.19264 meters 0.018874113460016318 Centerline is valid? [True, True] Translation: X:259.31, Y:-43.25, Z:-11.60 [[ 9.82938796e-01 1.81907120e-01 2.72235636e-02 2.59306726e+02] [-1.81566194e-01 9.83271350e-01 -1.45316507e-02 -4.32535060e+01] [-2.94115609e-02 9.34084445e-03 9.99523741e-01 -1.15962986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22264 meters 0.016178743583394953 Centerline is valid? [True, True] Translation: X:259.34, Y:-43.27, Z:-11.60 [[ 9.84047788e-01 1.74056208e-01 3.68020008e-02 2.59335739e+02] [-1.74289612e-01 9.84689212e-01 3.20734451e-03 -4.32690529e+01] [-3.56802749e-02 -9.57038670e-03 9.99317430e-01 -1.15988539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.25264 meters 0.01598015581317301 Centerline is valid? [True, True] Translation: X:259.36, Y:-43.27, Z:-11.60 [[ 9.84515781e-01 1.71745607e-01 3.51016193e-02 2.59364793e+02] [-1.71628618e-01 9.85141309e-01 -6.34185900e-03 -4.32699382e+01] [-3.56692416e-02 2.19217865e-04 9.99363626e-01 -1.15954711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28264 meters 0.019967716226042976 Centerline is valid? [True, True] Translation: X:259.39, Y:-43.28, Z:-11.60 [[ 9.85582574e-01 1.65406945e-01 3.56024203e-02 2.59390326e+02] [-1.65282507e-01 9.86225297e-01 -6.43087303e-03 -4.32822550e+01] [-3.61757186e-02 4.53699103e-04 9.99345341e-01 -1.15975920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.31264 meters 0.021708463708681996 Centerline is valid? [True, True] Translation: X:259.42, Y:-43.29, Z:-11.60 [[ 9.86092766e-01 1.62200130e-01 3.62239422e-02 2.59418026e+02] [-1.62069261e-01 9.86757713e-01 -6.53996628e-03 -4.32907330e+01] [-3.68050378e-02 5.78225904e-04 9.99322298e-01 -1.15975098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34264 meters 0.023372933718075098 Centerline is valid? [True, True] Translation: X:259.45, Y:-43.30, Z:-11.60 [[ 9.86545362e-01 1.59232419e-01 3.70578578e-02 2.59445819e+02] [-1.59093431e-01 9.87240874e-01 -6.68861819e-03 -4.32988055e+01] [-3.76500768e-02 7.02963514e-04 9.99290737e-01 -1.15968815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.37264 meters 0.027471035223215777 Centerline is valid? [True, True] Translation: X:259.47, Y:-43.31, Z:-11.60 [[ 9.87305625e-01 1.54363971e-01 3.74081323e-02 2.59473673e+02] [-1.54218933e-01 9.88013646e-01 -6.74959339e-03 -4.33106314e+01] [-3.80016392e-02 8.94869277e-04 9.99277276e-01 -1.15981247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.40264 meters 0.03312755849528103 Centerline is valid? [True, True] Translation: X:259.50, Y:-43.32, Z:-11.60 [[ 9.87448707e-01 1.53415135e-01 3.75346133e-02 2.59503467e+02] [-1.53317771e-01 9.88161766e-01 -5.47591952e-03 -4.33180074e+01] [-3.79303587e-02 -3.47533586e-04 9.99280325e-01 -1.16014389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.43264 meters 0.0339581011203639 Centerline is valid? [True, True] Translation: X:259.53, Y:-43.33, Z:-11.60 [[ 9.87793297e-01 1.51632456e-01 3.56651173e-02 2.59530615e+02] [-1.51447220e-01 9.88434135e-01 -7.85492638e-03 -4.33269708e+01] [-3.64436812e-02 2.35766077e-03 9.99332927e-01 -1.16048145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46264 meters 0.03158496394134491 Centerline is valid? [True, True] Translation: X:259.56, Y:-43.33, Z:-11.61 [[ 9.87840643e-01 1.51217222e-01 3.61139286e-02 2.59558419e+02] [-1.51079975e-01 9.88500072e-01 -6.51534877e-03 -4.33327550e+01] [-3.66838539e-02 9.80034895e-04 9.99326440e-01 -1.16059853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.49264 meters 0.029092982449192895 Centerline is valid? [True, True] Translation: X:259.59, Y:-43.34, Z:-11.61 [[ 9.87513050e-01 1.53263695e-01 3.64446878e-02 2.59588057e+02] [-1.53152868e-01 9.88185311e-01 -5.83008539e-03 -4.33374519e+01] [-3.69076456e-02 1.75676930e-04 9.99318665e-01 -1.16082263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52264 meters 0.02852727177544011 Centerline is valid? [True, True] Translation: X:259.62, Y:-43.34, Z:-11.61 [[ 9.87463969e-01 1.53903856e-01 3.50501377e-02 2.59617465e+02] [-1.53617843e-01 9.88072096e-01 -1.07280648e-02 -4.33402375e+01] [-3.62831536e-02 5.20925088e-03 9.99327972e-01 -1.16085710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.55264 meters 0.02852727177544011 Centerline is valid? [True, True] Translation: X:259.64, Y:-43.35, Z:-11.61 [[ 9.87478397e-01 1.53646988e-01 3.57633673e-02 2.59644877e+02] [-1.53502728e-01 9.88125090e-01 -6.76156114e-03 -4.33476226e+01] [-3.63775741e-02 1.18712112e-03 9.99337412e-01 -1.16104692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58264 meters 0.029199860960648926 Centerline is valid? [True, True] Translation: X:259.67, Y:-43.36, Z:-11.61 [[ 9.87528059e-01 1.52915684e-01 3.74850173e-02 2.59671363e+02] [-1.52896453e-01 9.88236379e-01 -3.39614094e-03 -4.33564523e+01] [-3.75633810e-02 -2.37754171e-03 9.99291419e-01 -1.16109866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.61264 meters 0.02813220350509695 Centerline is valid? [True, True] Translation: X:259.70, Y:-43.36, Z:-11.61 [[ 9.87181026e-01 1.55173164e-01 3.73485201e-02 2.59701650e+02] [-1.54946334e-01 9.87882702e-01 -8.91075743e-03 -4.33590910e+01] [-3.82786673e-02 3.00951439e-03 9.99262571e-01 -1.16110726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64264000000003 meters 0.02771936623186753 Centerline is valid? [True, True] Translation: X:259.73, Y:-43.37, Z:-11.61 [[ 9.87158388e-01 1.55066474e-01 3.83758369e-02 2.59728587e+02] [-1.54997103e-01 9.87903291e-01 -4.79442306e-03 -4.33665636e+01] [-3.86550699e-02 -1.21528860e-03 9.99251874e-01 -1.16125205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.67264 meters 0.027029374024021873 Centerline is valid? [True, True] Translation: X:259.76, Y:-43.37, Z:-11.61 [[ 9.86980958e-01 1.56227058e-01 3.82321304e-02 2.59756590e+02] [-1.56077230e-01 9.87720816e-01 -6.89112941e-03 -4.33710563e+01] [-3.88392520e-02 8.34248476e-04 9.99245123e-01 -1.16142963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70264000000003 meters 0.026985744661878402 Centerline is valid? [True, True] Translation: X:259.78, Y:-43.38, Z:-11.62 [[ 9.86863599e-01 1.57030126e-01 3.79707327e-02 2.59784782e+02] [-1.56882989e-01 9.87593492e-01 -6.84262833e-03 -4.33776114e+01] [-3.85741473e-02 7.95778775e-04 9.99255424e-01 -1.16166003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.73264 meters 0.0264215231504799 Centerline is valid? [True, True] Translation: X:259.81, Y:-43.38, Z:-11.62 [[ 9.86703249e-01 1.58141054e-01 3.75247418e-02 2.59813937e+02] [-1.57998214e-01 9.87416253e-01 -6.76075696e-03 -4.33824629e+01] [-3.81216931e-02 7.42018682e-04 9.99272829e-01 -1.16172171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76264000000003 meters 0.026263575086777652 Centerline is valid? [True, True] Translation: X:259.84, Y:-43.39, Z:-11.62 [[ 9.86618403e-01 1.58546357e-01 3.80418181e-02 2.59841421e+02] [-1.58399884e-01 9.87351260e-01 -6.85311775e-03 -4.33924204e+01] [-3.86471739e-02 7.35592504e-04 9.99252648e-01 -1.16211755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.79264 meters 0.024077379715125368 Centerline is valid? [True, True] Translation: X:259.87, Y:-43.40, Z:-11.62 [[ 9.86528907e-01 1.59090949e-01 3.80891855e-02 2.59870541e+02] [-1.58944576e-01 9.87263673e-01 -6.86009269e-03 -4.33982234e+01] [-3.86954479e-02 7.13610297e-04 9.99250796e-01 -1.16212659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82264 meters 0.021864847472527756 Centerline is valid? [True, True] Translation: X:259.90, Y:-43.41, Z:-11.62 [[ 9.85873941e-01 1.62839536e-01 3.91900264e-02 2.59897691e+02] [-1.62768358e-01 9.86651532e-01 -5.02155830e-03 -4.34079961e+01] [-3.94846078e-02 -1.42827278e-03 9.99219158e-01 -1.16248417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.85264 meters 0.019933638661621282 Centerline is valid? [True, True] Translation: X:259.93, Y:-43.41, Z:-11.63 [[ 9.85617681e-01 1.64302807e-01 3.95268911e-02 2.59926065e+02] [-1.64206313e-01 9.86409561e-01 -5.69772867e-03 -4.34115871e+01] [-3.99258561e-02 -8.74782947e-04 9.99202262e-01 -1.16253493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.88264 meters 0.022138034772185785 Centerline is valid? [True, True] Translation: X:259.96, Y:-43.42, Z:-11.63 [[ 9.85816270e-01 1.63686780e-01 3.70529190e-02 2.59955202e+02] [-1.63416841e-01 9.86504167e-01 -1.02207881e-02 -4.34167529e+01] [-3.82258669e-02 4.02074821e-03 9.99261035e-01 -1.16292434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.91264 meters 0.020684312616959265 Centerline is valid? [True, True] Translation: X:259.98, Y:-43.42, Z:-11.63 [[ 9.85579346e-01 1.64892144e-01 3.79991249e-02 2.59983398e+02] [-1.64750608e-01 9.86311483e-01 -6.84801062e-03 -4.34237139e+01] [-3.86081564e-02 4.88878887e-04 9.99254308e-01 -1.16300600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.94264 meters 0.017532615752728856 Centerline is valid? [True, True] Translation: X:260.01, Y:-43.43, Z:-11.63 [[ 9.84691270e-01 1.69744189e-01 3.96233944e-02 2.60010704e+02] [-1.69684916e-01 9.85486289e-01 -4.87881110e-03 -4.34299667e+01] [-3.98764618e-02 -1.91936966e-03 9.99202774e-01 -1.16320996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.97264 meters 0.026165811220155228 Centerline is valid? [True, True] Translation: X:260.04, Y:-43.43, Z:-11.63 [[ 9.84901413e-01 1.69272344e-01 3.62778306e-02 2.60040061e+02] [-1.69066108e-01 9.85566302e-01 -8.70143917e-03 -4.34316448e+01] [-3.72271203e-02 2.43670809e-03 9.99303860e-01 -1.16340684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.00264 meters 0.014749723564491994 Centerline is valid? [True, True] Translation: X:260.07, Y:-43.44, Z:-11.63 [[ 9.84154807e-01 1.72469072e-01 4.11550215e-02 2.60065208e+02] [-1.72671788e-01 9.84978429e-01 1.39604711e-03 -4.34427330e+01] [-4.02960334e-02 -8.48023763e-03 9.99151798e-01 -1.16325395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.03264 meters 0.02779629610831953 Centerline is valid? [True, True] Translation: X:260.10, Y:-43.44, Z:-11.64 [[ 9.84186204e-01 1.73701056e-01 3.47197198e-02 2.60097135e+02] [-1.73281225e-01 9.84761494e-01 -1.47789382e-02 -4.34397725e+01] [-3.67577603e-02 8.52895148e-03 9.99287808e-01 -1.16370048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.06264 meters 0.014664713114616512 Centerline is valid? [True, True] Translation: X:260.12, Y:-43.46, Z:-11.64 [[ 9.83367925e-01 1.76801734e-01 4.15772951e-02 2.60120796e+02] [-1.77009425e-01 9.84208246e-01 1.33888180e-03 -4.34562765e+01] [-4.06840001e-02 -8.67618653e-03 9.99134393e-01 -1.16407543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.09264 meters 0.014636562868219082 Centerline is valid? [True, True] Translation: X:260.15, Y:-43.46, Z:-11.64 [[ 9.83135310e-01 1.78415020e-01 4.01626944e-02 2.60148880e+02] [-1.78313493e-01 9.83954664e-01 -6.12510332e-03 -4.34571160e+01] [-4.06110810e-02 -1.13974496e-03 9.99174380e-01 -1.16423837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.12264 meters 0.014881692934122772 Centerline is valid? [True, True] Translation: X:260.18, Y:-43.46, Z:-11.64 [[ 9.83365974e-01 1.78291880e-01 3.46895784e-02 2.60180039e+02] [-1.77835333e-01 9.83932541e-01 -1.58539612e-02 -4.34567511e+01] [-3.69588376e-02 9.42121321e-03 9.99272378e-01 -1.16428471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.15264 meters 0.015246038075408244 Centerline is valid? [True, True] Translation: X:260.21, Y:-43.47, Z:-11.65 [[ 9.83219904e-01 1.78742743e-01 3.64644037e-02 2.60206230e+02] [-1.78622053e-01 9.83895842e-01 -6.56761525e-03 -4.34672530e+01] [-3.70510888e-02 -5.59366125e-05 9.99313371e-01 -1.16461151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.18264 meters 0.015319058285964127 Centerline is valid? [True, True] Translation: X:260.23, Y:-43.47, Z:-11.65 [[ 9.83056432e-01 1.79591239e-01 3.67020211e-02 2.60234918e+02] [-1.79469665e-01 9.83741317e-01 -6.60764320e-03 -4.34724575e+01] [-3.72919694e-02 -9.12132717e-05 9.99304408e-01 -1.16473050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.21264 meters 0.015645422414777198 Centerline is valid? [True, True] Translation: X:260.26, Y:-43.48, Z:-11.65 [[ 9.82978416e-01 1.79997461e-01 3.68014542e-02 2.60261950e+02] [-1.79875572e-01 9.83667069e-01 -6.62391881e-03 -4.34778911e+01] [-3.73926672e-02 -1.08513410e-04 9.99300644e-01 -1.16498307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.24264 meters 0.01579590647122063 Centerline is valid? [True, True] Translation: X:260.29, Y:-43.49, Z:-11.65 [[ 9.82840610e-01 1.80848113e-01 3.63083384e-02 2.60290235e+02] [-1.80730135e-01 9.83511027e-01 -6.53285252e-03 -4.34852532e+01] [-3.68911053e-02 -1.41258154e-04 9.99319282e-01 -1.16510455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.27264 meters 0.015687167210968515 Centerline is valid? [True, True] Translation: X:260.32, Y:-43.49, Z:-11.65 [[ 9.82823040e-01 1.81005433e-01 3.59986732e-02 2.60318319e+02] [-1.80889628e-01 9.83482085e-01 -6.47541633e-03 -4.34911291e+01] [-3.65761357e-02 -1.47598243e-04 9.99330858e-01 -1.16520453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.30264 meters 0.016211345593587716 Centerline is valid? [True, True] Translation: X:260.35, Y:-43.50, Z:-11.66 [[ 9.82803633e-01 1.81095441e-01 3.60757626e-02 2.60345244e+02] [-1.80979260e-01 9.83465514e-01 -6.48765494e-03 -4.34961339e+01] [-3.66541532e-02 -1.52873975e-04 9.99327999e-01 -1.16557179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.33264 meters 0.015647375816870035 Centerline is valid? [True, True] Translation: X:260.37, Y:-43.50, Z:-11.66 [[ 9.82853422e-01 1.80797623e-01 3.62128505e-02 2.60373516e+02] [-1.80680445e-01 9.83520309e-01 -6.50984143e-03 -4.35024324e+01] [-3.67930378e-02 -1.44734032e-04 9.99322896e-01 -1.16556237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36264 meters 0.016089985302457588 Centerline is valid? [True, True] Translation: X:260.40, Y:-43.52, Z:-11.66 [[ 9.82231729e-01 1.82376323e-01 4.42685737e-02 2.60396094e+02] [-1.82784385e-01 9.83138642e-01 5.31781623e-03 -4.35168304e+01] [-4.25523017e-02 -1.33149318e-02 9.99005513e-01 -1.16606087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.39264000000003 meters 0.015532244822256822 Centerline is valid? [True, True] Translation: X:260.43, Y:-43.51, Z:-11.66 [[ 9.83164611e-01 1.79556879e-01 3.38626033e-02 2.60430833e+02] [-1.78963766e-01 9.83655896e-01 -1.98254471e-02 -4.35075503e+01] [-3.68689448e-02 1.34314990e-02 9.99229841e-01 -1.16586312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42264 meters 0.01438964281529162 Centerline is valid? [True, True] Translation: X:260.46, Y:-43.52, Z:-11.66 [[ 9.83443862e-01 1.77795236e-01 3.50289058e-02 2.60456381e+02] [-1.77508645e-01 9.84056037e-01 -1.11533061e-02 -4.35249364e+01] [-3.64534109e-02 4.75071685e-03 9.99324061e-01 -1.16553160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.45264000000003 meters 0.015412049855164742 Centerline is valid? [True, True] Translation: X:260.48, Y:-43.53, Z:-11.66 [[ 9.83714416e-01 1.76055567e-01 3.61992385e-02 2.60482660e+02] [-1.75798035e-01 9.84373376e-01 -1.02032957e-02 -4.35344926e+01] [-3.74299136e-02 3.67337409e-03 9.99292504e-01 -1.16608506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48264 meters 0.015191359514366013 Centerline is valid? [True, True] Translation: X:260.51, Y:-43.55, Z:-11.66 [[ 9.84210192e-01 1.72030104e-01 4.16646289e-02 2.60509275e+02] [-1.72469566e-01 9.84988778e-01 7.16633366e-03 -4.35542046e+01] [-3.98063668e-02 -1.42390591e-02 9.99105952e-01 -1.16610354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.51264000000003 meters 0.014537896637965245 Centerline is valid? [True, True] Translation: X:260.54, Y:-43.55, Z:-11.66 [[ 9.84109488e-01 1.73218823e-01 3.90353173e-02 2.60540499e+02] [-1.72887335e-01 9.84871648e-01 -1.17391336e-02 -4.35507671e+01] [-4.04782162e-02 4.80388075e-03 9.99168873e-01 -1.16578470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54264 meters 0.01599221406251214 Centerline is valid? [True, True] Translation: X:260.57, Y:-43.57, Z:-11.66 [[ 9.84611340e-01 1.69803952e-01 4.13173925e-02 2.60569265e+02] [-1.69848241e-01 9.85467156e-01 -2.46176274e-03 -4.35655792e+01] [-4.11349503e-02 -4.59380692e-03 9.99143039e-01 -1.16620294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.57264 meters 0.015470417959410048 Centerline is valid? [True, True] Translation: X:260.60, Y:-43.57, Z:-11.66 [[ 9.84790953e-01 1.69127718e-01 3.97818157e-02 2.60598595e+02] [-1.68909373e-01 9.85592198e-01 -8.81150273e-03 -4.35722305e+01] [-4.06989165e-02 1.95796664e-03 9.99169537e-01 -1.16603243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60264 meters 0.017320948793246055 Centerline is valid? [True, True] Translation: X:260.63, Y:-43.58, Z:-11.67 [[ 9.85039347e-01 1.68107994e-01 3.79102579e-02 2.60628925e+02] [-1.67700081e-01 9.85742619e-01 -1.37175669e-02 -4.35799144e+01] [-3.96757895e-02 7.15478982e-03 9.99186990e-01 -1.16651810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.63264 meters 0.019359111405793442 Centerline is valid? [True, True] Translation: X:260.66, Y:-43.60, Z:-11.67 [[ 9.85328205e-01 1.65481183e-01 4.17648972e-02 2.60657573e+02] [-1.65826988e-01 9.86142529e-01 4.93180072e-03 -4.36021031e+01] [-4.03700211e-02 -1.17851894e-02 9.99115294e-01 -1.16716603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66264 meters 0.020616661482955 Centerline is valid? [True, True] Translation: X:260.69, Y:-43.61, Z:-11.68 [[ 9.85530485e-01 1.65205566e-01 3.79049424e-02 2.60688759e+02] [-1.65066867e-01 9.86259063e-01 -6.78162032e-03 -4.36063233e+01] [-3.85044544e-02 4.26643469e-04 9.99258337e-01 -1.16760382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.69264 meters 0.019331974173539185 Centerline is valid? [True, True] Translation: X:260.72, Y:-43.61, Z:-11.67 [[ 9.85568065e-01 1.65052454e-01 3.75935766e-02 2.60720069e+02] [-1.64915710e-01 9.86284695e-01 -6.73125924e-03 -4.36128182e+01] [-3.81889801e-02 4.34342772e-04 9.99270440e-01 -1.16749222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72264 meters 0.03166336594813584 Centerline is valid? [True, True] Translation: X:260.75, Y:-43.62, Z:-11.68 [[ 9.85472820e-01 1.65778295e-01 3.68900746e-02 2.60750347e+02] [-1.65646902e-01 9.86162965e-01 -6.61141233e-03 -4.36215307e+01] [-3.74756540e-02 4.04640576e-04 9.99297459e-01 -1.16805323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.75264 meters 0.017995550895252496 Centerline is valid? [True, True] Translation: X:260.78, Y:-43.63, Z:-11.68 [[ 9.85137811e-01 1.67629735e-01 3.74668556e-02 2.60781818e+02] [-1.67495256e-01 9.85849964e-01 -6.72217972e-03 -4.36285990e+01] [-3.80635355e-02 3.46752841e-04 9.99275261e-01 -1.16777691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78264 meters 0.017818022516885565 Centerline is valid? [True, True] Translation: X:260.81, Y:-43.63, Z:-11.68 [[ 9.84863658e-01 1.69245456e-01 3.74105712e-02 2.60812517e+02] [-1.69112286e-01 9.85573889e-01 -6.71890803e-03 -4.36349982e+01] [-3.80080268e-02 2.90621120e-04 9.99277392e-01 -1.16808216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.81264 meters 0.0229781757034828 Centerline is valid? [True, True] Translation: X:260.84, Y:-43.64, Z:-11.68 [[ 9.84570066e-01 1.71052484e-01 3.69165814e-02 2.60843530e+02] [-1.70923772e-01 9.85261892e-01 -6.63832768e-03 -4.36381463e+01] [-3.75080032e-02 2.25977381e-04 9.99296302e-01 -1.16826794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84264 meters 0.01592822421541118 Centerline is valid? [True, True] Translation: X:260.87, Y:-43.64, Z:-11.68 [[ 9.84159404e-01 1.73320354e-01 3.72870254e-02 2.60873246e+02] [-1.73190661e-01 9.84865491e-01 -6.70523361e-03 -4.36425737e+01] [-3.78848580e-02 1.41254144e-04 9.99282101e-01 -1.16844789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.87264 meters 0.015120312464402055 Centerline is valid? [True, True] Translation: X:260.90, Y:-43.64, Z:-11.69 [[ 9.83174998e-01 1.78852096e-01 3.71328842e-02 2.60903976e+02] [-1.78727282e-01 9.83875969e-01 -6.68098257e-03 -4.36430695e+01] [-3.77290602e-02 -6.80844489e-05 9.99288003e-01 -1.16857371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90264 meters 0.016007402391317007 Centerline is valid? [True, True] Translation: X:260.93, Y:-43.65, Z:-11.69 [[ 9.82661426e-01 1.81655870e-01 3.71169451e-02 2.60933373e+02] [-1.81533154e-01 9.83362148e-01 -6.67831426e-03 -4.36457395e+01] [-3.77125539e-02 -1.75434308e-04 9.99288613e-01 -1.16879408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.93264 meters 0.017594616710556663 Centerline is valid? [True, True] Translation: X:260.96, Y:-43.65, Z:-11.69 [[ 9.82212700e-01 1.84184824e-01 3.65261833e-02 2.60961610e+02] [-1.84067725e-01 9.82891591e-01 -6.57218772e-03 -4.36473438e+01] [-3.71117756e-02 -2.68005221e-04 9.99311085e-01 -1.16908302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96264 meters 0.02810888878299707 Centerline is valid? [True, True] Translation: X:260.99, Y:-43.65, Z:-11.70 [[ 9.81839209e-01 1.86444123e-01 3.50764389e-02 2.60990509e+02] [-1.86337646e-01 9.82465507e-01 -6.30945417e-03 -4.36485504e+01] [-3.56377520e-02 -3.41191559e-04 9.99364715e-01 -1.16955533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.99264 meters 0.022714232348208442 Centerline is valid? [True, True] Translation: X:261.02, Y:-43.65, Z:-11.70 [[ 9.81001846e-01 1.90629441e-01 3.59971532e-02 2.61019212e+02] [-1.90520156e-01 9.81661937e-01 -6.47388247e-03 -4.36497042e+01] [-3.65711478e-02 -5.07292602e-04 9.99330923e-01 -1.16963302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02264 meters 0.02438734554413343 Centerline is valid? [True, True] Translation: X:261.05, Y:-43.65, Z:-11.70 [[ 9.80656688e-01 1.92336053e-01 3.63222033e-02 2.61046791e+02] [-1.92226014e-01 9.81328950e-01 -6.53073767e-03 -4.36519238e+01] [-3.69001260e-02 -5.77660801e-04 9.99318791e-01 -1.16979336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.05264 meters 0.02506601009254234 Centerline is valid? [True, True] Translation: X:261.07, Y:-43.66, Z:-11.70 [[ 9.79934740e-01 1.95517028e-01 3.87427067e-02 2.61071689e+02] [-1.95465663e-01 9.80697044e-01 -5.14619753e-03 -4.36580225e+01] [-3.90010272e-02 -2.52993113e-03 9.99235968e-01 -1.16983649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08264 meters 0.026978366378987217 Centerline is valid? [True, True] Translation: X:261.10, Y:-43.66, Z:-11.70 [[ 9.79769310e-01 1.96623151e-01 3.73019616e-02 2.61103585e+02] [-1.96449401e-01 9.80478804e-01 -8.30351981e-03 -4.36575767e+01] [-3.82064469e-02 8.07585850e-04 9.99269541e-01 -1.16970125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.11264 meters 0.028310653560726148 Centerline is valid? [True, True] Translation: X:261.13, Y:-43.66, Z:-11.70 [[ 9.79517216e-01 1.97718736e-01 3.81225038e-02 2.61130817e+02] [-1.97601846e-01 9.80258445e-01 -6.84766799e-03 -4.36607042e+01] [-3.87238186e-02 -8.25668461e-04 9.99249611e-01 -1.16976415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14264000000003 meters 0.030164106342283684 Centerline is valid? [True, True] Translation: X:261.16, Y:-43.66, Z:-11.70 [[ 9.79285156e-01 1.98807042e-01 3.84232251e-02 2.61158792e+02] [-1.98689196e-01 9.80038260e-01 -6.90018666e-03 -4.36623204e+01] [-3.90280363e-02 -8.77029314e-04 9.99237731e-01 -1.16997125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.17264 meters 0.031942487697362514 Centerline is valid? [True, True] Translation: X:261.19, Y:-43.66, Z:-11.70 [[ 9.78943834e-01 2.00576483e-01 3.79215630e-02 2.61187314e+02] [-2.00463116e-01 9.79677598e-01 -6.80761523e-03 -4.36646159e+01] [-3.85163532e-02 -9.37601736e-04 9.99257530e-01 -1.17024733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20264000000003 meters 0.03392542224473014 Centerline is valid? [True, True] Translation: X:261.22, Y:-43.67, Z:-11.70 [[ 9.78868207e-01 2.01083441e-01 3.71817479e-02 2.61215389e+02] [-2.00974881e-01 9.79573665e-01 -6.67322863e-03 -4.36681367e+01] [-3.77641368e-02 -9.40386012e-04 9.99286238e-01 -1.17047352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.23264 meters 0.03311060826106984 Centerline is valid? [True, True] Translation: X:261.24, Y:-43.67, Z:-11.71 [[ 9.78828141e-01 2.01273110e-01 3.72102806e-02 2.61243821e+02] [-2.01164612e-01 9.79534701e-01 -6.67589441e-03 -4.36717974e+01] [-3.77924391e-02 -9.50838352e-04 9.99285158e-01 -1.17071752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26264000000003 meters 0.03335426431541828 Centerline is valid? [True, True] Translation: X:261.27, Y:-43.67, Z:-11.71 [[ 9.78954262e-01 2.00863410e-01 3.60893843e-02 2.61272493e+02] [-2.00761135e-01 9.79618837e-01 -6.47312555e-03 -4.36732336e+01] [-3.66540547e-02 -9.08451922e-04 9.99327601e-01 -1.17112242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.29264 meters 0.031025211235374946 Centerline is valid? [True, True] Translation: X:261.30, Y:-43.68, Z:-11.71 [[ 9.79095866e-01 2.00222859e-01 3.58063077e-02 2.61300351e+02] [-2.00121815e-01 9.79749985e-01 -6.42068167e-03 -4.36797943e+01] [-3.63667967e-02 -8.79160423e-04 9.99338123e-01 -1.17116140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32264 meters 0.03073408672352407 Centerline is valid? [True, True] Translation: X:261.33, Y:-43.68, Z:-11.71 [[ 9.79331559e-01 1.99110476e-01 3.55628333e-02 2.61328120e+02] [-1.99010125e-01 9.79976695e-01 -6.37547285e-03 -4.36842722e+01] [-3.61201713e-02 -8.33662155e-04 9.99347106e-01 -1.17136915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.35264 meters 0.029541709405617164 Centerline is valid? [True, True] Translation: X:261.36, Y:-43.69, Z:-11.72 [[ 9.79739383e-01 1.96918051e-01 3.65242638e-02 2.61355406e+02] [-1.96810766e-01 9.80419645e-01 -6.54544914e-03 -4.36885823e+01] [-3.70980228e-02 -7.75534015e-04 9.99311330e-01 -1.17155865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.38264 meters 0.029627810506712465 Centerline is valid? [True, True] Translation: X:261.38, Y:-43.69, Z:-11.72 [[ 9.80023207e-01 1.95418749e-01 3.69597821e-02 2.61382767e+02] [-1.95307911e-01 9.80719624e-01 -6.62115994e-03 -4.36914698e+01] [-3.75410824e-02 -7.29647419e-04 9.99294819e-01 -1.17176344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.41264 meters 0.025480718524381166 Centerline is valid? [True, True] Translation: X:261.41, Y:-43.70, Z:-11.72 [[ 9.80312896e-01 1.93948560e-01 3.70213762e-02 2.61410762e+02] [-1.93836394e-01 9.81011467e-01 -6.62980585e-03 -4.36995620e+01] [-3.76042359e-02 -6.76805888e-04 9.99292481e-01 -1.17158313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.44264 meters 0.025480718524381166 Centerline is valid? [True, True] Translation: X:261.44, Y:-43.70, Z:-11.72 [[ 9.80322230e-01 1.93901316e-01 3.70216963e-02 2.61438628e+02] [-1.93789184e-01 9.81020806e-01 -6.62801753e-03 -4.37044599e+01] [-3.76042357e-02 -6.76811388e-04 9.99292481e-01 -1.17173569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.47264 meters 0.024938288356380622 Centerline is valid? [True, True] Translation: X:261.47, Y:-43.71, Z:-11.72 [[ 9.80586014e-01 1.92515309e-01 3.72682927e-02 2.61466067e+02] [-1.92400741e-01 9.81293768e-01 -6.67048629e-03 -4.37076016e+01] [-3.78553141e-02 -6.29461544e-04 9.99283032e-01 -1.17189238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.50264 meters 0.021777779553717798 Centerline is valid? [True, True] Translation: X:261.49, Y:-43.71, Z:-11.72 [[ 9.81212850e-01 1.89268274e-01 3.74013849e-02 2.61494470e+02] [-1.89150630e-01 9.81925283e-01 -6.69159559e-03 -4.37143872e+01] [-3.79918722e-02 -5.08615943e-04 9.99277919e-01 -1.17205295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.53264 meters 0.020020531826918077 Centerline is valid? [True, True] Translation: X:261.52, Y:-43.72, Z:-11.72 [[ 9.81591914e-01 1.87288887e-01 3.74190776e-02 2.61522045e+02] [-1.87169739e-01 9.82304782e-01 -6.69357804e-03 -4.37213657e+01] [-3.80105716e-02 -4.33356899e-04 9.99277243e-01 -1.17220676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.56264 meters 0.018477276804195038 Centerline is valid? [True, True] Translation: X:261.55, Y:-43.72, Z:-11.72 [[ 9.81996689e-01 1.85370545e-01 3.63354255e-02 2.61554032e+02] [-1.84918165e-01 9.82632186e-01 -1.54680325e-02 -4.37233055e+01] [-3.85716762e-02 8.47047647e-03 9.99219934e-01 -1.17232487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.59264 meters 0.01565219860456629 Centerline is valid? [True, True] Translation: X:261.58, Y:-43.74, Z:-11.72 [[ 9.82843803e-01 1.80113109e-01 3.97155744e-02 2.61576464e+02] [-1.80320126e-01 9.83606570e-01 1.66386863e-03 -4.37422467e+01] [-3.87648154e-02 -8.79684037e-03 9.99209640e-01 -1.17227939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.62264 meters 0.014906551090099559 Centerline is valid? [True, True] Translation: X:261.61, Y:-43.74, Z:-11.72 [[ 9.83245117e-01 1.78241251e-01 3.81981287e-02 2.61606792e+02] [-1.78110466e-01 9.83986813e-01 -6.82741850e-03 -4.37436179e+01] [-3.88033825e-02 -9.04605908e-05 9.99246861e-01 -1.17230220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.65264 meters 0.014881976151388343 Centerline is valid? [True, True] Translation: X:261.64, Y:-43.75, Z:-11.73 [[ 9.83629378e-01 1.76061174e-01 3.84149578e-02 2.61635140e+02] [-1.75927268e-01 9.84379227e-01 -6.86537480e-03 -4.37500721e+01] [-3.90236124e-02 -5.25423449e-06 9.99238289e-01 -1.17252616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.68264 meters 0.015010245992140172 Centerline is valid? [True, True] Translation: X:261.67, Y:-43.76, Z:-11.73 [[ 9.84012256e-01 1.74026353e-01 3.78775461e-02 2.61665228e+02] [-1.73894737e-01 9.84740993e-01 -6.76735961e-03 -4.37574165e+01] [-3.84772713e-02 7.24588871e-05 9.99259473e-01 -1.17268424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.71264 meters 0.01615637682328249 Centerline is valid? [True, True] Translation: X:261.69, Y:-43.76, Z:-11.73 [[ 9.84463074e-01 1.71473877e-01 3.78042930e-02 2.61694145e+02] [-1.71340880e-01 9.85188652e-01 -6.75446174e-03 -4.37647102e+01] [-3.84025742e-02 1.72097320e-04 9.99262334e-01 -1.17309516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.74264 meters 0.016570204604589665 Centerline is valid? [True, True] Translation: X:261.72, Y:-43.77, Z:-11.73 [[ 9.84543890e-01 1.71103087e-01 3.73772993e-02 2.61722796e+02] [-1.70972858e-01 9.85253115e-01 -6.67695422e-03 -4.37686596e+01] [-3.79685481e-02 1.83250769e-04 9.99278918e-01 -1.17333706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.77264 meters 0.01650001285393581 Centerline is valid? [True, True] Translation: X:261.75, Y:-43.77, Z:-11.73 [[ 9.84557863e-01 1.71062996e-01 3.71922812e-02 2.61752138e+02] [-1.70933940e-01 9.85260076e-01 -6.64618124e-03 -4.37713462e+01] [-3.77809854e-02 1.86126865e-04 9.99286026e-01 -1.17344951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.80264 meters 0.015690104769504536 Centerline is valid? [True, True] Translation: X:261.78, Y:-43.77, Z:-11.73 [[ 9.84263740e-01 1.72839260e-01 3.67624847e-02 2.61782241e+02] [-1.72714447e-01 9.84950038e-01 -6.56831873e-03 -4.37689437e+01] [-3.73444740e-02 1.15545742e-04 9.99302445e-01 -1.17347232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.83264 meters 0.015472315074850685 Centerline is valid? [True, True] Translation: X:261.81, Y:-43.77, Z:-11.74 [[ 9.84049643e-01 1.74109343e-01 3.64998078e-02 2.61811827e+02] [-1.73987175e-01 9.84726324e-01 -6.52156546e-03 -4.37698023e+01] [-3.70777870e-02 6.70457252e-05 9.99312380e-01 -1.17363602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86264 meters 0.01557641032522216 Centerline is valid? [True, True] Translation: X:261.84, Y:-43.77, Z:-11.74 [[ 9.83834302e-01 1.75311442e-01 3.65508391e-02 2.61839429e+02] [-1.75189822e-01 9.84513026e-01 -6.52903654e-03 -4.37704671e+01] [-3.71293921e-02 2.01551018e-05 9.99310466e-01 -1.17390194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.89264000000003 meters 0.015781952524121286 Centerline is valid? [True, True] Translation: X:261.88, Y:-43.76, Z:-11.74 [[ 9.83431305e-01 1.78423261e-01 3.20625579e-02 2.61875741e+02] [-1.77649348e-01 9.83761470e-01 -2.55749862e-02 -4.37591727e+01] [-3.61050815e-02 1.94553495e-02 9.99158602e-01 -1.17385832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92264 meters 0.015239298819510153 Centerline is valid? [True, True] Translation: X:261.89, Y:-43.78, Z:-11.74 [[ 9.83466603e-01 1.76453170e-01 4.07150944e-02 2.61894918e+02] [-1.77079611e-01 9.84119651e-01 1.23013744e-02 -4.37846994e+01] [-3.78979080e-02 -1.93078040e-02 9.99095069e-01 -1.17411594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.95264000000003 meters 0.015554894189636785 Centerline is valid? [True, True] Translation: X:261.92, Y:-43.77, Z:-11.74 [[ 9.83346185e-01 1.77777062e-01 3.77570883e-02 2.61924829e+02] [-1.77649467e-01 9.84070785e-01 -6.73480633e-03 -4.37746651e+01] [-3.83529416e-02 -8.48805171e-05 9.99264252e-01 -1.17424748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98264 meters 0.015096485836593463 Centerline is valid? [True, True] Translation: X:261.95, Y:-43.78, Z:-11.74 [[ 9.83429077e-01 1.77357675e-01 3.75700115e-02 2.61953777e+02] [-1.77231133e-01 9.84146458e-01 -6.69891296e-03 -4.37758996e+01] [-3.81624974e-02 -7.06699134e-05 9.99271544e-01 -1.17423287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.01264000000003 meters 0.015378729071295937 Centerline is valid? [True, True] Translation: X:261.98, Y:-43.78, Z:-11.75 [[ 9.83631310e-01 1.76212668e-01 3.76635341e-02 2.61981050e+02] [-1.76084722e-01 9.84352119e-01 -6.71384584e-03 -4.37810148e+01] [-3.82572443e-02 -2.80239512e-05 9.99267923e-01 -1.17456153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.04264 meters 0.014869077507025994 Centerline is valid? [True, True] Translation: X:262.01, Y:-43.78, Z:-11.75 [[ 9.83668702e-01 1.75981634e-01 3.77670359e-02 2.62014515e+02] [-1.75488779e-01 9.84351134e-01 -1.60166591e-02 -4.37822084e+01] [-3.99946625e-02 9.12739522e-03 9.99158205e-01 -1.17451880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.07264 meters 0.015293122913607973 Centerline is valid? [True, True] Translation: X:262.04, Y:-43.80, Z:-11.74 [[ 9.84469223e-01 1.70646958e-01 4.12306243e-02 2.62037581e+02] [-1.70854127e-01 9.85295150e-01 1.52822616e-03 -4.38009077e+01] [-4.03635469e-02 -8.54891392e-03 9.99148488e-01 -1.17449557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10264 meters 0.016339800322263138 Centerline is valid? [True, True] Translation: X:262.07, Y:-43.80, Z:-11.75 [[ 9.84804666e-01 1.69060479e-01 3.97281317e-02 2.62065760e+02] [-1.68912533e-01 9.85605645e-01 -7.07588799e-03 -4.38033149e+01] [-4.03525239e-02 2.57788163e-04 9.99185472e-01 -1.17461716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.13264 meters 0.017064367435691948 Centerline is valid? [True, True] Translation: X:262.10, Y:-43.81, Z:-11.75 [[ 9.84946492e-01 1.68315366e-01 3.93744366e-02 2.62097214e+02] [-1.67930011e-01 9.85714232e-01 -1.29214965e-02 -4.38079895e+01] [-4.09868289e-02 6.11483306e-03 9.99140975e-01 -1.17484344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.16264 meters 0.029027141266903367 Centerline is valid? [True, True] Translation: X:262.12, Y:-43.82, Z:-11.75 [[ 9.85865909e-01 1.63302655e-01 3.74252950e-02 2.62121284e+02] [-1.63381645e-01 9.86562476e-01 -9.58650127e-04 -4.38231566e+01] [-3.70789418e-02 -5.16950577e-03 9.99298968e-01 -1.17532579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.19264 meters 0.023464457426086497 Centerline is valid? [True, True] Translation: X:262.15, Y:-43.85, Z:-11.76 [[ 9.85388192e-01 1.61626922e-01 5.37294064e-02 2.62145604e+02] [-1.63115418e-01 9.86301467e-01 2.45514902e-02 -4.38455964e+01] [-4.90252106e-02 -3.29568432e-02 9.98253663e-01 -1.17554980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22264 meters 0.021893135653613886 Centerline is valid? [True, True] Translation: X:262.19, Y:-43.81, Z:-11.75 [[ 9.85736181e-01 1.65345718e-01 3.13842969e-02 2.62187923e+02] [-1.63681628e-01 9.85258077e-01 -4.97478329e-02 -4.38097971e+01] [-3.91472231e-02 4.39012061e-02 9.98268591e-01 -1.17547786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.25264 meters 0.021687054422097864 Centerline is valid? [True, True] Translation: X:262.21, Y:-43.85, Z:-11.76 [[ 9.85801842e-01 1.62769375e-01 4.12414634e-02 2.62211888e+02] [-1.62862610e-01 9.86648131e-01 -1.11148232e-03 -4.38456163e+01] [-4.08717281e-02 -5.62099103e-03 9.99148591e-01 -1.17605344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28264 meters 0.020190412321608005 Centerline is valid? [True, True] Translation: X:262.24, Y:-43.85, Z:-11.76 [[ 9.85741654e-01 1.63687695e-01 3.89837108e-02 2.62239992e+02] [-1.63817938e-01 9.86490578e-01 1.48694312e-04 -4.38484186e+01] [-3.84327240e-02 -6.53280529e-03 9.99239835e-01 -1.17607596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.31264 meters 0.022463657858923843 Centerline is valid? [True, True] Translation: X:262.27, Y:-43.85, Z:-11.76 [[ 9.85210288e-01 1.66519444e-01 4.03975758e-02 2.62272973e+02] [-1.66334706e-01 9.86037581e-01 -7.91546263e-03 -4.38467006e+01] [-4.11516063e-02 1.07887631e-03 9.99152331e-01 -1.17613197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34264 meters 0.016832403696335808 Centerline is valid? [True, True] Translation: X:262.30, Y:-43.85, Z:-11.76 [[ 9.84765639e-01 1.69477890e-01 3.89086321e-02 2.62300189e+02] [-1.69355721e-01 9.85533958e-01 -6.43870044e-03 -4.38487869e+01] [-3.94369955e-02 -2.48788468e-04 9.99222028e-01 -1.17614981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.37264 meters 0.01639425715523599 Centerline is valid? [True, True] Translation: X:262.32, Y:-43.88, Z:-11.77 [[ 9.83325377e-01 1.71103928e-01 6.16007156e-02 2.62320471e+02] [-1.73128509e-01 9.84467934e-01 2.91445620e-02 -4.38755181e+01] [-5.56571802e-02 -3.93234274e-02 9.97675271e-01 -1.17691943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.40264 meters 0.015394297592253747 Centerline is valid? [True, True] Translation: X:262.36, Y:-43.83, Z:-11.76 [[ 9.83954801e-01 1.75349053e-01 3.29493455e-02 2.62363583e+02] [-1.73822945e-01 9.83767498e-01 -4.45768282e-02 -4.38317582e+01] [-4.02309998e-02 3.81342319e-02 9.98462441e-01 -1.17616506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.43264 meters 0.014084902597770187 Centerline is valid? [True, True] Translation: X:262.39, Y:-43.86, Z:-11.76 [[ 9.83305028e-01 1.76213199e-01 4.53886482e-02 2.62388086e+02] [-1.76442579e-01 9.84310357e-01 1.06629350e-03 -4.38626904e+01] [-4.44886216e-02 -9.05698190e-03 9.98968835e-01 -1.17644211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46264 meters 0.015572435074264684 Centerline is valid? [True, True] Translation: X:262.42, Y:-43.85, Z:-11.77 [[ 9.82997734e-01 1.79780777e-01 3.73406964e-02 2.62419283e+02] [-1.79298431e-01 9.83665989e-01 -1.59152178e-02 -4.38488379e+01] [-3.95920233e-02 8.94949473e-03 9.99175850e-01 -1.17672820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.49264 meters 0.016963294801199718 Centerline is valid? [True, True] Translation: X:262.45, Y:-43.86, Z:-11.77 [[ 9.82724120e-01 1.80911200e-01 3.90440982e-02 2.62445989e+02] [-1.80776966e-01 9.83499413e-01 -6.97093293e-03 -4.38560705e+01] [-3.96609675e-02 -2.07769706e-04 9.99213173e-01 -1.17723364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52264 meters 0.017690784267200825 Centerline is valid? [True, True] Translation: X:262.47, Y:-43.86, Z:-11.77 [[ 9.82426674e-01 1.82542644e-01 3.89360120e-02 2.62474619e+02] [-1.82410550e-01 9.83197898e-01 -6.94867715e-03 -4.38595413e+01] [-3.95502351e-02 -2.75773595e-04 9.99217545e-01 -1.17737845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.55264 meters 0.018407645741845443 Centerline is valid? [True, True] Translation: X:262.50, Y:-43.86, Z:-11.77 [[ 9.82178426e-01 1.83880441e-01 3.89040170e-02 2.62503536e+02] [-1.83749687e-01 9.82948561e-01 -6.94110252e-03 -4.38619727e+01] [-3.95169806e-02 -3.31199814e-04 9.99218844e-01 -1.17748144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58264 meters 0.0197722986802787 Centerline is valid? [True, True] Translation: X:262.53, Y:-43.86, Z:-11.78 [[ 9.81731024e-01 1.86242646e-01 3.89598841e-02 2.62533027e+02] [-1.86113449e-01 9.82503686e-01 -6.94919952e-03 -4.38613193e+01] [-3.95724671e-02 -4.28713630e-04 9.99216611e-01 -1.17759663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.61264 meters 0.020268193055281013 Centerline is valid? [True, True] Translation: X:262.56, Y:-43.86, Z:-11.78 [[ 9.81530096e-01 1.87388889e-01 3.85236895e-02 2.62561735e+02] [-1.87263523e-01 9.82285693e-01 -6.86956638e-03 -4.38641922e+01] [-3.91285494e-02 -4.71395676e-04 9.99234074e-01 -1.17768070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64264000000003 meters 0.027917238133353065 Centerline is valid? [True, True] Translation: X:262.59, Y:-43.86, Z:-11.78 [[ 9.81315765e-01 1.88670667e-01 3.77193329e-02 2.62590083e+02] [-1.88551473e-01 9.82040283e-01 -6.72499366e-03 -4.38643049e+01] [-3.83107134e-02 -5.12693455e-04 9.99265744e-01 -1.17811184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.67264 meters 0.023471976237167846 Centerline is valid? [True, True] Translation: X:262.62, Y:-43.87, Z:-11.78 [[ 9.81061479e-01 1.89837698e-01 3.84710693e-02 2.62619307e+02] [-1.89714768e-01 9.81815318e-01 -6.85473378e-03 -4.38667303e+01] [-3.90727720e-02 -5.73614723e-04 9.99236203e-01 -1.17835241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70264000000003 meters 0.028790437462163133 Centerline is valid? [True, True] Translation: X:262.65, Y:-43.87, Z:-11.78 [[ 9.81210081e-01 1.89394376e-01 3.68313472e-02 2.62647531e+02] [-1.89281453e-01 9.81900955e-01 -6.56095664e-03 -4.38730746e+01] [-3.74073433e-02 -5.33814139e-04 9.99299958e-01 -1.17843251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.73264 meters 0.02181177607781418 Centerline is valid? [True, True] Translation: X:262.67, Y:-43.88, Z:-11.79 [[ 9.81319894e-01 1.88709789e-01 3.74149829e-02 2.62674709e+02] [-1.88592827e-01 9.82032763e-01 -6.66317868e-03 -4.38778524e+01] [-3.80001461e-02 -5.17487622e-04 9.99277600e-01 -1.17871646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76264000000003 meters 0.01975916886219599 Centerline is valid? [True, True] Translation: X:262.70, Y:-43.88, Z:-11.79 [[ 9.81914544e-01 1.85782568e-01 3.64508759e-02 2.62702871e+02] [-1.85669632e-01 9.82590800e-01 -6.48902034e-03 -4.38846943e+01] [-3.70218422e-02 -3.96157261e-04 9.99314378e-01 -1.17895769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.79264 meters 0.018283649421187077 Centerline is valid? [True, True] Translation: X:262.73, Y:-43.89, Z:-11.79 [[ 9.82372903e-01 1.83262257e-01 3.68568198e-02 2.62730176e+02] [-1.83145079e-01 9.83064012e-01 -6.55960078e-03 -4.38919520e+01] [-3.74347404e-02 -3.06171128e-04 9.99299028e-01 -1.17910277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82264 meters 0.01687643856368552 Centerline is valid? [True, True] Translation: X:262.76, Y:-43.90, Z:-11.79 [[ 9.82871771e-01 1.80457202e-01 3.73935810e-02 2.62757913e+02] [-1.80334655e-01 9.83582816e-01 -6.65250713e-03 -4.39006678e+01] [-3.79801765e-02 -2.04797050e-04 9.99278472e-01 -1.17921567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.85264 meters 0.029589135960386842 Centerline is valid? [True, True] Translation: X:262.78, Y:-43.91, Z:-11.79 [[ 9.83864471e-01 1.74845296e-01 3.79450249e-02 2.62784497e+02] [-1.74715005e-01 9.84595918e-01 -6.74868332e-03 -4.39129753e+01] [-3.85404921e-02 1.02245330e-05 9.99257039e-01 -1.17934661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.88264 meters 0.027561517607827837 Centerline is valid? [True, True] Translation: X:262.81, Y:-43.92, Z:-11.79 [[ 9.84296704e-01 1.72258350e-01 3.85624094e-02 2.62812717e+02] [-1.72121873e-01 9.85051800e-01 -6.85654863e-03 -4.39220330e+01] [-3.91670686e-02 1.11444074e-04 9.99232670e-01 -1.17918866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.91264 meters 0.03219493399242612 Centerline is valid? [True, True] Translation: X:262.84, Y:-43.93, Z:-11.79 [[ 9.84967970e-01 1.68236791e-01 3.91724452e-02 2.62839696e+02] [-1.68092868e-01 9.85746574e-01 -6.96278696e-03 -4.39345367e+01] [-3.97855005e-02 2.73513490e-04 9.99208206e-01 -1.17922028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.94264 meters 0.01686447940257942 Centerline is valid? [True, True] Translation: X:262.86, Y:-43.95, Z:-11.80 [[ 9.84642456e-01 1.68848392e-01 4.43785314e-02 2.62864103e+02] [-1.68940154e-01 9.85624842e-01 -1.70175216e-03 -4.39480292e+01] [-4.40279211e-02 -5.82169849e-03 9.99013338e-01 -1.17950405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.97264 meters 0.016559528595591275 Centerline is valid? [True, True] Translation: X:262.89, Y:-43.95, Z:-11.80 [[ 9.84869722e-01 1.68208904e-01 4.16820800e-02 2.62893501e+02] [-1.68001008e-01 9.85750466e-01 -8.46647609e-03 -4.39497359e+01] [-4.25122665e-02 1.33574451e-03 9.99095052e-01 -1.17953453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.00264 meters 0.027832074265726942 Centerline is valid? [True, True] Translation: X:262.93, Y:-43.96, Z:-11.80 [[ 9.85545586e-01 1.65159397e-01 3.77130178e-02 2.62926547e+02] [-1.64841637e-01 9.86254085e-01 -1.14067486e-02 -4.39564653e+01] [-3.90785496e-02 5.02519516e-03 9.99223506e-01 -1.18023262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.03264 meters 0.025098466688062343 Centerline is valid? [True, True] Translation: X:262.96, Y:-43.97, Z:-11.82 [[ 9.86555366e-01 1.57983248e-01 4.18306454e-02 2.62961422e+02] [-1.57583089e-01 9.87423837e-01 -1.27175472e-02 -4.39659241e+01] [-4.33137358e-02 5.95476211e-03 9.99043773e-01 -1.18161120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.06264 meters 0.02134795914885248 Centerline is valid? [True, True] Translation: X:262.98, Y:-43.98, Z:-11.81 [[ 9.85625798e-01 1.64107849e-01 4.01297839e-02 2.62981808e+02] [-1.64129574e-01 9.86434885e-01 -2.77510786e-03 -4.39806870e+01] [-4.00408358e-02 -3.85126645e-03 9.99190622e-01 -1.18074434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.09264 meters 0.017306383462004412 Centerline is valid? [True, True] Translation: X:263.01, Y:-43.99, Z:-11.80 [[ 9.85039785e-01 1.66707206e-01 4.36500822e-02 2.63010260e+02] [-1.66862295e-01 9.85980206e-01 -9.17898351e-05 -4.39861488e+01] [-4.30534191e-02 -7.19313625e-03 9.99046877e-01 -1.18037139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.12264 meters 0.01687660727157912 Centerline is valid? [True, True] Translation: X:263.04, Y:-43.99, Z:-11.81 [[ 9.84791363e-01 1.68330265e-01 4.30220105e-02 2.63040748e+02] [-1.68219067e-01 9.85730025e-01 -6.21802254e-03 -4.39890192e+01] [-4.34547688e-02 -1.11366758e-03 9.99054775e-01 -1.18052744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.15264 meters 0.01599496138869452 Centerline is valid? [True, True] Translation: X:263.07, Y:-43.98, Z:-11.81 [[ 9.84210484e-01 1.72714341e-01 3.87231040e-02 2.63071374e+02] [-1.72198641e-01 9.84927302e-01 -1.63045259e-02 -4.39844383e+01] [-4.09554678e-02 9.37901941e-03 9.99116952e-01 -1.18078124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.18264 meters 0.015375089027710662 Centerline is valid? [True, True] Translation: X:263.10, Y:-43.99, Z:-11.81 [[ 9.83982525e-01 1.73946053e-01 3.90020704e-02 2.63100333e+02] [-1.73728473e-01 9.84753137e-01 -8.92618587e-03 -4.39913895e+01] [-3.99600860e-02 2.00744076e-03 9.99199260e-01 -1.18093461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.21264 meters 0.01466773054606283 Centerline is valid? [True, True] Translation: X:263.13, Y:-44.00, Z:-11.81 [[ 9.83184812e-01 1.77077617e-01 4.46222353e-02 2.63126146e+02] [-1.77437721e-01 9.84123021e-01 4.21120058e-03 -4.40030644e+01] [-4.31680596e-02 -1.20580562e-02 9.98995056e-01 -1.18114984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.24264 meters 0.016029953899183536 Centerline is valid? [True, True] Translation: X:263.16, Y:-43.99, Z:-11.81 [[ 9.82711890e-01 1.80953429e-01 3.91560666e-02 2.63163158e+02] [-1.80457574e-01 9.83454617e-01 -1.58770322e-02 -4.39903717e+01] [-4.13812179e-02 8.53653954e-03 9.99106962e-01 -1.18126114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.27264 meters 0.01622129572562091 Centerline is valid? [True, True] Translation: X:263.19, Y:-44.00, Z:-11.81 [[ 9.81748674e-01 1.85176110e-01 4.33514573e-02 2.63187017e+02] [-1.85178139e-01 9.82696812e-01 -4.00402137e-03 -4.40010423e+01] [-4.33427879e-02 -4.09679951e-03 9.99051860e-01 -1.18113624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.30264 meters 0.017698592848015293 Centerline is valid? [True, True] Translation: X:263.21, Y:-44.01, Z:-11.81 [[ 9.81123636e-01 1.87802875e-01 4.61138983e-02 2.63214809e+02] [-1.88020823e-01 9.82164962e-01 3.96194126e-04 -4.40052802e+01] [-4.52170488e-02 -9.05908853e-03 9.98936110e-01 -1.18127639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.33264 meters 0.022069170896916453 Centerline is valid? [True, True] Translation: X:263.25, Y:-43.99, Z:-11.81 [[ 9.80793699e-01 1.91001044e-01 3.95262070e-02 2.63250689e+02] [-1.90402767e-01 9.81533249e-01 -1.84192095e-02 -4.39900451e+01] [-4.23143746e-02 1.05395454e-02 9.99048753e-01 -1.18148815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36264 meters 0.022069170896916453 Centerline is valid? [True, True] Translation: X:263.28, Y:-44.00, Z:-11.82 [[ 9.80843331e-01 1.90327329e-01 4.14954086e-02 2.63276465e+02] [-1.90184066e-01 9.81720489e-01 -7.40961926e-03 -4.40015262e+01] [-4.21471459e-02 -6.24089907e-04 9.99111219e-01 -1.18174423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.39264000000003 meters 0.02566331012936522 Centerline is valid? [True, True] Translation: X:263.30, Y:-44.01, Z:-11.82 [[ 9.79816516e-01 1.94283012e-01 4.70500328e-02 2.63296886e+02] [-1.94556113e-01 9.80890591e-01 1.25217405e-03 -4.40081880e+01] [-4.59076583e-02 -1.03807723e-02 9.98891749e-01 -1.18247020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42264 meters 0.031599298639866776 Centerline is valid? [True, True] Translation: X:263.32, Y:-44.01, Z:-11.84 [[ 9.79040755e-01 1.96931250e-01 5.19353754e-02 2.63324999e+02] [-1.97466047e-01 9.80295266e-01 5.32460681e-03 -4.40089464e+01] [-4.98634212e-02 -1.54684803e-02 9.98636253e-01 -1.18364681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.45264000000003 meters 0.026860271876598087 Centerline is valid? [True, True] Translation: X:263.36, Y:-43.99, Z:-11.82 [[ 9.80350040e-01 1.94024670e-01 3.56121614e-02 2.63364061e+02] [-1.93113858e-01 9.80791502e-01 -2.74785015e-02 -4.39936184e+01] [-4.02596124e-02 2.00613482e-02 9.98987841e-01 -1.18213150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48264 meters 0.023620319705786673 Centerline is valid? [True, True] Translation: X:263.38, Y:-44.03, Z:-11.82 [[ 9.79724030e-01 1.94668028e-01 4.73833802e-02 2.63379560e+02] [-1.95277411e-01 9.80710814e-01 8.54587604e-03 -4.40258730e+01] [-4.48057845e-02 -1.76255039e-02 9.98840219e-01 -1.18229826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.51264000000003 meters 0.026332138382930206 Centerline is valid? [True, True] Translation: X:263.42, Y:-44.01, Z:-11.82 [[ 9.80270658e-01 1.94079399e-01 3.74516305e-02 2.63418720e+02] [-1.93323332e-01 9.80868151e-01 -2.28858124e-02 -4.40067321e+01] [-4.11767763e-02 1.51940164e-02 9.99036343e-01 -1.18228989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54264 meters 0.029008431164297948 Centerline is valid? [True, True] Translation: X:263.44, Y:-44.02, Z:-11.83 [[ 9.80301709e-01 1.93337027e-01 4.03652527e-02 2.63443677e+02] [-1.93206090e-01 9.81132092e-01 -7.15717239e-03 -4.40167793e+01] [-4.09873913e-02 -7.82624334e-04 9.99159357e-01 -1.18284037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.57264 meters 0.02169103822535075 Centerline is valid? [True, True] Translation: X:263.46, Y:-44.04, Z:-11.83 [[ 9.80210635e-01 1.93204012e-01 4.31198458e-02 2.63464033e+02] [-1.93620689e-01 9.81060103e-01 5.66586831e-03 -4.40391203e+01] [-4.12084919e-02 -1.39026387e-02 9.99053841e-01 -1.18263557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60264 meters 0.03539396917868921 Centerline is valid? [True, True] Translation: X:263.50, Y:-44.02, Z:-11.85 [[ 9.80036808e-01 1.93200985e-01 4.69173087e-02 2.63499786e+02] [-1.93174711e-01 9.81150929e-01 -5.13666593e-03 -4.40208772e+01] [-4.70253699e-02 -4.02911588e-03 9.98885569e-01 -1.18469899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.63264 meters 0.02267019858166288 Centerline is valid? [True, True] Translation: X:263.53, Y:-44.03, Z:-11.82 [[ 9.81915561e-01 1.86848417e-01 3.04877113e-02 2.63529532e+02] [-1.86164987e-01 9.82227247e-01 -2.39213888e-02 -4.40252599e+01] [-3.44155344e-02 1.78130395e-02 9.99248851e-01 -1.18210522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66264 meters 0.02021188242016056 Centerline is valid? [True, True] Translation: X:263.55, Y:-44.05, Z:-11.82 [[ 9.81682929e-01 1.86142530e-01 4.06150992e-02 2.63546658e+02] [-1.86666723e-01 9.82377492e-01 9.48670062e-03 -4.40547638e+01] [-3.81334809e-02 -1.68944195e-02 9.99129830e-01 -1.18238616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.69264 meters 0.019868928378103296 Centerline is valid? [True, True] Translation: X:263.59, Y:-44.04, Z:-11.82 [[ 9.82556132e-01 1.83344603e-01 3.11159593e-02 2.63585060e+02] [-1.82735345e-01 9.82928497e-01 -2.14327899e-02 -4.40393582e+01] [-3.45143494e-02 1.53729336e-02 9.99285961e-01 -1.18238059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72264 meters 0.023669619240595508 Centerline is valid? [True, True] Translation: X:263.60, Y:-44.09, Z:-11.85 [[ 9.80489917e-01 1.87545696e-01 5.88738922e-02 2.63595687e+02] [-1.89607169e-01 9.81351840e-01 3.15862032e-02 -4.40852438e+01] [-5.18521460e-02 -4.21328658e-02 9.97765592e-01 -1.18501568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.75264 meters 0.015949453727338865 Centerline is valid? [True, True] Translation: X:263.64, Y:-44.04, Z:-11.82 [[ 9.83431989e-01 1.79108677e-01 2.79571892e-02 2.63643205e+02] [-1.77753514e-01 9.83038729e-01 -4.51502598e-02 -4.40416587e+01] [-3.55698031e-02 3.94327212e-02 9.98588929e-01 -1.18224556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78264 meters 0.016334560827790175 Centerline is valid? [True, True] Translation: X:263.67, Y:-44.07, Z:-11.83 [[ 9.83757323e-01 1.76106658e-01 3.47559187e-02 2.63665935e+02] [-1.76002560e-01 9.84371078e-01 -6.05634833e-03 -4.40708558e+01] [-3.52792844e-02 -1.59153643e-04 9.99377480e-01 -1.18306521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.81264 meters 0.01532701358580077 Centerline is valid? [True, True] Translation: X:263.69, Y:-44.08, Z:-11.83 [[ 9.83838433e-01 1.75617699e-01 3.49336678e-02 2.63693911e+02] [-1.75512309e-01 9.84458431e-01 -6.08495548e-03 -4.40769430e+01] [-3.54593697e-02 -1.44675613e-04 9.99371108e-01 -1.18291443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84264 meters 0.01520125363488455 Centerline is valid? [True, True] Translation: X:263.72, Y:-44.08, Z:-11.83 [[ 9.83856930e-01 1.75527784e-01 3.48645737e-02 2.63721806e+02] [-1.75422815e-01 9.84474467e-01 -6.07118189e-03 -4.40818945e+01] [-3.53889437e-02 -1.42867294e-04 9.99373605e-01 -1.18298279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.87264 meters 0.015636557370828707 Centerline is valid? [True, True] Translation: X:263.75, Y:-44.08, Z:-11.83 [[ 9.83678032e-01 1.76529509e-01 3.48548561e-02 2.63749037e+02] [-1.76425284e-01 9.84295332e-01 -6.06789726e-03 -4.40848422e+01] [-3.53786351e-02 -1.80420649e-04 9.99373964e-01 -1.18315412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.90264 meters 0.01532516481587513 Centerline is valid? [True, True] Translation: X:263.78, Y:-44.08, Z:-11.83 [[ 9.83863049e-01 1.76344871e-01 3.02652714e-02 2.63780384e+02] [-1.75883020e-01 9.84258710e-01 -1.73191940e-02 -4.40814901e+01] [-3.28430080e-02 1.17165677e-02 9.99391845e-01 -1.18298252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.93264 meters 0.016157975250374223 Centerline is valid? [True, True] Translation: X:263.80, Y:-44.10, Z:-11.84 [[ 9.83673161e-01 1.76435413e-01 3.54634588e-02 2.63804237e+02] [-1.76747188e-01 9.84239000e-01 5.83279335e-03 -4.40976512e+01] [-3.38754080e-02 -1.20056289e-02 9.99353952e-01 -1.18370254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96264 meters 0.01708800665149031 Centerline is valid? [True, True] Translation: X:263.83, Y:-44.10, Z:-11.84 [[ 9.83192031e-01 1.78324254e-01 3.91649174e-02 2.63825666e+02] [-1.78775768e-01 9.83854686e-01 8.31760291e-03 -4.41027881e+01] [-3.70493572e-02 -1.51795391e-02 9.99198142e-01 -1.18446559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.99264 meters 0.01672489833849692 Centerline is valid? [True, True] Translation: X:263.86, Y:-44.09, Z:-11.84 [[ 9.83603242e-01 1.77843162e-01 2.99411364e-02 2.63862887e+02] [-1.77303665e-01 9.83956558e-01 -1.98217570e-02 -4.40901958e+01] [-3.29859415e-02 1.41880712e-02 9.99355105e-01 -1.18405064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02264 meters 0.016745277679293926 Centerline is valid? [True, True] Translation: X:263.89, Y:-44.10, Z:-11.84 [[ 9.83621823e-01 1.77140631e-01 3.33062414e-02 2.63889203e+02] [-1.77046159e-01 9.84185529e-01 -5.78812554e-03 -4.41030441e+01] [-3.38048330e-02 -2.03415508e-04 9.99428433e-01 -1.18429502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.05264 meters 0.029798100347540053 Centerline is valid? [True, True] Translation: X:263.92, Y:-44.11, Z:-11.85 [[ 9.83530543e-01 1.77653804e-01 3.32685606e-02 2.63918122e+02] [-1.77559915e-01 9.84093022e-01 -5.77931083e-03 -4.41056294e+01] [-3.37660749e-02 -2.23034059e-04 9.99429739e-01 -1.18454592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08264 meters 0.016600442607182145 Centerline is valid? [True, True] Translation: X:263.95, Y:-44.11, Z:-11.84 [[ 9.83604264e-01 1.77191525e-01 3.35531743e-02 2.63946901e+02] [-1.77095810e-01 9.84176366e-01 -5.82710314e-03 -4.41109419e+01] [-3.40547544e-02 -2.10563068e-04 9.99419946e-01 -1.18448191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.11264 meters 0.01632974518105604 Centerline is valid? [True, True] Translation: X:263.98, Y:-44.12, Z:-11.85 [[ 9.83634845e-01 1.77102692e-01 3.31229165e-02 2.63975581e+02] [-1.77009397e-01 9.84192356e-01 -5.75145247e-03 -4.41158688e+01] [-3.36179190e-02 -2.05738427e-04 9.99434737e-01 -1.18455826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14264000000003 meters 0.016799666590508022 Centerline is valid? [True, True] Translation: X:264.00, Y:-44.12, Z:-11.85 [[ 9.83629132e-01 1.77244238e-01 3.25301482e-02 2.64003379e+02] [-1.77154438e-01 9.84166874e-01 -5.64526756e-03 -4.41192251e+01] [-3.30156854e-02 -2.10010496e-04 9.99454812e-01 -1.18496618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.17264 meters 0.0170602777909165 Centerline is valid? [True, True] Translation: X:264.03, Y:-44.12, Z:-11.85 [[ 9.83670238e-01 1.77114622e-01 3.19886356e-02 2.64030764e+02] [-1.77027798e-01 9.84190210e-01 -5.54884841e-03 -4.41236932e+01] [-3.24656841e-02 -2.04640695e-04 9.99472830e-01 -1.18525125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20264000000003 meters 0.018025532626418914 Centerline is valid? [True, True] Translation: X:264.06, Y:-44.13, Z:-11.86 [[ 9.83774694e-01 1.76578655e-01 3.17384698e-02 2.64056944e+02] [-1.76492955e-01 9.84286515e-01 -5.50390690e-03 -4.41278570e+01] [-3.22116203e-02 -1.87011996e-04 9.99481054e-01 -1.18575046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.23264 meters 0.016325371939746303 Centerline is valid? [True, True] Translation: X:264.08, Y:-44.14, Z:-11.86 [[ 9.83983752e-01 1.75375635e-01 3.19274717e-02 2.64084754e+02] [-1.75288389e-01 9.84501581e-01 -5.53328292e-03 -4.41373402e+01] [-3.24030494e-02 -1.51854575e-04 9.99474872e-01 -1.18556599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26264000000003 meters 0.016344072926107 Centerline is valid? [True, True] Translation: X:264.11, Y:-44.14, Z:-11.86 [[ 9.84067953e-01 1.74863263e-01 3.21419227e-02 2.64112150e+02] [-1.74774613e-01 9.84592718e-01 -5.56903911e-03 -4.41435539e+01] [-3.26205234e-02 -1.37279173e-04 9.99467800e-01 -1.18575906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.29264 meters 0.01563305532740453 Centerline is valid? [True, True] Translation: X:264.14, Y:-44.15, Z:-11.86 [[ 9.84154117e-01 1.74330269e-01 3.23980079e-02 2.64140549e+02] [-1.74239985e-01 9.84687231e-01 -5.61118992e-03 -4.41493372e+01] [-3.28801050e-02 -1.22752752e-04 9.99459296e-01 -1.18569675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32264 meters 0.015748148673663375 Centerline is valid? [True, True] Translation: X:264.17, Y:-44.15, Z:-11.86 [[ 9.84043827e-01 1.74766357e-01 3.33836219e-02 2.64168451e+02] [-1.74670798e-01 9.84609923e-01 -5.78034144e-03 -4.41527732e+01] [-3.38800546e-02 -1.43034562e-04 9.99425896e-01 -1.18573942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.35264 meters 0.01565774311961792 Centerline is valid? [True, True] Translation: X:264.20, Y:-44.16, Z:-11.86 [[ 9.83858997e-01 1.75726155e-01 3.37904069e-02 2.64196811e+02] [-1.75628897e-01 9.84439072e-01 -5.84847805e-03 -4.41565431e+01] [-3.42923274e-02 -1.80494151e-04 9.99411829e-01 -1.18569249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.38264 meters 0.016094701607005917 Centerline is valid? [True, True] Translation: X:264.22, Y:-44.15, Z:-11.86 [[ 9.83662152e-01 1.77047490e-01 3.26030373e-02 2.64224418e+02] [-1.76729334e-01 9.84181157e-01 -1.24174585e-02 -4.41549287e+01] [-3.42857748e-02 6.45267088e-03 9.99391239e-01 -1.18571700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.41264 meters 0.017457207367063115 Centerline is valid? [True, True] Translation: X:264.25, Y:-44.16, Z:-11.86 [[ 9.83304307e-01 1.78483096e-01 3.54460834e-02 2.64252083e+02] [-1.78621060e-01 9.83917665e-01 7.38746793e-04 -4.41646918e+01] [-3.47441738e-02 -7.05782987e-03 9.99371317e-01 -1.18596677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.44264 meters 0.020432851674323495 Centerline is valid? [True, True] Translation: X:264.28, Y:-44.16, Z:-11.86 [[ 9.82469849e-01 1.83012407e-01 3.54888053e-02 2.64283011e+02] [-1.82910114e-01 9.83110494e-01 -6.13562502e-03 -4.41577535e+01] [-3.60123124e-02 -4.63194832e-04 9.99351239e-01 -1.18583449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.47264 meters 0.02279471667813947 Centerline is valid? [True, True] Translation: X:264.31, Y:-44.16, Z:-11.86 [[ 9.82097934e-01 1.85021209e-01 3.53666502e-02 2.64311145e+02] [-1.84920977e-01 9.82734381e-01 -6.11293522e-03 -4.41576199e+01] [-3.58870457e-02 -5.36534442e-04 9.99355708e-01 -1.18603928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.50264 meters 0.02430334296186841 Centerline is valid? [True, True] Translation: X:264.34, Y:-44.16, Z:-11.86 [[ 9.81353138e-01 1.89047550e-01 3.47425136e-02 2.64341603e+02] [-1.88953435e-01 9.81967703e-01 -6.00249813e-03 -4.41571324e+01] [-3.52507838e-02 -6.74146908e-04 9.99378271e-01 -1.18602507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.53264 meters 0.026986311525643347 Centerline is valid? [True, True] Translation: X:264.37, Y:-44.16, Z:-11.86 [[ 9.81071278e-01 1.90507510e-01 3.47280352e-02 2.64369750e+02] [-1.90414400e-01 9.81685469e-01 -5.99963211e-03 -4.41559302e+01] [-3.52349825e-02 -7.26651244e-04 9.99378791e-01 -1.18624677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.56264 meters 0.028303911867841883 Centerline is valid? [True, True] Translation: X:264.40, Y:-44.16, Z:-11.86 [[ 9.80805669e-01 1.91837009e-01 3.49113307e-02 2.64398946e+02] [-1.91743842e-01 9.81426488e-01 -6.02882765e-03 -4.41567723e+01] [-3.54194570e-02 -7.80924342e-04 9.99372229e-01 -1.18632454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.59264 meters 0.031185268623436003 Centerline is valid? [True, True] Translation: X:264.43, Y:-44.16, Z:-11.87 [[ 9.80574290e-01 1.92995005e-01 3.50284241e-02 2.64427560e+02] [-1.92902008e-01 9.81199390e-01 -6.04744373e-03 -4.41550337e+01] [-3.55369949e-02 -8.27085512e-04 9.99368019e-01 -1.18657900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.62264 meters 0.02966521328539009 Centerline is valid? [True, True] Translation: X:264.46, Y:-44.16, Z:-11.87 [[ 9.80713270e-01 1.91492880e-01 3.91402490e-02 2.64458491e+02] [-1.91745763e-01 9.81440701e-01 2.77739238e-03 -4.41617905e+01] [-3.78819826e-02 -1.02288025e-02 9.99229867e-01 -1.18695698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.65264 meters 0.02983076065979233 Centerline is valid? [True, True] Translation: X:264.49, Y:-44.15, Z:-11.87 [[ 9.80564139e-01 1.93432500e-01 3.28304356e-02 2.64486436e+02] [-1.93019055e-01 9.81074816e-01 -1.53574253e-02 -4.41539734e+01] [-3.51797388e-02 8.72204089e-03 9.99342940e-01 -1.18675411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.68264 meters 0.03147350460784008 Centerline is valid? [True, True] Translation: X:264.52, Y:-44.16, Z:-11.88 [[ 9.81183783e-01 1.89322487e-01 3.78864035e-02 2.64517174e+02] [-1.89380623e-01 9.81901547e-01 -2.08112721e-03 -4.41646450e+01] [-3.75947224e-02 -5.13298245e-03 9.99279885e-01 -1.18755676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.71264 meters 0.02872075448517356 Centerline is valid? [True, True] Translation: X:264.54, Y:-44.16, Z:-11.87 [[ 9.81153575e-01 1.90210101e-01 3.40261777e-02 2.64542611e+02] [-1.89958586e-01 9.81735874e-01 -1.05076024e-02 -4.41630045e+01] [-3.54033714e-02 3.84600709e-03 9.99365704e-01 -1.18721860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.74264 meters 0.02513352789239658 Centerline is valid? [True, True] Translation: X:264.57, Y:-44.17, Z:-11.87 [[ 9.81822280e-01 1.86520401e-01 3.51447184e-02 2.64570595e+02] [-1.86423254e-01 9.82450897e-01 -6.05015177e-03 -4.41714299e+01] [-3.56564369e-02 -6.11618979e-04 9.99363920e-01 -1.18734458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.77264 meters 0.022329613409364082 Centerline is valid? [True, True] Translation: X:264.60, Y:-44.18, Z:-11.87 [[ 9.82159464e-01 1.84723732e-01 3.52126377e-02 2.64598402e+02] [-1.84625115e-01 9.82790334e-01 -6.06017108e-03 -4.41779170e+01] [-3.57260974e-02 -5.49082893e-04 9.99361468e-01 -1.18735922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.80264 meters 0.02075656780243745 Centerline is valid? [True, True] Translation: X:264.63, Y:-44.18, Z:-11.87 [[ 9.82489480e-01 1.82899834e-01 3.55256741e-02 2.64626796e+02] [-1.82798327e-01 9.83131432e-01 -6.11225694e-03 -4.41822491e+01] [-3.60443376e-02 -4.88805651e-04 9.99350072e-01 -1.18743065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.83264 meters 0.017665518374862278 Centerline is valid? [True, True] Translation: X:264.66, Y:-44.19, Z:-11.88 [[ 9.83243966e-01 1.78937012e-01 3.48259886e-02 2.64655058e+02] [-1.78837038e-01 9.83860473e-01 -5.99020961e-03 -4.41875109e+01] [-3.53357839e-02 -3.38339203e-04 9.99375439e-01 -1.18761167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86264 meters 0.022805139334987044 Centerline is valid? [True, True] Translation: X:264.68, Y:-44.19, Z:-11.88 [[ 9.83647263e-01 1.76862085e-01 3.40274012e-02 2.64682323e+02] [-1.76765454e-01 9.84235610e-01 -5.85138142e-03 -4.41914057e+01] [-3.45258675e-02 -2.59173698e-04 9.99403771e-01 -1.18831990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.89264000000003 meters 0.015317038603236589 Centerline is valid? [True, True] Translation: X:264.71, Y:-44.20, Z:-11.88 [[ 9.84061026e-01 1.74495241e-01 3.42827701e-02 2.64710302e+02] [-1.74395798e-01 9.84658001e-01 -5.89297101e-03 -4.41992544e+01] [-3.47850993e-02 -1.79727943e-04 9.99394799e-01 -1.18797558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92264 meters 0.026302293492914 Centerline is valid? [True, True] Translation: X:264.74, Y:-44.21, Z:-11.89 [[ 9.84795742e-01 1.70424143e-01 3.36594362e-02 2.64736675e+02] [-1.70325956e-01 9.85370798e-01 -5.78436123e-03 -4.42056762e+01] [-3.41528203e-02 -3.66613321e-05 9.99416622e-01 -1.18855109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.95264000000003 meters 0.025728870545979502 Centerline is valid? [True, True] Translation: X:264.76, Y:-44.21, Z:-11.89 [[ 9.85176737e-01 1.68184492e-01 3.37753486e-02 2.64764205e+02] [-1.68084379e-01 9.85755535e-01 -5.80229502e-03 -4.42119621e+01] [-3.42700929e-02 3.91775938e-05 9.99412607e-01 -1.18865982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98264 meters 0.015163483215919246 Centerline is valid? [True, True] Translation: X:264.79, Y:-44.22, Z:-11.89 [[ 9.85565470e-01 1.65866456e-01 3.38972385e-02 2.64792637e+02] [-1.65764343e-01 9.86148217e-01 -5.82045771e-03 -4.42188045e+01] [-3.43931200e-02 1.17488677e-04 9.99408375e-01 -1.18862463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.01264000000003 meters 0.01627743002902455 Centerline is valid? [True, True] Translation: X:264.82, Y:-44.23, Z:-11.89 [[ 9.86227592e-01 1.62086787e-01 3.29091206e-02 2.64820574e+02] [-1.61988485e-01 9.86776477e-01 -5.64933941e-03 -4.42262873e+01] [-3.33896293e-02 2.40635808e-04 9.99442382e-01 -1.18876060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04264 meters 0.01705302762209533 Centerline is valid? [True, True] Translation: X:264.85, Y:-44.23, Z:-11.89 [[ 9.86466497e-01 1.60606726e-01 3.30049883e-02 2.64847420e+02] [-1.60507071e-01 9.87018437e-01 -5.66433814e-03 -4.42322223e+01] [-3.34862628e-02 2.90145808e-04 9.99439136e-01 -1.18895467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.07264000000004 meters 0.0174977474490022 Centerline is valid? [True, True] Translation: X:264.88, Y:-44.24, Z:-11.89 [[ 9.86642710e-01 1.59505354e-01 3.30787781e-02 2.64875598e+02] [-1.59404708e-01 9.87197010e-01 -5.67478517e-03 -4.42378875e+01] [-3.35604294e-02 3.26072454e-04 9.99436637e-01 -1.18901463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10264 meters 0.018548653309073296 Centerline is valid? [True, True] Translation: X:264.90, Y:-44.24, Z:-11.89 [[ 9.86756410e-01 1.58757627e-01 3.32836788e-02 2.64902252e+02] [-1.58655356e-01 9.87317523e-01 -5.70845412e-03 -4.42446766e+01] [-3.37678200e-02 3.52219795e-04 9.99429642e-01 -1.18927881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.13264 meters 0.019559028325800587 Centerline is valid? [True, True] Translation: X:264.93, Y:-44.25, Z:-11.90 [[ 9.86883213e-01 1.58115429e-01 3.25735303e-02 2.64928888e+02] [-1.58017200e-01 9.87420568e-01 -5.58442827e-03 -4.42506119e+01] [-3.30467580e-02 3.64000475e-04 9.99453740e-01 -1.18958956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16264 meters 0.01927789351163322 Centerline is valid? [True, True] Translation: X:264.96, Y:-44.25, Z:-11.90 [[ 9.86858277e-01 1.58301721e-01 3.24238577e-02 2.64956720e+02] [-1.58204525e-01 9.87390723e-01 -5.55780958e-03 -4.42539482e+01] [-3.28948271e-02 3.55169389e-04 9.99458756e-01 -1.18971310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.19264 meters 0.030863276361200506 Centerline is valid? [True, True] Translation: X:264.99, Y:-44.25, Z:-11.90 [[ 9.86546775e-01 1.60658318e-01 3.02384959e-02 2.64985987e+02] [-1.60574963e-01 9.87010050e-01 -5.18089497e-03 -4.42522615e+01] [-3.06780532e-02 2.55649878e-04 9.99529285e-01 -1.19009128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22264 meters 0.016465345331258385 Centerline is valid? [True, True] Translation: X:265.02, Y:-44.25, Z:-11.90 [[ 9.86198685e-01 1.62719486e-01 3.05699674e-02 2.65015442e+02] [-1.62635307e-01 9.86672353e-01 -5.23691236e-03 -4.42542964e+01] [-3.10146893e-02 1.92880044e-04 9.99518910e-01 -1.19009095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.25264 meters 0.016465345331258385 Centerline is valid? [True, True] Translation: X:265.04, Y:-44.26, Z:-11.90 [[ 9.86210416e-01 1.62648276e-01 3.05704847e-02 2.65042527e+02] [-1.62564157e-01 9.86684094e-01 -5.23389057e-03 -4.42588029e+01] [-3.10146943e-02 1.92052339e-04 9.99518910e-01 -1.19022626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28264 meters 0.017046541339261794 Centerline is valid? [True, True] Translation: X:265.07, Y:-44.26, Z:-11.91 [[ 9.85834704e-01 1.64868877e-01 3.07926773e-02 2.65069998e+02] [-1.64784679e-01 9.86315486e-01 -5.26979008e-03 -4.42611358e+01] [-3.12401189e-02 1.20980501e-04 9.99511901e-01 -1.19083110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.31264 meters 0.032054546945166976 Centerline is valid? [True, True] Translation: X:265.10, Y:-44.26, Z:-11.91 [[ 9.85378801e-01 1.67643930e-01 3.03995353e-02 2.65098268e+02] [-1.67563272e-01 9.85847611e-01 -5.19982480e-03 -4.42597968e+01] [-3.08410284e-02 2.99515189e-05 9.99524302e-01 -1.19069044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34264 meters 0.016185533607858963 Centerline is valid? [True, True] Translation: X:265.13, Y:-44.26, Z:-11.91 [[ 9.84469603e-01 1.72640356e-01 3.18576195e-02 2.65127129e+02] [-1.72554474e-01 9.84984918e-01 -5.44649901e-03 -4.42551235e+01] [-3.23195602e-02 -1.35262036e-04 9.99477577e-01 -1.19055608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.37264 meters 0.01678811863181085 Centerline is valid? [True, True] Translation: X:265.16, Y:-44.26, Z:-11.90 [[ 9.84043276e-01 1.74961723e-01 3.23608877e-02 2.65155949e+02] [-1.74874432e-01 9.84575212e-01 -5.53032502e-03 -4.42564025e+01] [-3.28293231e-02 -2.17012721e-04 9.99460949e-01 -1.19048095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40264 meters 0.01792472871318437 Centerline is valid? [True, True] Translation: X:265.19, Y:-44.26, Z:-11.91 [[ 9.83664402e-01 1.76970076e-01 3.29535527e-02 2.65185137e+02] [-1.76880739e-01 9.84216190e-01 -5.62997160e-03 -4.42573108e+01] [-3.34297566e-02 -2.90846101e-04 9.99441027e-01 -1.19051155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.43264 meters 0.018861496792115975 Centerline is valid? [True, True] Translation: X:265.21, Y:-44.26, Z:-11.90 [[ 9.83317922e-01 1.78796788e-01 3.34301305e-02 2.65214395e+02] [-1.78705958e-01 9.83885959e-01 -5.70974820e-03 -4.42581236e+01] [-3.39123206e-02 -3.59665769e-04 9.99424747e-01 -1.19048248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46264 meters 0.022465186993108035 Centerline is valid? [True, True] Translation: X:265.24, Y:-44.25, Z:-11.91 [[ 9.82826327e-01 1.81328025e-01 3.42426484e-02 2.65243725e+02] [-1.81234314e-01 9.83422563e-01 -5.84695733e-03 -4.42529723e+01] [-3.47352103e-02 -4.59399299e-04 9.99396445e-01 -1.19069252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.49264 meters 0.021390482856773474 Centerline is valid? [True, True] Translation: X:265.27, Y:-44.26, Z:-11.91 [[ 9.82676658e-01 1.82122044e-01 3.43241391e-02 2.65271927e+02] [-1.82028450e-01 9.83275811e-01 -5.85860489e-03 -4.42573066e+01] [-3.48170768e-02 -4.90855567e-04 9.99393581e-01 -1.19055993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52264 meters 0.02443241167627306 Centerline is valid? [True, True] Translation: X:265.30, Y:-44.26, Z:-11.91 [[ 9.82684455e-01 1.82250680e-01 3.34058510e-02 2.65300729e+02] [-1.82162156e-01 9.83251980e-01 -5.70029972e-03 -4.42614344e+01] [-3.38852526e-02 -4.83685907e-04 9.99425613e-01 -1.19102882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.55264 meters 0.02351307486151656 Centerline is valid? [True, True] Translation: X:265.33, Y:-44.26, Z:-11.91 [[ 9.82761139e-01 1.81815776e-01 3.35196580e-02 2.65328565e+02] [-1.81726429e-01 9.83332498e-01 -5.71870369e-03 -4.42631748e+01] [-3.40007196e-02 -4.71287992e-04 9.99421697e-01 -1.19138308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58264 meters 0.023017629948752255 Centerline is valid? [True, True] Translation: X:265.36, Y:-44.27, Z:-11.92 [[ 9.82960354e-01 1.80819493e-01 3.30643791e-02 2.65355344e+02] [-1.80732078e-01 9.83516204e-01 -5.63851967e-03 -4.42674772e+01] [-3.35389069e-02 -4.33352636e-04 9.99437319e-01 -1.19160875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.61264 meters 0.018420617754157514 Centerline is valid? [True, True] Translation: X:265.38, Y:-44.28, Z:-11.91 [[ 9.83501110e-01 1.77901423e-01 3.28123526e-02 2.65382967e+02] [-1.77813887e-01 9.84048256e-01 -5.59026663e-03 -4.42772094e+01] [-3.32834547e-02 -3.36458514e-04 9.99445896e-01 -1.19140841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64264000000003 meters 0.017650657189694607 Centerline is valid? [True, True] Translation: X:265.41, Y:-44.28, Z:-11.92 [[ 9.83880231e-01 1.75699136e-01 3.33092365e-02 2.65409821e+02] [-1.75607717e-01 9.84443875e-01 -5.67342194e-03 -4.42844268e+01] [-3.37878892e-02 -2.67391276e-04 9.99428990e-01 -1.19169902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.67264 meters 0.015289097127551143 Centerline is valid? [True, True] Translation: X:265.44, Y:-44.29, Z:-11.92 [[ 9.84307608e-01 1.73336703e-01 3.30593300e-02 2.65437305e+02] [-1.73245391e-01 9.84862606e-01 -5.62868553e-03 -4.42939939e+01] [-3.35345557e-02 -1.87018560e-04 9.99437541e-01 -1.19151101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70264000000003 meters 0.014231141069832044 Centerline is valid? [True, True] Translation: X:265.46, Y:-44.30, Z:-11.92 [[ 9.85094717e-01 1.68656428e-01 3.38143153e-02 2.65464136e+02] [-1.68558193e-01 9.85674900e-01 -5.75563538e-03 -4.43040242e+01] [-3.43006468e-02 -2.98338810e-05 9.99411559e-01 -1.19156768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.73264 meters 0.02561787800746967 Centerline is valid? [True, True] Translation: X:265.49, Y:-44.31, Z:-11.92 [[ 9.85489101e-01 1.66444324e-01 3.32794083e-02 2.65491664e+02] [-1.66347987e-01 9.86050853e-01 -5.66233713e-03 -4.43114469e+01] [-3.37576529e-02 4.42089457e-05 9.99430047e-01 -1.19181825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76264000000003 meters 0.014192515398431244 Centerline is valid? [True, True] Translation: X:265.52, Y:-44.32, Z:-11.92 [[ 9.85686740e-01 1.65094511e-01 3.41387189e-02 2.65519208e+02] [-1.64992379e-01 9.86277747e-01 -5.80696146e-03 -4.43181469e+01] [-3.46289562e-02 9.12164710e-05 9.99400234e-01 -1.19174327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.79264 meters 0.022163307470601995 Centerline is valid? [True, True] Translation: X:265.55, Y:-44.33, Z:-11.92 [[ 9.85961401e-01 1.63805184e-01 3.23724955e-02 2.65546405e+02] [-1.63712715e-01 9.86492699e-01 -5.50468261e-03 -4.43251732e+01] [-3.28369260e-02 1.27615452e-04 9.99460715e-01 -1.19230360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82264000000004 meters 0.014571635280850193 Centerline is valid? [True, True] Translation: X:265.57, Y:-44.33, Z:-11.92 [[ 9.85886660e-01 1.64206605e-01 3.26141708e-02 2.65574768e+02] [-1.64113041e-01 9.86425962e-01 -5.54359627e-03 -4.43293588e+01] [-3.30817599e-02 1.12946861e-04 9.99452642e-01 -1.19210165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.85264 meters 0.014929731445940838 Centerline is valid? [True, True] Translation: X:265.60, Y:-44.33, Z:-11.92 [[ 9.85748485e-01 1.65077573e-01 3.23932071e-02 2.65601398e+02] [-1.64985777e-01 9.86280583e-01 -5.50503345e-03 -4.43329436e+01] [-3.28575488e-02 8.21599389e-05 9.99460042e-01 -1.19246966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.88264 meters 0.014111324371651092 Centerline is valid? [True, True] Translation: X:265.63, Y:-44.34, Z:-11.92 [[ 9.85526115e-01 1.66329731e-01 3.27520509e-02 2.65630128e+02] [-1.66236695e-01 9.86070190e-01 -5.56254831e-03 -4.43358995e+01] [-3.32210382e-02 3.74439278e-05 9.99448028e-01 -1.19233275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.91264 meters 0.014192285922578056 Centerline is valid? [True, True] Translation: X:265.66, Y:-44.34, Z:-11.92 [[ 9.85030193e-01 1.69261208e-01 3.26521386e-02 2.65658818e+02] [-1.69170402e-01 9.85571225e-01 -5.54397498e-03 -4.43371533e+01] [-3.31193882e-02 -6.27926700e-05 9.99451401e-01 -1.19232021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.94264 meters 0.014875986019856787 Centerline is valid? [True, True] Translation: X:265.69, Y:-44.34, Z:-11.93 [[ 9.84705644e-01 1.71061228e-01 3.30583031e-02 2.65685872e+02] [-1.70969199e-01 9.85260392e-01 -5.61181958e-03 -4.43388852e+01] [-3.35310014e-02 -1.25961190e-04 9.99437670e-01 -1.19251144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.97264 meters 0.015623250640888684 Centerline is valid? [True, True] Translation: X:265.72, Y:-44.34, Z:-11.93 [[ 9.84402237e-01 1.72879752e-01 3.26316827e-02 2.65715176e+02] [-1.72791196e-01 9.84942920e-01 -5.53597239e-03 -4.43407712e+01] [-3.30974024e-02 -1.88843862e-04 9.99452113e-01 -1.19266291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.00264 meters 0.016672788104012858 Centerline is valid? [True, True] Translation: X:265.74, Y:-44.34, Z:-11.93 [[ 9.84062821e-01 1.74804801e-01 3.26135702e-02 2.65744083e+02] [-1.74717453e-01 9.84603076e-01 -5.53130105e-03 -4.43425938e+01] [-3.30783195e-02 -2.55012197e-04 9.99452730e-01 -1.19282654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.03264 meters 0.01933084341847626 Centerline is valid? [True, True] Translation: X:265.77, Y:-44.34, Z:-11.93 [[ 9.83481454e-01 1.78081384e-01 3.24229828e-02 2.65772053e+02] [-1.77996872e-01 9.84015695e-01 -5.49778168e-03 -4.43409416e+01] [-3.28837766e-02 -3.64223210e-04 9.99459116e-01 -1.19308890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.06264 meters 0.019294684925445137 Centerline is valid? [True, True] Translation: X:265.80, Y:-44.34, Z:-11.93 [[ 9.83309026e-01 1.78919965e-01 3.30303658e-02 2.65800453e+02] [-1.78832813e-01 9.83863550e-01 -5.59827748e-03 -4.43440701e+01] [-3.34990165e-02 -4.02076441e-04 9.99438670e-01 -1.19298663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.09264 meters 0.025877858888383475 Centerline is valid? [True, True] Translation: X:265.83, Y:-44.35, Z:-11.93 [[ 9.83168078e-01 1.79693216e-01 3.30284430e-02 2.65828099e+02] [-1.79606606e-01 9.83722604e-01 -5.59508449e-03 -4.43454240e+01] [-3.34962247e-02 -4.31218081e-04 9.99438751e-01 -1.19328744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.12264 meters 0.02177139817486289 Centerline is valid? [True, True] Translation: X:265.86, Y:-44.35, Z:-11.93 [[ 9.83226427e-01 1.79420360e-01 3.27738916e-02 2.65855254e+02] [-1.79334969e-01 9.83772412e-01 -5.55074807e-03 -4.43497883e+01] [-3.32379676e-02 -4.19862635e-04 9.99447378e-01 -1.19342712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.15264 meters 0.020490784958978787 Centerline is valid? [True, True] Translation: X:265.88, Y:-44.35, Z:-11.94 [[ 9.83324173e-01 1.78964774e-01 3.23292585e-02 2.65882635e+02] [-1.78881523e-01 9.83855400e-01 -5.47286848e-03 -4.43536295e+01] [-3.27867663e-02 -4.01503145e-04 9.99462289e-01 -1.19365293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.18264 meters 0.01898158804112807 Centerline is valid? [True, True] Translation: X:265.91, Y:-44.36, Z:-11.94 [[ 9.83817600e-01 1.76459958e-01 3.10614382e-02 2.65910815e+02] [-1.76381925e-01 9.84307771e-01 -5.25621794e-03 -4.43604005e+01] [-3.15015270e-02 -3.07516542e-04 9.99503656e-01 -1.19399042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.21264 meters 0.01854420222298063 Centerline is valid? [True, True] Translation: X:265.94, Y:-44.37, Z:-11.94 [[ 9.84085977e-01 1.75035141e-01 3.06184341e-02 2.65937518e+02] [-1.74958668e-01 9.84562152e-01 -5.18000355e-03 -4.43664930e+01] [-3.10524340e-02 -2.59391598e-04 9.99517723e-01 -1.19436504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.24264 meters 0.01679381079964841 Centerline is valid? [True, True] Translation: X:265.96, Y:-44.38, Z:-11.94 [[ 9.84600450e-01 1.72025955e-01 3.11291662e-02 2.65964005e+02] [-1.71945466e-01 9.85092403e-01 -5.26444899e-03 -4.43762774e+01] [-3.15707270e-02 -1.69140155e-04 9.99501506e-01 -1.19449477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.27264 meters 0.015557439938007442 Centerline is valid? [True, True] Translation: X:265.99, Y:-44.38, Z:-11.94 [[ 9.84787805e-01 1.70870320e-01 3.15644122e-02 2.65991972e+02] [-1.70787037e-01 9.85293517e-01 -5.33597512e-03 -4.43830082e+01] [-3.20119705e-02 -1.35989219e-04 9.99487476e-01 -1.19430980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.30264 meters 0.015624031971050972 Centerline is valid? [True, True] Translation: X:266.02, Y:-44.39, Z:-11.95 [[ 9.84945352e-01 1.69829440e-01 3.22585735e-02 2.66019471e+02] [-1.69741926e-01 9.85473465e-01 -5.45237232e-03 -4.43874663e+01] [-3.27159416e-02 -1.05343632e-04 9.99464685e-01 -1.19454968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.33264 meters 0.015355671088077253 Centerline is valid? [True, True] Translation: X:266.05, Y:-44.39, Z:-11.95 [[ 9.85075624e-01 1.69249056e-01 3.13172827e-02 2.66047544e+02] [-1.69166364e-01 9.85573310e-01 -5.29068654e-03 -4.43918868e+01] [-3.17609217e-02 -8.61045136e-05 9.99495491e-01 -1.19463680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36264 meters 0.01553186794725756 Centerline is valid? [True, True] Translation: X:266.08, Y:-44.40, Z:-11.95 [[ 9.85139898e-01 1.69029400e-01 3.04703678e-02 2.66076094e+02] [-1.68951130e-01 9.85611006e-01 -5.14396469e-03 -4.43964201e+01] [-3.09014111e-02 -8.04782215e-05 9.99522434e-01 -1.19489248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.39264000000003 meters 0.0157610520873206 Centerline is valid? [True, True] Translation: X:266.10, Y:-44.40, Z:-11.95 [[ 9.85164466e-01 1.69064595e-01 2.94641666e-02 2.66104095e+02] [-1.68991465e-01 9.85604970e-01 -4.97276366e-03 -4.44027878e+01] [-2.98807473e-02 -8.02026202e-05 9.99553468e-01 -1.19527027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42264 meters 0.01770254458099783 Centerline is valid? [True, True] Translation: X:266.13, Y:-44.41, Z:-11.95 [[ 9.85166710e-01 1.69238292e-01 2.83717067e-02 2.66131947e+02] [-1.69170587e-01 9.85575159e-01 -4.78736464e-03 -4.44074486e+01] [-2.87726548e-02 -8.33060260e-05 9.99585978e-01 -1.19542342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.45264000000003 meters 0.015818433214781692 Centerline is valid? [True, True] Translation: X:266.16, Y:-44.41, Z:-11.95 [[ 9.84981882e-01 1.70165946e-01 2.92274385e-02 2.66159573e+02] [-1.70094542e-01 9.85415414e-01 -4.93043266e-03 -4.44101233e+01] [-2.96401602e-02 -1.15040933e-04 9.99560627e-01 -1.19540714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48264 meters 0.016462858405854357 Centerline is valid? [True, True] Translation: X:266.19, Y:-44.41, Z:-11.95 [[ 9.84485916e-01 1.72635358e-01 3.13769854e-02 2.66187744e+02] [-1.72554436e-01 9.84985782e-01 -5.28926599e-03 -4.44094951e+01] [-3.18189988e-02 -2.07030138e-04 9.99493626e-01 -1.19515994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.51264000000003 meters 0.017328437569161675 Centerline is valid? [True, True] Translation: X:266.22, Y:-44.41, Z:-11.95 [[ 9.84236725e-01 1.73988399e-01 3.17191797e-02 2.66216767e+02] [-1.73906475e-01 9.84747669e-01 -5.34473999e-03 -4.44112689e+01] [-3.21653111e-02 -2.55681348e-04 9.99482530e-01 -1.19525892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54264 meters 0.018624185651161654 Centerline is valid? [True, True] Translation: X:266.25, Y:-44.41, Z:-11.95 [[ 9.83984804e-01 1.75492373e-01 3.12463221e-02 2.66246085e+02] [-1.75413612e-01 9.84480745e-01 -5.26567907e-03 -4.44127632e+01] [-3.16854890e-02 -2.99682046e-04 9.99497844e-01 -1.19547589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.57264000000004 meters 0.02070424565152355 Centerline is valid? [True, True] Translation: X:266.28, Y:-44.41, Z:-11.96 [[ 9.83526019e-01 1.78002494e-01 3.14909840e-02 2.66275239e+02] [-1.77923954e-01 9.84029959e-01 -5.30147525e-03 -4.44118232e+01] [-3.19317475e-02 -3.88861535e-04 9.99489976e-01 -1.19563685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60264 meters 0.02284175112939118 Centerline is valid? [True, True] Translation: X:266.30, Y:-44.41, Z:-11.96 [[ 9.83365339e-01 1.78868333e-01 3.16026845e-02 2.66302692e+02] [-1.78789898e-01 9.83872928e-01 -5.31355315e-03 -4.44127984e+01] [-3.20434521e-02 -4.25076737e-04 9.99486386e-01 -1.19602252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.63264 meters 0.022066683305513014 Centerline is valid? [True, True] Translation: X:266.33, Y:-44.42, Z:-11.96 [[ 9.83253209e-01 1.79531468e-01 3.13301775e-02 2.66330737e+02] [-1.79454761e-01 9.83752131e-01 -5.26632475e-03 -4.44176665e+01] [-3.17665999e-02 -4.44218802e-04 9.99495215e-01 -1.19597036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66264 meters 0.02313454240571981 Centerline is valid? [True, True] Translation: X:266.36, Y:-44.42, Z:-11.96 [[ 9.83121598e-01 1.80273578e-01 3.11987168e-02 2.66358896e+02] [-1.80198097e-01 9.83616396e-01 -5.23756855e-03 -4.44179511e+01] [-3.16317646e-02 -4.72782632e-04 9.99499479e-01 -1.19612205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.69264 meters 0.023086025721317467 Centerline is valid? [True, True] Translation: X:266.39, Y:-44.42, Z:-11.96 [[ 9.83186615e-01 1.79957612e-01 3.09731875e-02 2.66386987e+02] [-1.79883093e-01 9.83674258e-01 -5.19873586e-03 -4.44207564e+01] [-3.14030794e-02 -4.60225269e-04 9.99506696e-01 -1.19629172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72264 meters 0.022764536970027636 Centerline is valid? [True, True] Translation: X:266.41, Y:-44.42, Z:-11.97 [[ 9.83331397e-01 1.79188223e-01 3.08373925e-02 2.66414901e+02] [-1.79114163e-01 9.83814712e-01 -5.17000716e-03 -4.44248729e+01] [-3.12646849e-02 -4.39583400e-04 9.99511044e-01 -1.19655419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.75264 meters 0.021543876961486862 Centerline is valid? [True, True] Translation: X:266.44, Y:-44.43, Z:-11.97 [[ 9.83653086e-01 1.77384700e-01 3.10044323e-02 2.66442161e+02] [-1.77309204e-01 9.84141511e-01 -5.18962945e-03 -4.44325421e+01] [-3.14333097e-02 -3.92576178e-04 9.99505774e-01 -1.19672337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78264 meters 0.01922967146788689 Centerline is valid? [True, True] Translation: X:266.47, Y:-44.44, Z:-11.97 [[ 9.83895277e-01 1.76113658e-01 3.05624477e-02 2.66468937e+02] [-1.76039663e-01 9.84369778e-01 -5.11638397e-03 -4.44400310e+01] [-3.09858150e-02 -3.46216986e-04 9.99519764e-01 -1.19662936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.81264 meters 0.02798364063320572 Centerline is valid? [True, True] Translation: X:266.50, Y:-44.45, Z:-11.97 [[ 9.84194811e-01 1.74524047e-01 3.00321551e-02 2.66497281e+02] [-1.74452122e-01 9.84652866e-01 -5.01895473e-03 -4.44459535e+01] [-3.04471758e-02 -2.99543980e-04 9.99536332e-01 -1.19689515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84264 meters 0.016733383463521097 Centerline is valid? [True, True] Translation: X:266.52, Y:-44.45, Z:-11.97 [[ 9.84585429e-01 1.71999283e-01 3.17455574e-02 2.66524177e+02] [-1.71917652e-01 9.85097047e-01 -5.30375197e-03 -4.44536295e+01] [-3.21846963e-02 -2.35624764e-04 9.99481911e-01 -1.19684258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.87264 meters 0.015691548628910448 Centerline is valid? [True, True] Translation: X:266.55, Y:-44.46, Z:-11.97 [[ 9.84871554e-01 1.70337797e-01 3.18285559e-02 2.66551857e+02] [-1.70254944e-01 9.85385712e-01 -5.31538029e-03 -4.44615375e+01] [-3.22688144e-02 -1.84002153e-04 9.99479209e-01 -1.19688359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.90264 meters 0.015546556110173849 Centerline is valid? [True, True] Translation: X:266.58, Y:-44.46, Z:-11.97 [[ 9.85088450e-01 1.69399695e-01 3.00747286e-02 2.66580900e+02] [-1.69073295e-01 9.85516397e-01 -1.31015828e-02 -4.44639309e+01] [-3.18585423e-02 7.82138447e-03 9.99461785e-01 -1.19690813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.93264 meters 0.013913543389663203 Centerline is valid? [True, True] Translation: X:266.61, Y:-44.48, Z:-11.97 [[ 9.85639224e-01 1.65445937e-01 3.38077272e-02 2.66606403e+02] [-1.65610430e-01 9.86189005e-01 2.10518873e-03 -4.44828417e+01] [-3.29925140e-02 -7.67386883e-03 9.99426138e-01 -1.19703482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96264 meters 0.014151943096223182 Centerline is valid? [True, True] Translation: X:266.63, Y:-44.49, Z:-11.97 [[ 9.85874443e-01 1.64310093e-01 3.24619119e-02 2.66633278e+02] [-1.64220944e-01 9.86408735e-01 -5.41186980e-03 -4.44859695e+01] [-3.29099383e-02 4.49832761e-06 9.99458321e-01 -1.19725121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.99264 meters 0.01456882898416231 Centerline is valid? [True, True] Translation: X:266.66, Y:-44.49, Z:-11.98 [[ 9.86086936e-01 1.63141279e-01 3.18979381e-02 2.66659731e+02] [-1.63054672e-01 9.86602717e-01 -5.31530972e-03 -4.44937715e+01] [-3.23377388e-02 4.02496571e-05 9.99476998e-01 -1.19754665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02264 meters 0.014802233691442745 Centerline is valid? [True, True] Translation: X:266.69, Y:-44.50, Z:-11.98 [[ 9.86270534e-01 1.62093707e-01 3.15604901e-02 2.66687777e+02] [-1.62008454e-01 9.86775367e-01 -5.25697267e-03 -4.45010925e+01] [-3.19952364e-02 7.17310220e-05 9.99488019e-01 -1.19778297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.05264 meters 0.01479757628732373 Centerline is valid? [True, True] Translation: X:266.72, Y:-44.51, Z:-11.98 [[ 9.86448371e-01 1.61047980e-01 3.13553866e-02 2.66715954e+02] [-1.60963351e-01 9.86946573e-01 -5.22133582e-03 -4.45080697e+01] [-3.17869770e-02 1.03510121e-04 9.99494661e-01 -1.19783888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08264 meters 0.0156597165561533 Centerline is valid? [True, True] Translation: X:266.74, Y:-44.51, Z:-11.98 [[ 9.86474016e-01 1.60887449e-01 3.13726793e-02 2.66742549e+02] [-1.60802653e-01 9.86972754e-01 -5.22398355e-03 -4.45141148e+01] [-3.18044531e-02 1.08513974e-04 9.99494105e-01 -1.19828042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.11264 meters 0.015072555692455858 Centerline is valid? [True, True] Translation: X:266.77, Y:-44.52, Z:-11.98 [[ 9.86398337e-01 1.61374061e-01 3.12527455e-02 2.66769716e+02] [-1.61290309e-01 9.86893310e-01 -5.19918975e-03 -4.45193720e+01] [-3.16821398e-02 8.77071595e-05 9.99497991e-01 -1.19822498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14264000000003 meters 0.014070347100081758 Centerline is valid? [True, True] Translation: X:266.80, Y:-44.52, Z:-11.98 [[ 9.86177194e-01 1.62510851e-01 3.23228164e-02 2.66798482e+02] [-1.62421966e-01 9.86706755e-01 -5.37442330e-03 -4.45244057e+01] [-3.27665434e-02 5.01983215e-05 9.99463031e-01 -1.19793359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.17264 meters 0.014070347100081758 Centerline is valid? [True, True] Translation: X:266.83, Y:-44.53, Z:-11.98 [[ 9.86188962e-01 1.62439384e-01 3.23230109e-02 2.66825586e+02] [-1.62350498e-01 9.86718523e-01 -5.37325343e-03 -4.45287801e+01] [-3.27665415e-02 5.13863094e-05 9.99463031e-01 -1.19806867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20264000000003 meters 0.014021894947622378 Centerline is valid? [True, True] Translation: X:266.85, Y:-44.53, Z:-11.98 [[ 9.86054207e-01 1.63257840e-01 3.23106489e-02 2.66852802e+02] [-1.63169540e-01 9.86583437e-01 -5.36878970e-03 -4.45334356e+01] [-3.27536481e-02 2.18039343e-05 9.99463455e-01 -1.19822167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.23264 meters 0.014691592524460386 Centerline is valid? [True, True] Translation: X:266.88, Y:-44.54, Z:-11.99 [[ 9.85733024e-01 1.65411587e-01 3.11353841e-02 2.66879519e+02] [-1.65330745e-01 9.86224622e-01 -5.17110418e-03 -4.45392329e+01] [-3.15618430e-02 -5.03080990e-05 9.99501800e-01 -1.19859141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26264000000003 meters 0.015058949602967575 Centerline is valid? [True, True] Translation: X:266.91, Y:-44.54, Z:-11.99 [[ 9.85459115e-01 1.67016308e-01 3.12391762e-02 2.66908539e+02] [-1.66935800e-01 9.85954128e-01 -5.18619103e-03 -4.45431649e+01] [-3.16665732e-02 -1.04157660e-04 9.99498483e-01 -1.19869156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.29264 meters 0.015311340457533195 Centerline is valid? [True, True] Translation: X:266.94, Y:-44.55, Z:-11.99 [[ 9.85122006e-01 1.68834033e-01 3.20889854e-02 2.66937066e+02] [-1.68750101e-01 9.85644480e-01 -5.32564467e-03 -4.45459788e+01] [-3.25274814e-02 -1.68609774e-04 9.99470827e-01 -1.19867065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32264000000004 meters 0.01633327057554939 Centerline is valid? [True, True] Translation: X:266.97, Y:-44.55, Z:-11.99 [[ 9.84724792e-01 1.71027788e-01 3.26585405e-02 2.66966255e+02] [-1.70942110e-01 9.85266175e-01 -5.41850703e-03 -4.45482233e+01] [-3.31040705e-02 -2.46981607e-04 9.99451880e-01 -1.19870505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.35264 meters 0.02016221433297429 Centerline is valid? [True, True] Translation: X:266.99, Y:-44.55, Z:-11.99 [[ 9.83920838e-01 1.75556318e-01 3.28597759e-02 2.66993902e+02] [-1.75472145e-01 9.84469307e-01 -5.45063947e-03 -4.45477199e+01] [-3.33063350e-02 -4.02977601e-04 9.99445109e-01 -1.19892881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.38264 meters 0.022562369251579492 Centerline is valid? [True, True] Translation: X:267.02, Y:-44.55, Z:-11.99 [[ 9.83474650e-01 1.78102004e-01 3.25159942e-02 2.67022586e+02] [-1.78021065e-01 9.84011910e-01 -5.39085192e-03 -4.45492238e+01] [-3.29562471e-02 -4.86765701e-04 9.99456677e-01 -1.19907020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.41264 meters 0.024829267239431123 Centerline is valid? [True, True] Translation: X:267.05, Y:-44.55, Z:-11.99 [[ 9.83069119e-01 1.80380963e-01 3.22151440e-02 2.67051404e+02] [-1.80302723e-01 9.83596664e-01 -5.34142549e-03 -4.45498531e+01] [-3.26501997e-02 -5.57487740e-04 9.99466685e-01 -1.19926148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.44264 meters 0.031956174059380366 Centerline is valid? [True, True] Translation: X:267.08, Y:-44.54, Z:-12.00 [[ 9.82200918e-01 1.85212022e-01 3.12708163e-02 2.67081597e+02] [-1.85140998e-01 9.82698331e-01 -5.17692902e-03 -4.45445206e+01] [-3.16886085e-02 -7.04725714e-04 9.99497541e-01 -1.19979668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.47264 meters 0.03303333094843945 Centerline is valid? [True, True] Translation: X:267.11, Y:-44.55, Z:-12.00 [[ 9.81820227e-01 1.87331367e-01 3.05941284e-02 2.67111029e+02] [-1.87264405e-01 9.82296486e-01 -5.06510620e-03 -4.45479638e+01] [-3.10013581e-02 -7.56167535e-04 9.99519056e-01 -1.19991882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.50264 meters 0.035420670410428866 Centerline is valid? [True, True] Translation: X:267.14, Y:-44.55, Z:-12.00 [[ 9.81510136e-01 1.89021001e-01 3.01482093e-02 2.67139435e+02] [-1.88956775e-01 9.81972721e-01 -4.99122837e-03 -4.45495314e+01] [-3.05481662e-02 -7.97767185e-04 9.99532978e-01 -1.20018553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.53264 meters 0.038129242560547526 Centerline is valid? [True, True] Translation: X:267.17, Y:-44.55, Z:-12.00 [[ 9.81062438e-01 1.91148522e-01 3.12847452e-02 2.67167601e+02] [-1.91080505e-01 9.81560714e-01 -5.17740854e-03 -4.45490760e+01] [-3.16975308e-02 -8.98543857e-04 9.99497103e-01 -1.20021281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.56264 meters 0.03840679215661121 Centerline is valid? [True, True] Translation: X:267.20, Y:-44.55, Z:-12.00 [[ 9.81014605e-01 1.91293440e-01 3.18930084e-02 2.67195611e+02] [-1.91222822e-01 9.81532461e-01 -5.27828722e-03 -4.45520053e+01] [-3.23137247e-02 -9.20594201e-04 9.99477351e-01 -1.20017180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.59264 meters 0.03843254988189171 Centerline is valid? [True, True] Translation: X:267.22, Y:-44.56, Z:-12.00 [[ 9.81050628e-01 1.91063852e-01 3.21600528e-02 2.67222877e+02] [-1.90992127e-01 9.81577172e-01 -5.31621634e-03 -4.45553996e+01] [-3.25833105e-02 -9.26839496e-04 9.99468593e-01 -1.20021902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.62264 meters 0.03690224301953562 Centerline is valid? [True, True] Translation: X:267.25, Y:-44.56, Z:-12.00 [[ 9.81352929e-01 1.89422790e-01 3.26410050e-02 2.67249744e+02] [-1.89348275e-01 9.81895212e-01 -5.38726573e-03 -4.45614100e+01] [-3.30705175e-02 -8.93708993e-04 9.99452621e-01 -1.20029724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.65264 meters 0.035443582528875556 Centerline is valid? [True, True] Translation: X:267.28, Y:-44.57, Z:-12.00 [[ 9.81689320e-01 1.87707709e-01 3.24329247e-02 2.67277703e+02] [-1.87633213e-01 9.82224580e-01 -5.35270920e-03 -4.45677280e+01] [-3.28611606e-02 -8.30796429e-04 9.99459581e-01 -1.20046434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.68264 meters 0.03418058147169623 Centerline is valid? [True, True] Translation: X:267.31, Y:-44.57, Z:-12.01 [[ 9.82018866e-01 1.85992259e-01 3.23392416e-02 2.67305247e+02] [-1.85917437e-01 9.82550903e-01 -5.33196458e-03 -4.45736562e+01] [-3.27666551e-02 -7.76339093e-04 9.99462727e-01 -1.20065754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.71264 meters 0.031295778056766685 Centerline is valid? [True, True] Translation: X:267.33, Y:-44.58, Z:-12.01 [[ 9.82558254e-01 1.83142925e-01 3.22171621e-02 2.67332300e+02] [-1.83067368e-01 9.83086059e-01 -5.30472513e-03 -4.45826496e+01] [-3.26437658e-02 -6.85709600e-04 9.99466815e-01 -1.20084271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.74264 meters 0.029949928274604 Centerline is valid? [True, True] Translation: X:267.36, Y:-44.59, Z:-12.01 [[ 9.82809627e-01 1.81775865e-01 3.22919797e-02 2.67360532e+02] [-1.81699206e-01 9.83339780e-01 -5.31741046e-03 -4.45887292e+01] [-3.27205651e-02 -6.41424878e-04 9.99464333e-01 -1.20093637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.77264 meters 0.02521914958011312 Centerline is valid? [True, True] Translation: X:267.39, Y:-44.60, Z:-12.01 [[ 9.83043006e-01 1.80477831e-01 3.24684691e-02 2.67388507e+02] [-1.80399791e-01 9.83578865e-01 -5.34141198e-03 -4.45982644e+01] [-3.28993064e-02 -6.06467361e-04 9.99458487e-01 -1.20063084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.80264 meters 0.02485047363245094 Centerline is valid? [True, True] Translation: X:267.42, Y:-44.60, Z:-12.01 [[ 9.83458192e-01 1.78282980e-01 3.20181801e-02 2.67415513e+02] [-1.78206149e-01 9.83979113e-01 -5.26049223e-03 -4.46028432e+01] [-3.24430767e-02 -5.32362414e-04 9.99473443e-01 -1.20104041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.83264 meters 0.023836774393626206 Centerline is valid? [True, True] Translation: X:267.44, Y:-44.61, Z:-12.01 [[ 9.83694763e-01 1.77070835e-01 3.14727187e-02 2.67443131e+02] [-1.76996091e-01 9.84197989e-01 -5.16737724e-03 -4.46102051e+01] [-3.18903783e-02 -4.87426269e-04 9.99491254e-01 -1.20109215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86264 meters 0.023821837696087422 Centerline is valid? [True, True] Translation: X:267.47, Y:-44.61, Z:-12.01 [[ 9.83812137e-01 1.76380247e-01 3.16810173e-02 2.67470935e+02] [-1.76304198e-01 9.84321994e-01 -5.20018928e-03 -4.46123948e+01] [-3.21015328e-02 -4.69487012e-04 9.99484503e-01 -1.20143163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.89264000000003 meters 0.021486903349438757 Centerline is valid? [True, True] Translation: X:267.50, Y:-44.62, Z:-12.01 [[ 9.84002050e-01 1.75388554e-01 3.12861249e-02 2.67499065e+02] [-1.75313955e-01 9.84499196e-01 -5.13325544e-03 -4.46184570e+01] [-3.17014790e-02 -4.33760402e-04 9.99497288e-01 -1.20134224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92264 meters 0.03133986106021822 Centerline is valid? [True, True] Translation: X:267.53, Y:-44.62, Z:-12.02 [[ 9.84395699e-01 1.73136814e-01 3.14444284e-02 2.67526738e+02] [-1.73060352e-01 9.84897716e-01 -5.15787758e-03 -4.46212287e+01] [-3.18625642e-02 -3.64391326e-04 9.99492193e-01 -1.20187605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.95264000000003 meters 0.018956635974545343 Centerline is valid? [True, True] Translation: X:267.55, Y:-44.63, Z:-12.01 [[ 9.84424184e-01 1.72859892e-01 3.20699845e-02 2.67554942e+02] [-1.72780281e-01 9.84946356e-01 -5.25829459e-03 -4.46292337e+01] [-3.24961626e-02 -3.64668577e-04 9.99471794e-01 -1.20140763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98264 meters 0.021119666046868657 Centerline is valid? [True, True] Translation: X:267.58, Y:-44.63, Z:-12.02 [[ 9.84662546e-01 1.71581110e-01 3.16163379e-02 2.67582243e+02] [-1.71503120e-01 9.85169945e-01 -5.18258316e-03 -4.46301510e+01] [-3.20366992e-02 -3.19205049e-04 9.99486642e-01 -1.20219158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.01264000000003 meters 0.018069698574925068 Centerline is valid? [True, True] Translation: X:267.61, Y:-44.64, Z:-12.02 [[ 9.84759323e-01 1.71044254e-01 3.15109372e-02 2.67610800e+02] [-1.70966576e-01 9.85263301e-01 -5.16315745e-03 -4.46368232e+01] [-3.19296984e-02 -3.02849617e-04 9.99490071e-01 -1.20176150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04264 meters 0.02274240317754321 Centerline is valid? [True, True] Translation: X:267.64, Y:-44.64, Z:-12.02 [[ 9.84882696e-01 1.70353249e-01 3.13981911e-02 2.67639363e+02] [-1.70275825e-01 9.85383018e-01 -5.14314750e-03 -4.46392443e+01] [-3.18153962e-02 -2.80955922e-04 9.99493723e-01 -1.20192551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.07264000000004 meters 0.018747379361117613 Centerline is valid? [True, True] Translation: X:267.67, Y:-44.64, Z:-12.02 [[ 9.84806749e-01 1.70677058e-01 3.20157690e-02 2.67667375e+02] [-1.70596774e-01 9.85326978e-01 -5.24288598e-03 -4.46405213e+01] [-3.24408413e-02 -2.98557412e-04 9.99473613e-01 -1.20214380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10264 meters 0.018407436362740313 Centerline is valid? [True, True] Translation: X:267.70, Y:-44.64, Z:-12.02 [[ 9.84883171e-01 1.70273254e-01 3.18144301e-02 2.67695143e+02] [-1.70193823e-01 9.85396843e-01 -5.20816563e-03 -4.46424495e+01] [-3.22366502e-02 -2.85184807e-04 9.99480223e-01 -1.20225843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.13264 meters 0.017385202119968222 Centerline is valid? [True, True] Translation: X:267.72, Y:-44.65, Z:-12.02 [[ 9.84978555e-01 1.69712803e-01 3.18560788e-02 2.67723965e+02] [-1.69632956e-01 9.85493527e-01 -5.21234701e-03 -4.46476126e+01] [-3.22785615e-02 -2.69790797e-04 9.99478875e-01 -1.20226069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16264 meters 0.01705680707786302 Centerline is valid? [True, True] Translation: X:267.75, Y:-44.65, Z:-12.03 [[ 9.85201695e-01 1.68611424e-01 3.07864971e-02 2.67752262e+02] [-1.68536356e-01 9.85682574e-01 -5.03591829e-03 -4.46530185e+01] [-3.11948271e-02 -2.27248807e-04 9.99513297e-01 -1.20257702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.19264 meters 0.017375332711255128 Centerline is valid? [True, True] Translation: X:267.78, Y:-44.66, Z:-12.03 [[ 9.85448333e-01 1.67382137e-01 2.95770685e-02 2.67779371e+02] [-1.67312333e-01 9.85892077e-01 -4.83696385e-03 -4.46582008e+01] [-2.99694188e-02 -1.82030373e-04 9.99550800e-01 -1.20310247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22264 meters 0.016481214611466614 Centerline is valid? [True, True] Translation: X:267.81, Y:-44.67, Z:-12.03 [[ 9.85904485e-01 1.64841032e-01 2.86318001e-02 2.67806957e+02] [-1.64774602e-01 9.86320142e-01 -4.68049959e-03 -4.46664541e+01] [-2.90116595e-02 -1.03267927e-04 9.99579068e-01 -1.20335906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.25264 meters 0.015385289065804764 Centerline is valid? [True, True] Translation: X:267.84, Y:-44.67, Z:-12.03 [[ 9.86078243e-01 1.63768042e-01 2.88049938e-02 2.67835641e+02] [-1.63700388e-01 9.86498871e-01 -4.70746040e-03 -4.46721118e+01] [-2.91870254e-02 -7.34643665e-05 9.99573965e-01 -1.20315985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28264 meters 0.01526437873023526 Centerline is valid? [True, True] Translation: X:267.86, Y:-44.68, Z:-12.03 [[ 9.86197132e-01 1.62991918e-01 2.91350560e-02 2.67863403e+02] [-1.62922401e-01 9.86627403e-01 -4.76015576e-03 -4.46761403e+01] [-2.95213116e-02 -5.23013348e-05 9.99564150e-01 -1.20320292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.31264 meters 0.016345587598590065 Centerline is valid? [True, True] Translation: X:267.89, Y:-44.68, Z:-12.04 [[ 9.86277242e-01 1.62478093e-01 2.92928444e-02 2.67891188e+02] [-1.62407650e-01 9.86712150e-01 -4.78407775e-03 -4.46798307e+01] [-2.96809133e-02 -3.89550234e-05 9.99559424e-01 -1.20370127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34264 meters 0.014799687496491354 Centerline is valid? [True, True] Translation: X:267.92, Y:-44.69, Z:-12.03 [[ 9.86470356e-01 1.61108514e-01 3.03361637e-02 2.67919282e+02] [-1.61032382e-01 9.86936699e-01 -4.95227332e-03 -4.46870872e+01] [-3.07377266e-02 1.66125249e-07 9.99527484e-01 -1.20327865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.37264 meters 0.024666825126513678 Centerline is valid? [True, True] Translation: X:267.95, Y:-44.69, Z:-12.03 [[ 9.86617756e-01 1.60183298e-01 3.04419980e-02 2.67946358e+02] [-1.60106226e-01 9.87087286e-01 -4.96849742e-03 -4.46918423e+01] [-3.08447795e-02 2.80543536e-05 9.99524186e-01 -1.20347407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.40264 meters 0.014752067532095622 Centerline is valid? [True, True] Translation: X:267.97, Y:-44.70, Z:-12.03 [[ 9.86560437e-01 1.60490501e-01 3.06806644e-02 2.67974729e+02] [-1.60412449e-01 9.87037385e-01 -5.00474528e-03 -4.46966429e+01] [-3.10861768e-02 1.59231843e-05 9.99516708e-01 -1.20346429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.43264 meters 0.014776040264912934 Centerline is valid? [True, True] Translation: X:268.00, Y:-44.70, Z:-12.04 [[ 9.86524322e-01 1.60777875e-01 3.03354043e-02 2.68002894e+02] [-1.60701750e-01 9.86990615e-01 -4.94698183e-03 -4.47002872e+01] [-3.07361246e-02 5.36532772e-06 9.99527534e-01 -1.20361108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46264 meters 0.014744642683170023 Centerline is valid? [True, True] Translation: X:268.03, Y:-44.71, Z:-12.04 [[ 9.86509053e-01 1.60780384e-01 3.08148734e-02 2.68030679e+02] [-1.60701859e-01 9.86990207e-01 -5.02438444e-03 -4.47051363e+01] [-3.12218007e-02 4.59330052e-06 9.99512481e-01 -1.20374012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.49264 meters 0.02455452007488446 Centerline is valid? [True, True] Translation: X:268.06, Y:-44.71, Z:-12.04 [[ 9.86585218e-01 1.60221351e-01 3.12846012e-02 2.68058784e+02] [-1.60140247e-01 9.87081110e-01 -5.09733445e-03 -4.47094592e+01] [-3.16971407e-02 1.90310467e-05 9.99497519e-01 -1.20389913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52264 meters 0.014268538475990454 Centerline is valid? [True, True] Translation: X:268.09, Y:-44.72, Z:-12.04 [[ 9.86688384e-01 1.59470061e-01 3.18642800e-02 2.68085924e+02] [-1.59385577e-01 9.87202764e-01 -5.19038357e-03 -4.47159095e+01] [-3.22842161e-02 4.25845338e-05 9.99478728e-01 -1.20368462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.55264 meters 0.01447625892091972 Centerline is valid? [True, True] Translation: X:268.11, Y:-44.72, Z:-12.04 [[ 9.86840662e-01 1.58409160e-01 3.24352505e-02 2.68112612e+02] [-1.58321114e-01 9.87373552e-01 -5.28135059e-03 -4.47227850e+01] [-3.28623228e-02 7.66665123e-05 9.99459885e-01 -1.20384757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58264 meters 0.014612598510140651 Centerline is valid? [True, True] Translation: X:268.14, Y:-44.73, Z:-12.04 [[ 9.86968700e-01 1.57527393e-01 3.28314649e-02 2.68140665e+02] [-1.57436768e-01 9.87514612e-01 -5.34365071e-03 -4.47302080e+01] [-3.32633227e-02 1.05136260e-04 9.99446617e-01 -1.20395974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.61264 meters 0.015040665379715601 Centerline is valid? [True, True] Translation: X:268.17, Y:-44.74, Z:-12.04 [[ 9.87246777e-01 1.55770176e-01 3.28550462e-02 2.68167818e+02] [-1.55678499e-01 9.87793311e-01 -5.34593611e-03 -4.47400036e+01] [-3.32867323e-02 1.62933902e-04 9.99445830e-01 -1.20402776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64264000000003 meters 0.015157695785952899 Centerline is valid? [True, True] Translation: X:268.20, Y:-44.75, Z:-12.04 [[ 9.87396647e-01 1.54985067e-01 3.20544998e-02 2.68195787e+02] [-1.54897439e-01 9.87916796e-01 -5.21422043e-03 -4.47466147e+01] [-3.24753050e-02 1.83343844e-04 9.99472521e-01 -1.20406651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.67264 meters 0.021103633839320336 Centerline is valid? [True, True] Translation: X:268.22, Y:-44.76, Z:-12.04 [[ 9.87588111e-01 1.53850226e-01 3.16200947e-02 2.68222655e+02] [-1.53764419e-01 9.88094156e-01 -5.14222684e-03 -4.47552222e+01] [-3.20347635e-02 2.16356617e-04 9.99486732e-01 -1.20440652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70264000000003 meters 0.016408306927023445 Centerline is valid? [True, True] Translation: X:268.25, Y:-44.76, Z:-12.05 [[ 9.87557810e-01 1.54058549e-01 3.15521102e-02 2.68248579e+02] [-1.53973266e-01 9.88061699e-01 -5.12960972e-03 -4.47618431e+01] [-3.19656918e-02 2.07604689e-04 9.99488945e-01 -1.20469224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.73264 meters 0.016442069790227474 Centerline is valid? [True, True] Translation: X:268.28, Y:-44.77, Z:-12.05 [[ 9.87530031e-01 1.54403066e-01 3.07267116e-02 2.68276374e+02] [-1.54322453e-01 9.88007924e-01 -4.99226308e-03 -4.47683385e+01] [-3.11290552e-02 1.88188215e-04 9.99515356e-01 -1.20500329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76264000000003 meters 0.01648962055242962 Centerline is valid? [True, True] Translation: X:268.30, Y:-44.77, Z:-12.05 [[ 9.87451716e-01 1.55041559e-01 3.00204015e-02 2.68303966e+02] [-1.54964940e-01 9.87907935e-01 -4.87634557e-03 -4.47745539e+01] [-3.04134291e-02 1.63046062e-04 9.99537391e-01 -1.20527177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.79264 meters 0.01872555771169486 Centerline is valid? [True, True] Translation: X:268.33, Y:-44.78, Z:-12.05 [[ 9.86977294e-01 1.57947176e-01 3.04714755e-02 2.68332886e+02] [-1.57869684e-01 9.87447560e-01 -4.94758080e-03 -4.47784372e+01] [-3.08704405e-02 7.26276923e-05 9.99523392e-01 -1.20522306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82264000000004 meters 0.014776786038219475 Centerline is valid? [True, True] Translation: X:268.36, Y:-44.78, Z:-12.05 [[ 9.86606867e-01 1.60110780e-01 3.11677484e-02 2.68361313e+02] [-1.60030834e-01 9.87099052e-01 -5.05905922e-03 -4.47819927e+01] [-3.15756648e-02 3.50178149e-06 9.99501364e-01 -1.20522608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.85264 meters 0.014894023575503233 Centerline is valid? [True, True] Translation: X:268.39, Y:-44.79, Z:-12.05 [[ 9.86250778e-01 1.62321161e-01 3.10039393e-02 2.68389748e+02] [-1.62243191e-01 9.86737977e-01 -5.03100305e-03 -4.47854455e+01] [-3.14094026e-02 -6.83473652e-05 9.99506601e-01 -1.20528358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.88264 meters 0.027211890413736162 Centerline is valid? [True, True] Translation: X:268.42, Y:-44.79, Z:-12.06 [[ 9.85543143e-01 1.66739703e-01 3.00430615e-02 2.68417789e+02] [-1.66668586e-01 9.86000928e-01 -4.87366059e-03 -4.47859888e+01] [-3.04351192e-02 -2.04031796e-04 9.99536724e-01 -1.20564520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.91264 meters 0.024326572361165744 Centerline is valid? [True, True] Translation: X:268.45, Y:-44.79, Z:-12.06 [[ 9.85157165e-01 1.69012889e-01 3.00000664e-02 2.68446101e+02] [-1.68943074e-01 9.85613802e-01 -4.86521426e-03 -4.47887571e+01] [-3.03907635e-02 -2.75302750e-04 9.99538056e-01 -1.20573598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.94264 meters 0.020383264424022954 Centerline is valid? [True, True] Translation: X:268.47, Y:-44.79, Z:-12.06 [[ 9.84731762e-01 1.71441881e-01 3.01834021e-02 2.68473526e+02] [-1.71372389e-01 9.85194172e-01 -4.89364926e-03 -4.47910290e+01] [-3.05754883e-02 -3.53669885e-04 9.99532398e-01 -1.20589960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.97264 meters 0.024790359135279674 Centerline is valid? [True, True] Translation: X:268.50, Y:-44.79, Z:-12.06 [[ 9.84382552e-01 1.73505907e-01 2.97773775e-02 2.68502158e+02] [-1.73439278e-01 9.84832742e-01 -4.82577150e-03 -4.47933877e+01] [-3.01630362e-02 -4.14161588e-04 9.99544906e-01 -1.20602879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.00264 meters 0.02734155906758796 Centerline is valid? [True, True] Translation: X:268.53, Y:-44.79, Z:-12.06 [[ 9.83462993e-01 1.78611553e-01 2.99742232e-02 2.68531795e+02] [-1.78546468e-01 9.83919499e-01 -4.85571110e-03 -4.47897261e+01] [-3.03595088e-02 -5.76379511e-04 9.99538878e-01 -1.20625986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.03264 meters 0.028837725655024547 Centerline is valid? [True, True] Translation: X:268.56, Y:-44.79, Z:-12.06 [[ 9.83039023e-01 1.80967576e-01 2.97492107e-02 2.68560878e+02] [-1.80904480e-01 9.83488853e-01 -4.82132773e-03 -4.47907746e+01] [-3.01305211e-02 -6.42212187e-04 9.99545766e-01 -1.20628525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.06264 meters 0.028837725655024547 Centerline is valid? [True, True] Translation: X:268.59, Y:-44.79, Z:-12.06 [[ 9.83073860e-01 1.80778114e-01 2.97499537e-02 2.68587986e+02] [-1.80715070e-01 9.83523697e-01 -4.81673724e-03 -4.47949700e+01] [-3.01305451e-02 -6.41056481e-04 9.99545766e-01 -1.20642032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.09264 meters 0.031216162985233786 Centerline is valid? [True, True] Translation: X:268.62, Y:-44.80, Z:-12.06 [[ 9.82685383e-01 1.82793380e-01 3.02657973e-02 2.68617476e+02] [-1.82729288e-01 9.83151087e-01 -4.89364410e-03 -4.47950106e+01] [-3.06503773e-02 -7.21535064e-04 9.99529906e-01 -1.20648941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.12264 meters 0.035119564162104024 Centerline is valid? [True, True] Translation: X:268.65, Y:-44.79, Z:-12.06 [[ 9.82034092e-01 1.85909904e-01 3.23504301e-02 2.68646060e+02] [-1.85838626e-01 9.82566399e-01 -5.22276104e-03 -4.47913828e+01] [-3.27574086e-02 -8.83030086e-04 9.99462942e-01 -1.20633649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.15264 meters 0.03495447526731699 Centerline is valid? [True, True] Translation: X:268.67, Y:-44.79, Z:-12.06 [[ 9.81886663e-01 1.86640196e-01 3.26192950e-02 2.68674423e+02] [-1.86568138e-01 9.82427911e-01 -5.26591990e-03 -4.47946671e+01] [-3.30289382e-02 -9.15184623e-04 9.99453977e-01 -1.20629939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.18264 meters 0.03467733192358982 Centerline is valid? [True, True] Translation: X:268.70, Y:-44.80, Z:-12.06 [[ 9.81927810e-01 1.86427242e-01 3.25984597e-02 2.68701969e+02] [-1.86355333e-01 9.82468346e-01 -5.25731072e-03 -4.47979150e+01] [-3.30070607e-02 -9.12597195e-04 9.99454702e-01 -1.20642963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.21264 meters 0.030861593321671644 Centerline is valid? [True, True] Translation: X:268.73, Y:-44.80, Z:-12.06 [[ 9.82251600e-01 1.84730948e-01 3.25003373e-02 2.68729969e+02] [-1.84658765e-01 9.82788755e-01 -5.23474830e-03 -4.48044457e+01] [-3.29079861e-02 -8.59632275e-04 9.99458016e-01 -1.20639627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.24264 meters 0.032212425376450665 Centerline is valid? [True, True] Translation: X:268.76, Y:-44.81, Z:-12.07 [[ 9.82575723e-01 1.83030444e-01 3.23234358e-02 2.68757557e+02] [-1.82958377e-01 9.83106915e-01 -5.19856037e-03 -4.48057456e+01] [-3.27288881e-02 -8.05864154e-04 9.99463942e-01 -1.20681873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.27264 meters 0.027199866695028156 Centerline is valid? [True, True] Translation: X:268.79, Y:-44.81, Z:-12.07 [[ 9.83385436e-01 1.78824807e-01 3.12213632e-02 2.68785509e+02] [-1.78755458e-01 9.83880722e-01 -5.02112518e-03 -4.48146618e+01] [-3.16159991e-02 -6.43287695e-04 9.99499882e-01 -1.20703658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.30264 meters 0.024936460347134797 Centerline is valid? [True, True] Translation: X:268.81, Y:-44.82, Z:-12.07 [[ 9.83786201e-01 1.76669399e-01 3.08647695e-02 2.68814071e+02] [-1.76600710e-01 9.84270083e-01 -4.95911512e-03 -4.48203983e+01] [-3.12553931e-02 -5.72031188e-04 9.99511267e-01 -1.20715868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.33264 meters 0.024946897290770566 Centerline is valid? [True, True] Translation: X:268.84, Y:-44.82, Z:-12.08 [[ 9.84120836e-01 1.74789486e-01 3.09000786e-02 2.68841379e+02] [-1.74719933e-01 9.84605690e-01 -4.95780881e-03 -4.48233132e+01] [-3.12909660e-02 -5.19776689e-04 9.99510183e-01 -1.20754145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36264 meters 0.023344418362727538 Centerline is valid? [True, True] Translation: X:268.87, Y:-44.83, Z:-12.08 [[ 9.84494733e-01 1.72742828e-01 3.04964932e-02 2.68869423e+02] [-1.72674141e-01 9.84966859e-01 -4.89166863e-03 -4.48281063e+01] [-3.08830358e-02 -4.50133770e-04 9.99522904e-01 -1.20773193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.39264000000003 meters 0.021125135505583714 Centerline is valid? [True, True] Translation: X:268.90, Y:-44.83, Z:-12.08 [[ 9.85119112e-01 1.69336874e-01 2.94169771e-02 2.68897191e+02] [-1.69271646e-01 9.85558171e-01 -4.71176006e-03 -4.48318281e+01] [-2.97900169e-02 -3.37815261e-04 9.99556122e-01 -1.20808453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42264 meters 0.020274668085192453 Centerline is valid? [True, True] Translation: X:268.92, Y:-44.84, Z:-12.08 [[ 9.85435210e-01 1.67544351e-01 2.90918902e-02 2.68924551e+02] [-1.67479827e-01 9.85864499e-01 -4.65795914e-03 -4.48358579e+01] [-2.94610765e-02 -2.82187794e-04 9.99565888e-01 -1.20835079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.45264000000003 meters 0.018861053162781204 Centerline is valid? [True, True] Translation: X:268.95, Y:-44.84, Z:-12.08 [[ 9.85772405e-01 1.65501378e-01 2.93608474e-02 2.68953257e+02] [-1.65434809e-01 9.86209533e-01 -4.69903174e-03 -4.48412650e+01] [-2.97336438e-02 -2.25130359e-04 9.99557832e-01 -1.20846458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48264 meters 0.017106890265354713 Centerline is valid? [True, True] Translation: X:268.98, Y:-44.85, Z:-12.08 [[ 9.86138340e-01 1.63250230e-01 2.96738326e-02 2.68981738e+02] [-1.63181256e-01 9.86584683e-01 -4.74772422e-03 -4.48474243e+01] [-3.00508158e-02 -1.60300398e-04 9.99548359e-01 -1.20845306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.51264000000003 meters 0.015642469974452813 Centerline is valid? [True, True] Translation: X:269.01, Y:-44.86, Z:-12.08 [[ 9.87036439e-01 1.57642284e-01 3.01326905e-02 2.69009958e+02] [-1.57568591e-01 9.87496284e-01 -4.81964772e-03 -4.48554706e+01] [-3.05157002e-02 9.20234662e-06 9.99534288e-01 -1.20846978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54264 meters 0.01599169846054028 Centerline is valid? [True, True] Translation: X:269.04, Y:-44.86, Z:-12.09 [[ 9.87577914e-01 1.54170071e-01 3.03554365e-02 2.69037335e+02] [-1.54093689e-01 9.88044319e-01 -4.85378499e-03 -4.48636333e+01] [-3.07408250e-02 1.15909649e-04 9.99527382e-01 -1.20859083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.57264000000004 meters 0.01719250781131384 Centerline is valid? [True, True] Translation: X:269.07, Y:-44.87, Z:-12.09 [[ 9.88106605e-01 1.50642167e-01 3.08589435e-02 2.69065070e+02] [-1.50561556e-01 9.88588330e-01 -4.93276967e-03 -4.48726401e+01] [-3.12498745e-02 2.27931743e-04 9.99511577e-01 -1.20868413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.60264 meters 0.02218449610000926 Centerline is valid? [True, True] Translation: X:269.09, Y:-44.89, Z:-12.09 [[ 9.89145629e-01 1.43640374e-01 3.09575250e-02 2.69091850e+02] [-1.43555861e-01 9.89629851e-01 -4.94707221e-03 -4.48856683e+01] [-3.13470901e-02 4.49240701e-04 9.99508458e-01 -1.20877577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.63264 meters 0.02943407944004528 Centerline is valid? [True, True] Translation: X:269.12, Y:-44.89, Z:-12.09 [[ 9.89629762e-01 1.40483708e-01 2.99543274e-02 2.69121017e+02] [-1.40403196e-01 9.90082849e-01 -4.78489679e-03 -4.48919044e+01] [-3.03294659e-02 5.29592975e-04 9.99539816e-01 -1.20875619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66264 meters 0.02707081985475904 Centerline is valid? [True, True] Translation: X:269.15, Y:-44.90, Z:-12.09 [[ 9.89953261e-01 1.37918000e-01 3.11635299e-02 2.69147053e+02] [-1.37829592e-01 9.90443449e-01 -4.97779046e-03 -4.49018824e+01] [-3.15522409e-02 6.32523296e-04 9.99501904e-01 -1.20899648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.69264 meters 0.0348175262530975 Centerline is valid? [True, True] Translation: X:269.18, Y:-44.91, Z:-12.09 [[ 9.90277406e-01 1.35602252e-01 3.10272159e-02 2.69175017e+02] [-1.35513538e-01 9.90763109e-01 -4.95416695e-03 -4.49097028e+01] [-3.14124171e-02 7.01391804e-04 9.99506262e-01 -1.20898715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72264 meters 0.0430488236873164 Centerline is valid? [True, True] Translation: X:269.20, Y:-44.92, Z:-12.09 [[ 9.90811335e-01 1.31406720e-01 3.20183120e-02 2.69201072e+02] [-1.31310107e-01 9.91328167e-01 -5.11083293e-03 -4.49241870e+01] [-3.24122524e-02 8.59543206e-04 9.99474215e-01 -1.20904116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.75264 meters 0.03068568345926564 Centerline is valid? [True, True] Translation: X:269.23, Y:-44.93, Z:-12.09 [[ 9.91019675e-01 1.29666682e-01 3.26581483e-02 2.69230338e+02] [-1.29565274e-01 9.91557200e-01 -5.21144211e-03 -4.49270188e+01] [-3.30581725e-02 9.33279740e-04 9.99452994e-01 -1.20879488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78264 meters 0.03656825336407898 Centerline is valid? [True, True] Translation: X:269.26, Y:-44.94, Z:-12.09 [[ 9.91235119e-01 1.28116011e-01 3.22370261e-02 2.69257448e+02] [-1.28016443e-01 9.91758714e-01 -5.14240542e-03 -4.49380004e+01] [-3.26301760e-02 9.70463442e-04 9.99467023e-01 -1.20902423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.81264 meters 0.033677324761299574 Centerline is valid? [True, True] Translation: X:269.29, Y:-44.95, Z:-12.09 [[ 9.91386825e-01 1.26951081e-01 3.21805395e-02 2.69285937e+02] [-1.26851290e-01 9.91908469e-01 -5.13210983e-03 -4.49470381e+01] [-3.25716766e-02 1.00576310e-03 9.99468896e-01 -1.20920529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84264 meters 0.03799050903698229 Centerline is valid? [True, True] Translation: X:269.31, Y:-44.96, Z:-12.10 [[ 9.91476973e-01 1.26521502e-01 3.10760711e-02 2.69313386e+02] [-1.26428252e-01 9.91963377e-01 -4.95545525e-03 -4.49567859e+01] [-3.14532961e-02 9.84326433e-04 9.99504738e-01 -1.20958263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.87264 meters 0.036198048691832505 Centerline is valid? [True, True] Translation: X:269.34, Y:-44.96, Z:-12.10 [[ 9.91432904e-01 1.26768971e-01 3.14710186e-02 2.69341502e+02] [-1.26673491e-01 9.91931778e-01 -5.01742856e-03 -4.49642292e+01] [-3.18531577e-02 9.87899956e-04 9.99492071e-01 -1.20979996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90264 meters 0.03776154229664922 Centerline is valid? [True, True] Translation: X:269.37, Y:-44.97, Z:-12.10 [[ 9.91275892e-01 1.28401583e-01 2.97512967e-02 2.69369676e+02] [-1.28317038e-01 9.91721863e-01 -4.74166237e-03 -4.49739746e+01] [-3.01138484e-02 8.82697314e-04 9.99546085e-01 -1.21019093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.93264 meters 0.03406397541343798 Centerline is valid? [True, True] Translation: X:269.40, Y:-44.98, Z:-12.10 [[ 9.91058868e-01 1.30036630e-01 2.98796707e-02 2.69397758e+02] [-1.29952135e-01 9.91508839e-01 -4.76082160e-03 -4.49804128e+01] [-3.02450388e-02 8.35327456e-04 9.99542165e-01 -1.21044852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96264 meters 0.0321796257366869 Centerline is valid? [True, True] Translation: X:269.43, Y:-44.99, Z:-12.11 [[ 9.90802588e-01 1.32074924e-01 2.94354547e-02 2.69426268e+02] [-1.31993818e-01 9.91239443e-01 -4.69019058e-03 -4.49853143e+01] [-2.97970403e-02 7.61754919e-04 9.99555679e-01 -1.21062291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.99264 meters 0.027606404989354127 Centerline is valid? [True, True] Translation: X:269.46, Y:-44.99, Z:-12.11 [[ 9.90196590e-01 1.36558866e-01 2.93664631e-02 2.69455504e+02] [-1.36480163e-01 9.90631762e-01 -4.67735874e-03 -4.49898644e+01] [-2.97300859e-02 6.23564991e-04 9.99557769e-01 -1.21073358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02264 meters 0.025056372119966475 Centerline is valid? [True, True] Translation: X:269.48, Y:-44.99, Z:-12.11 [[ 9.89870968e-01 1.39021686e-01 2.87826013e-02 2.69483758e+02] [-1.38947128e-01 9.90289190e-01 -4.58418401e-03 -4.49937767e+01] [-2.91404000e-02 5.38490861e-04 9.99575183e-01 -1.21084418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.05264 meters 0.027723427761747136 Centerline is valid? [True, True] Translation: X:269.51, Y:-45.00, Z:-12.11 [[ 9.89527676e-01 1.41585322e-01 2.80815717e-02 2.69512639e+02] [-1.41515420e-01 9.89925954e-01 -4.47123741e-03 -4.49969326e+01] [-2.84317382e-02 4.50437732e-04 9.99595635e-01 -1.21085896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08264 meters 0.01998942397889586 Centerline is valid? [True, True] Translation: X:269.54, Y:-45.00, Z:-12.11 [[ 9.88619314e-01 1.47461863e-01 2.97800526e-02 2.69541453e+02] [-1.47385974e-01 9.89067698e-01 -4.73957933e-03 -4.50013241e+01] [-3.01533953e-02 2.96477608e-04 9.99545239e-01 -1.21127698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.11264 meters 0.017492295922718226 Centerline is valid? [True, True] Translation: X:269.57, Y:-45.00, Z:-12.11 [[ 9.88121445e-01 1.50680785e-01 3.01879204e-02 2.69570107e+02] [-1.50604321e-01 9.88582450e-01 -4.80392853e-03 -4.50029112e+01] [-3.05671081e-02 2.00433550e-04 9.99532697e-01 -1.21122159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14264000000003 meters 0.026604709862190882 Centerline is valid? [True, True] Translation: X:269.60, Y:-45.00, Z:-12.11 [[ 9.87593898e-01 1.54116811e-01 3.01048452e-02 2.69599269e+02] [-1.54042388e-01 9.88052630e-01 -4.78986197e-03 -4.50038641e+01] [-3.04833697e-02 9.30162011e-05 9.99535270e-01 -1.21122084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.17264 meters 0.016479949163138746 Centerline is valid? [True, True] Translation: X:269.63, Y:-45.00, Z:-12.11 [[ 9.86429510e-01 1.61125128e-01 3.15517959e-02 2.69628145e+02] [-1.61047010e-01 9.86933978e-01 -5.01843921e-03 -4.50020612e+01] [-3.19481361e-02 -1.30985843e-04 9.99489519e-01 -1.21138906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20264000000003 meters 0.016987316595237553 Centerline is valid? [True, True] Translation: X:269.66, Y:-45.00, Z:-12.11 [[ 9.85935861e-01 1.64204102e-01 3.11045258e-02 2.69656641e+02] [-1.64129752e-01 9.86426358e-01 -4.94610541e-03 -4.50040767e+01] [-3.14944949e-02 -2.28635415e-04 9.99503899e-01 -1.21126478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.23264 meters 0.01984898061548113 Centerline is valid? [True, True] Translation: X:269.68, Y:-45.00, Z:-12.12 [[ 9.85478157e-01 1.66981255e-01 3.08230857e-02 2.69684939e+02] [-1.66909662e-01 9.85960020e-01 -4.89943293e-03 -4.50029995e+01] [-3.12084437e-02 -3.16386692e-04 9.99512848e-01 -1.21175538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26264000000003 meters 0.021499565677723778 Centerline is valid? [True, True] Translation: X:269.71, Y:-45.00, Z:-12.12 [[ 9.85076475e-01 1.69442563e-01 3.02250890e-02 2.69714259e+02] [-1.69374943e-01 9.85539987e-01 -4.80229698e-03 -4.50037669e+01] [-3.06017473e-02 -3.88742931e-04 9.99531581e-01 -1.21192132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.29264 meters 0.025616794893206184 Centerline is valid? [True, True] Translation: X:269.74, Y:-45.00, Z:-12.12 [[ 9.84512364e-01 1.72846096e-01 2.93194743e-02 2.69742686e+02] [-1.72784016e-01 9.84948728e-01 -4.65704878e-03 -4.50035735e+01] [-2.96831316e-02 -4.81014401e-04 9.99559243e-01 -1.21247106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32264000000004 meters 0.027215901517701493 Centerline is valid? [True, True] Translation: X:269.77, Y:-45.01, Z:-12.13 [[ 9.84365123e-01 1.73738135e-01 2.89890440e-02 2.69769934e+02] [-1.73677868e-01 9.84791758e-01 -4.60334843e-03 -4.50066674e+01] [-2.93479488e-02 -5.03379730e-04 9.99569129e-01 -1.21276687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.35264 meters 0.02612873917899072 Centerline is valid? [True, True] Translation: X:269.80, Y:-45.01, Z:-12.13 [[ 9.84343549e-01 1.73897420e-01 2.87657043e-02 2.69798062e+02] [-1.73838203e-01 9.84763642e-01 -4.56597845e-03 -4.50125416e+01] [-2.91214316e-02 -5.06086909e-04 9.99575753e-01 -1.21279149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.38264 meters 0.027117879914973712 Centerline is valid? [True, True] Translation: X:269.83, Y:-45.02, Z:-12.13 [[ 9.84408818e-01 1.73512668e-01 2.88553948e-02 2.69825835e+02] [-1.73452951e-01 9.84831512e-01 -4.57902071e-03 -4.50151232e+01] [-2.92122202e-02 -4.97425009e-04 9.99573108e-01 -1.21305334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.41264 meters 0.031801221814353714 Centerline is valid? [True, True] Translation: X:269.85, Y:-45.02, Z:-12.13 [[ 9.84481416e-01 1.73033372e-01 2.92539556e-02 2.69854444e+02] [-1.72971842e-01 9.84915839e-01 -4.64022543e-03 -4.50215118e+01] [-2.96155981e-02 -4.91894865e-04 9.99561241e-01 -1.21287194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.44264 meters 0.024278107952884653 Centerline is valid? [True, True] Translation: X:269.88, Y:-45.03, Z:-12.13 [[ 9.84602469e-01 1.72222211e-01 2.99581196e-02 2.69883306e+02] [-1.72157354e-01 9.85058008e-01 -4.75038134e-03 -4.50256580e+01] [-3.03286068e-02 -4.80273393e-04 9.99539867e-01 -1.21287096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.47264 meters 0.024160591936623208 Centerline is valid? [True, True] Translation: X:269.91, Y:-45.03, Z:-12.13 [[ 9.84651586e-01 1.71876463e-01 3.03271544e-02 2.69910476e+02] [-1.71809874e-01 9.85118396e-01 -4.80759576e-03 -4.50291747e+01] [-3.07021503e-02 -4.76697781e-04 9.99528464e-01 -1.21300251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.50264 meters 0.024473976647521756 Centerline is valid? [True, True] Translation: X:269.93, Y:-45.04, Z:-12.13 [[ 9.83842371e-01 1.74880982e-01 3.83514076e-02 2.69928997e+02] [-1.75279922e-01 9.84491774e-01 7.27289092e-03 -4.50418084e+01] [-3.64847550e-02 -1.38776100e-02 9.99237847e-01 -1.21322468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.53264 meters 0.023102269130425786 Centerline is valid? [True, True] Translation: X:269.97, Y:-45.03, Z:-12.13 [[ 9.84819149e-01 1.71016407e-01 2.97427569e-02 2.69968164e+02] [-1.70552216e-01 9.85192890e-01 -1.75188808e-02 -4.50291834e+01] [-3.22983686e-02 1.21802362e-02 9.99404051e-01 -1.21296537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.56264 meters 0.022061417379761063 Centerline is valid? [True, True] Translation: X:270.00, Y:-45.04, Z:-12.13 [[ 9.85056769e-01 1.69245960e-01 3.19212737e-02 2.69995478e+02] [-1.69171034e-01 9.85573755e-01 -5.05319938e-03 -4.50420050e+01] [-3.23160031e-02 -4.22466605e-04 9.99477612e-01 -1.21328277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.59264 meters 0.020693923261229645 Centerline is valid? [True, True] Translation: X:270.02, Y:-45.05, Z:-12.13 [[ 9.85311663e-01 1.67746218e-01 3.19708105e-02 2.70023251e+02] [-1.67670319e-01 9.85830140e-01 -5.05950136e-03 -4.50490171e+01] [-3.23665008e-02 -3.75370289e-04 9.99475997e-01 -1.21339738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.62264 meters 0.017784148568926985 Centerline is valid? [True, True] Translation: X:270.05, Y:-45.06, Z:-12.13 [[ 9.85930109e-01 1.64188367e-01 3.13687817e-02 2.70051343e+02] [-1.64113546e-01 9.86428971e-01 -4.96276821e-03 -4.50582082e+01] [-3.17579038e-02 -2.55099398e-04 9.99495558e-01 -1.21346564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.65264 meters 0.01834658733845489 Centerline is valid? [True, True] Translation: X:270.08, Y:-45.06, Z:-12.14 [[ 9.86243965e-01 1.62363121e-01 3.10009393e-02 2.70078854e+02] [-1.62289171e-01 9.86731057e-01 -4.90366392e-03 -4.50618152e+01] [-3.13857638e-02 -1.94907799e-04 9.99507327e-01 -1.21400308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.68264 meters 0.01713429932328372 Centerline is valid? [True, True] Translation: X:270.11, Y:-45.07, Z:-12.14 [[ 9.86480253e-01 1.60898775e-01 3.11174446e-02 2.70107136e+02] [-1.60823646e-01 9.86970902e-01 -4.91874030e-03 -4.50680223e+01] [-3.15034317e-02 -1.52180711e-04 9.99503632e-01 -1.21399284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.71264 meters 0.017026517058215812 Centerline is valid? [True, True] Translation: X:270.13, Y:-45.07, Z:-12.14 [[ 9.86759184e-01 1.59156024e-01 3.12357621e-02 2.70134598e+02] [-1.59079478e-01 9.87253438e-01 -4.93652761e-03 -4.50742186e+01] [-3.16232916e-02 -9.78047706e-05 9.99499854e-01 -1.21430717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.74264 meters 0.015678140464773775 Centerline is valid? [True, True] Translation: X:270.16, Y:-45.08, Z:-12.14 [[ 9.87134145e-01 1.56863432e-01 3.09845703e-02 2.70162412e+02] [-1.56787064e-01 9.87620303e-01 -4.89424943e-03 -4.50808892e+01] [-3.13687195e-02 -2.66990693e-05 9.99507880e-01 -1.21407392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.77264 meters 0.016106671949431457 Centerline is valid? [True, True] Translation: X:270.19, Y:-45.09, Z:-12.14 [[ 9.87240985e-01 1.56227397e-01 3.07934712e-02 2.70190045e+02] [-1.56151736e-01 9.87721115e-01 -4.86157295e-03 -4.50851048e+01] [-3.11748726e-02 -8.90992087e-06 9.99513945e-01 -1.21440716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.80264 meters 0.015522285312126878 Centerline is valid? [True, True] Translation: X:270.22, Y:-45.09, Z:-12.14 [[ 9.87353021e-01 1.55531897e-01 3.07220088e-02 2.70218274e+02] [-1.55456301e-01 9.87830871e-01 -4.84867371e-03 -4.50895605e+01] [-3.11022721e-02 1.14227957e-05 9.99516207e-01 -1.21426536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.83264 meters 0.015535857747483107 Centerline is valid? [True, True] Translation: X:270.25, Y:-45.10, Z:-12.14 [[ 9.87522396e-01 1.54294216e-01 3.15089217e-02 2.70245444e+02] [-1.54214145e-01 9.88024945e-01 -4.97040752e-03 -4.50953362e+01] [-3.18985057e-02 4.92673262e-05 9.99491112e-01 -1.21433226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86264 meters 0.029312758444108234 Centerline is valid? [True, True] Translation: X:270.27, Y:-45.10, Z:-12.15 [[ 9.87689334e-01 1.53350369e-01 3.08778734e-02 2.70272189e+02] [-1.53273086e-01 9.88171877e-01 -4.86855026e-03 -4.50998421e+01] [-3.12592401e-02 7.58682280e-05 9.99511308e-01 -1.21474770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.89264000000003 meters 0.01636192723943294 Centerline is valid? [True, True] Translation: X:270.30, Y:-45.11, Z:-12.15 [[ 9.87809390e-01 1.52596779e-01 3.07706399e-02 2.70300083e+02] [-1.52519752e-01 9.88288527e-01 -4.84890049e-03 -4.51053924e+01] [-3.11501970e-02 9.66590894e-05 9.99514710e-01 -1.21482488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92264 meters 0.01631170913848922 Centerline is valid? [True, True] Translation: X:270.33, Y:-45.11, Z:-12.15 [[ 9.87997257e-01 1.51221498e-01 3.15194968e-02 2.70328267e+02] [-1.51140024e-01 9.88499893e-01 -4.96533050e-03 -4.51108295e+01] [-3.19078840e-02 1.41875397e-04 9.99490804e-01 -1.21482972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.95264000000003 meters 0.01667778184946233 Centerline is valid? [True, True] Translation: X:270.36, Y:-45.12, Z:-12.15 [[ 9.88058180e-01 1.50846916e-01 3.14044787e-02 2.70355676e+02] [-1.50765889e-01 9.88557123e-01 -4.94589903e-03 -4.51153046e+01] [-3.17911947e-02 1.52111835e-04 9.99494521e-01 -1.21501488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98264 meters 0.01667778184946233 Centerline is valid? [True, True] Translation: X:270.38, Y:-45.12, Z:-12.15 [[ 9.88065270e-01 1.50800401e-01 3.14048039e-02 2.70383639e+02] [-1.50719417e-01 9.88564219e-01 -4.94383294e-03 -4.51196181e+01] [-3.17911975e-02 1.51515904e-04 9.99494521e-01 -1.21515426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.01264000000003 meters 0.016475583643998423 Centerline is valid? [True, True] Translation: X:270.41, Y:-45.12, Z:-12.15 [[ 9.88052685e-01 1.50925374e-01 3.11997188e-02 2.70412668e+02] [-1.50845553e-01 9.88545148e-01 -4.91006804e-03 -4.51233319e+01] [-3.15833845e-02 1.45067072e-04 9.99501110e-01 -1.21526692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04264 meters 0.01625137236101314 Centerline is valid? [True, True] Translation: X:270.44, Y:-45.13, Z:-12.15 [[ 9.87849580e-01 1.52203724e-01 3.14202695e-02 2.70440935e+02] [-1.52123459e-01 9.88349136e-01 -4.94343213e-03 -4.51252487e+01] [-3.18066050e-02 1.03607256e-04 9.99494037e-01 -1.21540548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.07264000000004 meters 0.016076405994684486 Centerline is valid? [True, True] Translation: X:270.47, Y:-45.13, Z:-12.16 [[ 9.87705692e-01 1.53120392e-01 3.14898815e-02 2.70469930e+02] [-1.53040304e-01 9.88207539e-01 -4.95226752e-03 -4.51282863e+01] [-3.18768314e-02 7.21617915e-05 9.99491802e-01 -1.21550160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10264 meters 0.015292751679194048 Centerline is valid? [True, True] Translation: X:270.50, Y:-45.13, Z:-12.15 [[ 9.87526006e-01 1.54220360e-01 3.17563926e-02 2.70499081e+02] [-1.54139528e-01 9.88036477e-01 -4.99267549e-03 -4.51312139e+01] [-3.21464465e-02 3.54815238e-05 9.99483169e-01 -1.21534606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.13264 meters 0.015511275143752137 Centerline is valid? [True, True] Translation: X:270.53, Y:-45.13, Z:-12.16 [[ 9.87165008e-01 1.56290757e-01 3.28396967e-02 2.70527544e+02] [-1.56205517e-01 9.87711090e-01 -5.16124150e-03 -4.51323529e+01] [-3.32427870e-02 -3.47447842e-05 9.99447305e-01 -1.21555345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16264 meters 0.015420048430956524 Centerline is valid? [True, True] Translation: X:270.56, Y:-45.13, Z:-12.16 [[ 9.87056890e-01 1.56945746e-01 3.29655833e-02 2.70555439e+02] [-1.56860260e-01 9.87607224e-01 -5.17971547e-03 -4.51347803e+01] [-3.33699825e-02 -5.83161240e-05 9.99443065e-01 -1.21557839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.19264 meters 0.015385382946112759 Centerline is valid? [True, True] Translation: X:270.58, Y:-45.14, Z:-12.16 [[ 9.87014514e-01 1.57177402e-01 3.31302606e-02 2.70582870e+02] [-1.57091273e-01 9.87570382e-01 -5.20314040e-03 -4.51378194e+01] [-3.35362802e-02 -6.88997033e-05 9.99437498e-01 -1.21571442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22264 meters 0.015397221203841344 Centerline is valid? [True, True] Translation: X:270.61, Y:-45.14, Z:-12.16 [[ 9.87017200e-01 1.57147924e-01 3.31900243e-02 2.70610388e+02] [-1.57061549e-01 9.87575073e-01 -5.21007143e-03 -4.51418638e+01] [-3.35963926e-02 -7.04465241e-05 9.99435479e-01 -1.21586105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.25264 meters 0.015665446743150045 Centerline is valid? [True, True] Translation: X:270.64, Y:-45.15, Z:-12.16 [[ 9.86991407e-01 1.57268246e-01 3.33865430e-02 2.70637165e+02] [-1.57180978e-01 9.87555919e-01 -5.23899454e-03 -4.51458752e+01] [-3.37950056e-02 -7.68868977e-05 9.99428783e-01 -1.21608096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28264 meters 0.021126967979830092 Centerline is valid? [True, True] Translation: X:270.67, Y:-45.15, Z:-12.16 [[ 9.86952070e-01 1.57603263e-01 3.29670087e-02 2.70665419e+02] [-1.57518512e-01 9.87502508e-01 -5.16868637e-03 -4.51497946e+01] [-3.33696056e-02 -9.16684302e-05 9.99443075e-01 -1.21614006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.31264 meters 0.015723389020600657 Centerline is valid? [True, True] Translation: X:270.69, Y:-45.15, Z:-12.16 [[ 9.86864069e-01 1.58031400e-01 3.35467577e-02 2.70694150e+02] [-1.57943946e-01 9.87434081e-01 -5.25790169e-03 -4.51546804e+01] [-3.39561254e-02 -1.09673006e-04 9.99423318e-01 -1.21623875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34264 meters 0.0160638650669275 Centerline is valid? [True, True] Translation: X:270.72, Y:-45.16, Z:-12.16 [[ 9.86564522e-01 1.59563727e-01 3.50693672e-02 2.70722276e+02] [-1.59469177e-01 9.87187615e-01 -5.49490066e-03 -4.51564301e+01] [-3.54968319e-02 -1.71409077e-04 9.99369774e-01 -1.21620282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.37264 meters 0.01629126226224095 Centerline is valid? [True, True] Translation: X:270.75, Y:-45.16, Z:-12.16 [[ 9.86458892e-01 1.60285816e-01 3.47463812e-02 2.70750990e+02] [-1.60193527e-01 9.87070625e-01 -5.44205482e-03 -4.51594137e+01] [-3.51694164e-02 -1.97781973e-04 9.99381345e-01 -1.21634433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.40264 meters 0.025048892761836295 Centerline is valid? [True, True] Translation: X:270.78, Y:-45.16, Z:-12.17 [[ 9.86456765e-01 1.60633296e-01 3.31661733e-02 2.70779038e+02] [-1.60549453e-01 9.87014135e-01 -5.19324621e-03 -4.51614269e+01] [-3.35696901e-02 -2.01898103e-04 9.99436359e-01 -1.21682507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.43264 meters 0.017737964994397885 Centerline is valid? [True, True] Translation: X:270.81, Y:-45.17, Z:-12.17 [[ 9.86455748e-01 1.60810389e-01 3.23276364e-02 2.70807725e+02] [-1.60730895e-01 9.86985297e-01 -5.05986837e-03 -4.51653628e+01] [-3.27205812e-02 -2.04713709e-04 9.99464517e-01 -1.21719763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46264 meters 0.016903121380955694 Centerline is valid? [True, True] Translation: X:270.84, Y:-45.17, Z:-12.17 [[ 9.86578034e-01 1.60319594e-01 3.10066258e-02 2.70835997e+02] [-1.60246265e-01 9.87065142e-01 -4.85180355e-03 -4.51698976e+01] [-3.13833987e-02 -1.82013171e-04 9.99507403e-01 -1.21731344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.49264 meters 0.01793930204723772 Centerline is valid? [True, True] Translation: X:270.86, Y:-45.17, Z:-12.18 [[ 9.86647357e-01 1.59887592e-01 3.10314439e-02 2.70862251e+02] [-1.59813945e-01 9.87135213e-01 -4.85524133e-03 -4.51723823e+01] [-3.14085238e-02 -1.68846446e-04 9.99506616e-01 -1.21782097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52264 meters 0.016199692448614078 Centerline is valid? [True, True] Translation: X:270.89, Y:-45.18, Z:-12.18 [[ 9.86865883e-01 1.58315948e-01 3.21214681e-02 2.70892699e+02] [-1.58243976e-01 9.87388440e-01 -4.78670197e-03 -4.51791836e+01] [-3.24741775e-02 -3.59195943e-04 9.99472510e-01 -1.21763481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.55264 meters 0.015995155390986785 Centerline is valid? [True, True] Translation: X:270.92, Y:-45.19, Z:-12.18 [[ 9.87093759e-01 1.56968612e-01 3.17295682e-02 2.70917712e+02] [-1.56878805e-01 9.87603555e-01 -5.31587890e-03 -4.51863649e+01] [-3.21706605e-02 2.69574159e-04 9.99482354e-01 -1.21783921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58264 meters 0.014868054717791578 Centerline is valid? [True, True] Translation: X:270.95, Y:-45.19, Z:-12.18 [[ 9.87255988e-01 1.55429494e-01 3.41655845e-02 2.70947812e+02] [-1.55455630e-01 9.87841036e-01 -1.90631069e-03 -4.51939506e+01] [-3.40464633e-02 -3.42921583e-03 9.99414368e-01 -1.21770945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.61264 meters 0.0164611676295371 Centerline is valid? [True, True] Translation: X:270.97, Y:-45.19, Z:-12.18 [[ 9.87257722e-01 1.55927151e-01 3.17634051e-02 2.70973131e+02] [-1.55732073e-01 9.87762408e-01 -8.54085687e-03 -4.51923424e+01] [-3.27064490e-02 3.48544596e-03 9.99458924e-01 -1.21825152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64264000000003 meters 0.02077466840838998 Centerline is valid? [True, True] Translation: X:271.00, Y:-45.20, Z:-12.18 [[ 9.87462224e-01 1.54575673e-01 3.20112186e-02 2.71001672e+02] [-1.54494928e-01 9.87980952e-01 -4.99559756e-03 -4.51992286e+01] [-3.23986721e-02 -1.26070332e-05 9.99475025e-01 -1.21813965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.67264 meters 0.019170268123073184 Centerline is valid? [True, True] Translation: X:271.03, Y:-45.20, Z:-12.18 [[ 9.87624100e-01 1.53552918e-01 3.19395963e-02 2.71028811e+02] [-1.53472036e-01 9.88140426e-01 -4.98329491e-03 -4.52049482e+01] [-3.23260058e-02 1.97872804e-05 9.99477378e-01 -1.21826079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70264000000003 meters 0.015798388271838118 Centerline is valid? [True, True] Translation: X:271.06, Y:-45.21, Z:-12.18 [[ 9.87793597e-01 1.52374842e-01 3.23375543e-02 2.71055978e+02] [-1.52291386e-01 9.88322773e-01 -5.04276311e-03 -4.52115924e+01] [-3.27283316e-02 5.64781324e-05 9.99464283e-01 -1.21847176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.73264 meters 0.016207261814081365 Centerline is valid? [True, True] Translation: X:271.08, Y:-45.22, Z:-12.19 [[ 9.87990851e-01 1.51114956e-01 3.22234274e-02 2.71083285e+02] [-1.51031482e-01 9.88516191e-01 -5.02300639e-03 -4.52174085e+01] [-3.26124311e-02 9.59323519e-05 9.99468069e-01 -1.21869708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76264000000003 meters 0.016622317024531826 Centerline is valid? [True, True] Translation: X:271.11, Y:-45.22, Z:-12.19 [[ 9.88355500e-01 1.48890758e-01 3.13838936e-02 2.71111557e+02] [-1.48810519e-01 9.88853637e-01 -4.89015756e-03 -4.52223334e+01] [-3.17621766e-02 1.62960615e-04 9.99495442e-01 -1.21874615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.79264 meters 0.017104692504826206 Centerline is valid? [True, True] Translation: X:271.14, Y:-45.23, Z:-12.19 [[ 9.88508950e-01 1.47859515e-01 3.14264091e-02 2.71138829e+02] [-1.47778581e-01 9.89008355e-01 -4.89543736e-03 -4.52282188e+01] [-3.18048182e-02 1.95033502e-04 9.99494080e-01 -1.21895964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82264000000004 meters 0.01782138789982756 Centerline is valid? [True, True] Translation: X:271.17, Y:-45.24, Z:-12.19 [[ 9.88723417e-01 1.46445215e-01 3.13018061e-02 2.71166528e+02] [-1.46364280e-01 9.89218754e-01 -4.87390077e-03 -4.52373859e+01] [-3.16780931e-02 2.37473502e-04 9.99498095e-01 -1.21921055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.85264 meters 0.018164989586616522 Centerline is valid? [True, True] Translation: X:271.19, Y:-45.24, Z:-12.19 [[ 9.88782855e-01 1.46189908e-01 3.06100854e-02 2.71193602e+02] [-1.46112427e-01 9.89256516e-01 -4.76497665e-03 -4.52422975e+01] [-3.09778179e-02 2.39013355e-04 9.99520044e-01 -1.21946711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.88264 meters 0.024162075140445306 Centerline is valid? [True, True] Translation: X:271.22, Y:-45.24, Z:-12.20 [[ 9.88820017e-01 1.46188508e-01 2.93920733e-02 2.71222496e+02] [-1.46117126e-01 9.89256725e-01 -4.57352103e-03 -4.52449855e+01] [-2.97449024e-02 2.27703854e-04 9.99557497e-01 -1.21950785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.91264 meters 0.017889907773737643 Centerline is valid? [True, True] Translation: X:271.25, Y:-45.25, Z:-12.20 [[ 9.88701512e-01 1.46716274e-01 3.07189611e-02 2.71250353e+02] [-1.46638606e-01 9.89178592e-01 -4.77835062e-03 -4.52497035e+01] [-3.10876005e-02 2.19776858e-04 9.99516640e-01 -1.21971850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.94264 meters 0.017122623044393655 Centerline is valid? [True, True] Translation: X:271.28, Y:-45.25, Z:-12.20 [[ 9.88643121e-01 1.46965791e-01 3.13980079e-02 2.71278923e+02] [-1.46884827e-01 9.89141552e-01 -4.88236408e-03 -4.52530660e+01] [-3.17746148e-02 2.15024695e-04 9.99495036e-01 -1.21964349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.97264 meters 0.017680052713162992 Centerline is valid? [True, True] Translation: X:271.31, Y:-45.26, Z:-12.20 [[ 9.88594466e-01 1.47334521e-01 3.12012850e-02 2.71306114e+02] [-1.47254793e-01 9.89086699e-01 -4.85046518e-03 -4.52570444e+01] [-3.15754169e-02 2.00604263e-04 9.99501352e-01 -1.21995818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.00264 meters 0.01702583352345087 Centerline is valid? [True, True] Translation: X:271.34, Y:-45.26, Z:-12.20 [[ 9.88537244e-01 1.47754345e-01 3.10285444e-02 2.71335172e+02] [-1.47675771e-01 9.89024074e-01 -4.82151067e-03 -4.52593242e+01] [-3.14003765e-02 1.84078665e-04 9.99506870e-01 -1.21992761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.03264 meters 0.016425997612284606 Centerline is valid? [True, True] Translation: X:271.36, Y:-45.26, Z:-12.20 [[ 9.88397665e-01 1.48518723e-01 3.18157983e-02 2.71363579e+02] [-1.48436559e-01 9.88909583e-01 -4.94222842e-03 -4.52619921e+01] [-3.21969613e-02 1.62259419e-04 9.99481530e-01 -1.21994062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.06264 meters 0.01636543372562073 Centerline is valid? [True, True] Translation: X:271.39, Y:-45.27, Z:-12.20 [[ 9.88340691e-01 1.48797560e-01 3.22794885e-02 2.71391232e+02] [-1.48713176e-01 9.88867667e-01 -5.01285335e-03 -4.52660749e+01] [-3.26660428e-02 1.54021672e-04 9.99466311e-01 -1.22007758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.09264 meters 0.016270883304528083 Centerline is valid? [True, True] Translation: X:271.42, Y:-45.27, Z:-12.20 [[ 9.88311714e-01 1.49006015e-01 3.22050165e-02 2.71419886e+02] [-1.48922201e-01 9.88836279e-01 -4.99915394e-03 -4.52700100e+01] [-3.25903927e-02 1.44680460e-04 9.99468782e-01 -1.22023227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.12264 meters 0.01674163462624435 Centerline is valid? [True, True] Translation: X:271.45, Y:-45.27, Z:-12.21 [[ 9.88332561e-01 1.48938519e-01 3.18757973e-02 2.71447684e+02] [-1.48856417e-01 9.88846448e-01 -4.94674367e-03 -4.52740801e+01] [-3.22570296e-02 1.44110857e-04 9.99479596e-01 -1.22054267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.15264 meters 0.016410567749477516 Centerline is valid? [True, True] Translation: X:271.48, Y:-45.28, Z:-12.20 [[ 9.88431390e-01 1.48151020e-01 3.24755822e-02 2.71476003e+02] [-1.48065446e-01 9.88964735e-01 -5.03762429e-03 -4.52795501e+01] [-3.28635347e-02 1.70834418e-04 9.99459834e-01 -1.22048145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.18264 meters 0.01675981999437478 Centerline is valid? [True, True] Translation: X:271.50, Y:-45.29, Z:-12.21 [[ 9.88524624e-01 1.47370856e-01 3.31797787e-02 2.71502692e+02] [-1.47281139e-01 9.89081286e-01 -5.14540305e-03 -4.52862456e+01] [-3.35757806e-02 1.99602037e-04 9.99436155e-01 -1.22056725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.21264 meters 0.017244842160037598 Centerline is valid? [True, True] Translation: X:271.53, Y:-45.29, Z:-12.20 [[ 9.88894539e-01 1.44842508e-01 3.32902260e-02 2.71530224e+02] [-1.44750833e-01 9.89454682e-01 -5.16037085e-03 -4.52949952e+01] [-3.36866110e-02 2.84274607e-04 9.99432405e-01 -1.22042593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.24264 meters 0.018126270488920695 Centerline is valid? [True, True] Translation: X:271.56, Y:-45.30, Z:-12.21 [[ 9.89110028e-01 1.43331721e-01 3.34270935e-02 2.71556905e+02] [-1.43238478e-01 9.89674646e-01 -5.18010596e-03 -4.53019853e+01] [-3.38244204e-02 3.35648769e-04 9.99427734e-01 -1.22062893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.27264 meters 0.03157756904760191 Centerline is valid? [True, True] Translation: X:271.59, Y:-45.31, Z:-12.21 [[ 9.89316334e-01 1.41966417e-01 3.31470647e-02 2.71585359e+02] [-1.41874037e-01 9.89871403e-01 -5.13451260e-03 -4.53084480e+01] [-3.35402598e-02 3.76949292e-04 9.99437296e-01 -1.22072833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.30264 meters 0.02019216729093145 Centerline is valid? [True, True] Translation: X:271.61, Y:-45.32, Z:-12.21 [[ 9.89421255e-01 1.40912974e-01 3.44835266e-02 2.71612111e+02] [-1.40812410e-01 9.90021894e-01 -5.33989113e-03 -4.53175161e+01] [-3.48919062e-02 4.27693304e-04 9.99391001e-01 -1.22087698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.33264 meters 0.02069170560224988 Centerline is valid? [True, True] Translation: X:271.64, Y:-45.33, Z:-12.21 [[ 9.89608946e-01 1.39455823e-01 3.50172468e-02 2.71641189e+02] [-1.39351305e-01 9.90228175e-01 -5.41981217e-03 -4.53268985e+01] [-3.54308888e-02 4.83795554e-04 9.99372012e-01 -1.22083089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36264 meters 0.020968858393718388 Centerline is valid? [True, True] Translation: X:271.67, Y:-45.33, Z:-12.21 [[ 9.89657074e-01 1.39094654e-01 3.50935002e-02 2.71669283e+02] [-1.38989472e-01 9.90278966e-01 -5.43109320e-03 -4.53332607e+01] [-3.55077911e-02 4.97292726e-04 9.99369276e-01 -1.22087940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.39264000000003 meters 0.03112368195116017 Centerline is valid? [True, True] Translation: X:271.70, Y:-45.34, Z:-12.21 [[ 9.89710089e-01 1.38940489e-01 3.41976708e-02 2.71698407e+02] [-1.38840584e-01 9.90300612e-01 -5.29052849e-03 -4.53390244e+01] [-3.46010430e-02 4.88064815e-04 9.99401085e-01 -1.22115268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42264 meters 0.021405297489563536 Centerline is valid? [True, True] Translation: X:271.73, Y:-45.35, Z:-12.21 [[ 9.89695609e-01 1.38978910e-01 3.44595946e-02 2.71725201e+02] [-1.38877504e-01 9.90295220e-01 -5.33071680e-03 -4.53456530e+01] [-3.48660290e-02 4.90124521e-04 9.99391875e-01 -1.22128436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.45264000000003 meters 0.019941960397079694 Centerline is valid? [True, True] Translation: X:271.75, Y:-45.35, Z:-12.21 [[ 9.89630372e-01 1.39826798e-01 3.28662910e-02 2.71754778e+02] [-1.39735102e-01 9.90175881e-01 -5.08186750e-03 -4.53509118e+01] [-3.32539899e-02 4.36595922e-04 9.99446838e-01 -1.22145571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48264 meters 0.024265008782236672 Centerline is valid? [True, True] Translation: X:271.78, Y:-45.36, Z:-12.22 [[ 9.89526345e-01 1.40821618e-01 3.17314551e-02 2.71782473e+02] [-1.40736662e-01 9.90034909e-01 -4.90627790e-03 -4.53558654e+01] [-3.21061582e-02 3.89112184e-04 9.99484389e-01 -1.22181812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.51264000000003 meters 0.018660213847788664 Centerline is valid? [True, True] Translation: X:271.81, Y:-45.36, Z:-12.22 [[ 9.89292615e-01 1.42263873e-01 3.25747255e-02 2.71812001e+02] [-1.42175211e-01 9.89828707e-01 -5.03396577e-03 -4.53607077e+01] [-3.29595498e-02 3.48746706e-04 9.99456626e-01 -1.22182972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.54264 meters 0.017808877666953417 Centerline is valid? [True, True] Translation: X:271.84, Y:-45.36, Z:-12.22 [[ 9.89027798e-01 1.43982808e-01 3.30600328e-02 2.71840303e+02] [-1.43892464e-01 9.89580145e-01 -5.10831878e-03 -4.53648517e+01] [-3.34510622e-02 2.95179683e-04 9.99440313e-01 -1.22193956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.57264000000004 meters 0.015369145915423054 Centerline is valid? [True, True] Translation: X:271.87, Y:-45.36, Z:-12.22 [[ 9.88310593e-01 1.48584198e-01 3.41307548e-02 2.71869712e+02] [-1.48490687e-01 9.88899750e-01 -5.27260905e-03 -4.53628594e+01] [-3.45353213e-02 1.42876159e-04 9.99403468e-01 -1.22180230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60264 meters 0.014633026700158834 Centerline is valid? [True, True] Translation: X:271.90, Y:-45.36, Z:-12.22 [[ 9.87898938e-01 1.51161247e-01 3.47270271e-02 2.71897788e+02] [-1.51066084e-01 9.88509117e-01 -5.36317780e-03 -4.53636196e+01] [-3.51386876e-02 5.22016600e-05 9.99382444e-01 -1.22195746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.63264 meters 0.0145384948504785 Centerline is valid? [True, True] Translation: X:271.93, Y:-45.37, Z:-12.22 [[ 9.87511484e-01 1.53616632e-01 3.49713998e-02 2.71926670e+02] [-1.53521743e-01 9.88130522e-01 -5.39864439e-03 -4.53654618e+01] [-3.53856291e-02 -3.76469154e-05 9.99373732e-01 -1.22206570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66264 meters 0.02296887549495251 Centerline is valid? [True, True] Translation: X:271.96, Y:-45.36, Z:-12.22 [[ 9.86733042e-01 1.58594390e-01 3.47235332e-02 2.71955100e+02] [-1.58503973e-01 9.87343797e-01 -5.35887814e-03 -4.53627170e+01] [-3.51339531e-02 -2.16035843e-04 9.99382589e-01 -1.22230983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.69264 meters 0.01729727411484162 Centerline is valid? [True, True] Translation: X:271.98, Y:-45.36, Z:-12.22 [[ 9.86330098e-01 1.60931533e-01 3.54115639e-02 2.71984308e+02] [-1.60839086e-01 9.86965525e-01 -5.46270609e-03 -4.53633282e+01] [-3.58291144e-02 -3.07532142e-04 9.99357884e-01 -1.22226840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72264 meters 0.01863783135804373 Centerline is valid? [True, True] Translation: X:272.01, Y:-45.36, Z:-12.22 [[ 9.86028163e-01 1.62709709e-01 3.56933224e-02 2.72012049e+02] [-1.62617008e-01 9.86673912e-01 -5.50455000e-03 -4.53635274e+01] [-3.61133137e-02 -3.76699970e-04 9.99347631e-01 -1.22247218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.75264 meters 0.020128977647303974 Centerline is valid? [True, True] Translation: X:272.04, Y:-45.36, Z:-12.23 [[ 9.85761282e-01 1.64409241e-01 3.52745935e-02 2.72040524e+02] [-1.64319871e-01 9.86392118e-01 -5.43769057e-03 -4.53647651e+01] [-3.56885876e-02 -4.36051846e-04 9.99362864e-01 -1.22279426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78264 meters 0.02044214075268862 Centerline is valid? [True, True] Translation: X:272.07, Y:-45.37, Z:-12.23 [[ 9.85778033e-01 1.64503689e-01 3.43541342e-02 2.72068504e+02] [-1.64419023e-01 9.86376375e-01 -5.29460005e-03 -4.53683540e+01] [-3.47570875e-02 -4.29172735e-04 9.99395698e-01 -1.22305196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.81264 meters 0.02053745935444465 Centerline is valid? [True, True] Translation: X:272.10, Y:-45.37, Z:-12.23 [[ 9.85871926e-01 1.64007658e-01 3.40299067e-02 2.72095592e+02] [-1.63924360e-01 9.86458981e-01 -5.24250516e-03 -4.53715254e+01] [-3.44289180e-02 -4.09892020e-04 9.99407065e-01 -1.22328582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84264 meters 0.019420677861984377 Centerline is valid? [True, True] Translation: X:272.12, Y:-45.38, Z:-12.23 [[ 9.86015536e-01 1.63138315e-01 3.40478072e-02 2.72124187e+02] [-1.63054571e-01 9.86603133e-01 -5.24065442e-03 -4.53768266e+01] [-3.44466248e-02 -3.84283917e-04 9.99406465e-01 -1.22338218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.87264 meters 0.019420677861984377 Centerline is valid? [True, True] Translation: X:272.15, Y:-45.38, Z:-12.24 [[ 9.86027306e-01 1.63067118e-01 3.40480061e-02 2.72151344e+02] [-1.62983376e-01 9.86614904e-01 -5.23936181e-03 -4.53808711e+01] [-3.44466379e-02 -3.83105154e-04 9.99406465e-01 -1.22351739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90264 meters 0.026307242056905683 Centerline is valid? [True, True] Translation: X:272.18, Y:-45.38, Z:-12.24 [[ 9.86423734e-01 1.60879528e-01 3.29544144e-02 2.72179084e+02] [-1.60799944e-01 9.86974006e-01 -5.06855942e-03 -4.53835494e+01] [-3.33405778e-02 -2.99320672e-04 9.99444004e-01 -1.22439897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.93264 meters 0.01867990576382533 Centerline is valid? [True, True] Translation: X:272.21, Y:-45.39, Z:-12.24 [[ 9.86564428e-01 1.59943614e-01 3.32966938e-02 2.72207187e+02] [-1.59861912e-01 9.87126114e-01 -5.11890657e-03 -4.53911062e+01] [-3.36867724e-02 -2.72742004e-04 9.99432402e-01 -1.22420924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96264 meters 0.017870644763626375 Centerline is valid? [True, True] Translation: X:272.24, Y:-45.40, Z:-12.24 [[ 9.86687496e-01 1.59178355e-01 3.33172235e-02 2.72235178e+02] [-1.59096168e-01 9.87249811e-01 -5.12052287e-03 -4.53958828e+01] [-3.37074990e-02 -2.48286706e-04 9.99431710e-01 -1.22427422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.99264 meters 0.017559039579954923 Centerline is valid? [True, True] Translation: X:272.26, Y:-45.40, Z:-12.24 [[ 9.86757633e-01 1.58715514e-01 3.34478675e-02 2.72264438e+02] [-1.58632469e-01 9.87324329e-01 -5.13900958e-03 -4.53972443e+01] [-3.38395339e-02 -2.34960879e-04 9.99427251e-01 -1.22433226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02264 meters 0.01666602346055525 Centerline is valid? [True, True] Translation: X:272.29, Y:-45.40, Z:-12.24 [[ 9.86730798e-01 1.58914955e-01 3.32921736e-02 2.72293181e+02] [-1.58832847e-01 9.87292246e-01 -5.11356507e-03 -4.54010207e+01] [-3.36817268e-02 -2.42178562e-04 9.99432580e-01 -1.22425893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.05264 meters 0.01707252558951957 Centerline is valid? [True, True] Translation: X:272.32, Y:-45.40, Z:-12.24 [[ 9.86670435e-01 1.59393307e-01 3.27906605e-02 2.72321603e+02] [-1.59313971e-01 9.87215128e-01 -5.03491833e-03 -4.54036081e+01] [-3.31739683e-02 -2.56205280e-04 9.99449560e-01 -1.22443915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08264 meters 0.017258382327420652 Centerline is valid? [True, True] Translation: X:272.36, Y:-45.40, Z:-12.24 [[ 9.86700148e-01 1.60437136e-01 2.61293566e-02 2.72356507e+02] [-1.59832866e-01 9.86857508e-01 -2.37847488e-02 -4.53965941e+01] [-2.96019087e-02 1.92920852e-02 9.99375576e-01 -1.22419037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.11264 meters 0.02448686943903713 Centerline is valid? [True, True] Translation: X:272.38, Y:-45.42, Z:-12.26 [[ 9.86515388e-01 1.59944215e-01 3.47165257e-02 2.72377823e+02] [-1.60513201e-01 9.86930754e-01 1.42548209e-02 -4.54155043e+01] [-3.19828308e-02 -1.96350608e-02 9.99295533e-01 -1.22554604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14264000000003 meters 0.018894562863903376 Centerline is valid? [True, True] Translation: X:272.41, Y:-45.41, Z:-12.25 [[ 9.86282538e-01 1.61790104e-01 3.27218293e-02 2.72408967e+02] [-1.61712682e-01 9.86825133e-01 -5.01642461e-03 -4.54066155e+01] [-3.31023314e-02 -3.43922775e-04 9.99451908e-01 -1.22505464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.17264 meters 0.01950896681749626 Centerline is valid? [True, True] Translation: X:272.44, Y:-45.41, Z:-12.25 [[ 9.86172624e-01 1.62432550e-01 3.28515090e-02 2.72437117e+02] [-1.62354918e-01 9.86719581e-01 -5.03483079e-03 -4.54064758e+01] [-3.32330476e-02 -3.68391753e-04 9.99447562e-01 -1.22522258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20264000000003 meters 0.024739061342387906 Centerline is valid? [True, True] Translation: X:272.47, Y:-45.40, Z:-12.25 [[ 9.86014713e-01 1.63564002e-01 3.19656372e-02 2.72466302e+02] [-1.63491165e-01 9.86532645e-01 -4.89693965e-03 -4.54045392e+01] [-3.23361077e-02 -3.97644725e-04 9.99476972e-01 -1.22540665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.23264 meters 0.02149459437841864 Centerline is valid? [True, True] Translation: X:272.49, Y:-45.41, Z:-12.26 [[ 9.85942408e-01 1.63947850e-01 3.22284130e-02 2.72493403e+02] [-1.63874026e-01 9.86468921e-01 -4.93684634e-03 -4.54054851e+01] [-3.26017131e-02 -4.13953615e-04 9.99468337e-01 -1.22574137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26264000000003 meters 0.023064079107326642 Centerline is valid? [True, True] Translation: X:272.52, Y:-45.41, Z:-12.26 [[ 9.85881404e-01 1.64376103e-01 3.19116528e-02 2.72521772e+02] [-1.64304114e-01 9.86397644e-01 -4.88316968e-03 -4.54054904e+01] [-3.22802556e-02 -4.28989658e-04 9.99478765e-01 -1.22611717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.29264 meters 0.023869334725725406 Centerline is valid? [True, True] Translation: X:272.55, Y:-45.41, Z:-12.26 [[ 9.85895812e-01 1.64414073e-01 3.12643753e-02 2.72550876e+02] [-1.64345058e-01 9.86391319e-01 -4.78211870e-03 -4.54097453e+01] [-3.16251559e-02 -4.23474750e-04 9.99499710e-01 -1.22585840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32264000000004 meters 0.0206290880553533 Centerline is valid? [True, True] Translation: X:272.58, Y:-45.41, Z:-12.26 [[ 9.86036229e-01 1.63352143e-01 3.23825966e-02 2.72579007e+02] [-1.63277579e-01 9.86567744e-01 -4.95163321e-03 -4.54099710e+01] [-3.27564851e-02 -4.04862239e-04 9.99463280e-01 -1.22597564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.35264 meters 0.01962725354212157 Centerline is valid? [True, True] Translation: X:272.61, Y:-45.41, Z:-12.26 [[ 9.86248506e-01 1.62034474e-01 3.25378717e-02 2.72607237e+02] [-1.61958551e-01 9.86785030e-01 -4.97310376e-03 -4.54142480e+01] [-3.29136990e-02 -3.65070401e-04 9.99458131e-01 -1.22605210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.38264 meters 0.01943918173868194 Centerline is valid? [True, True] Translation: X:272.64, Y:-45.42, Z:-12.26 [[ 9.86439059e-01 1.60824570e-01 3.27634089e-02 2.72635168e+02] [-1.60746971e-01 9.86982953e-01 -5.00613909e-03 -4.54174382e+01] [-3.31420362e-02 -3.28367618e-04 9.99450598e-01 -1.22619743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.41264 meters 0.02573409463079587 Centerline is valid? [True, True] Translation: X:272.66, Y:-45.42, Z:-12.26 [[ 9.86981365e-01 1.57548622e-01 3.23452887e-02 2.72663271e+02] [-1.57471302e-01 9.87511207e-01 -4.94012254e-03 -4.54226936e+01] [-3.27196446e-02 -2.17645847e-04 9.99464545e-01 -1.22608391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.44264 meters 0.0157285127648817 Centerline is valid? [True, True] Translation: X:272.69, Y:-45.43, Z:-12.26 [[ 9.87269192e-01 1.55629888e-01 3.28463231e-02 2.72691591e+02] [-1.55549146e-01 9.87815425e-01 -5.01500806e-03 -4.54288816e+01] [-3.32265897e-02 -1.58054540e-04 9.99447832e-01 -1.22612926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.47264 meters 0.01557525921248166 Centerline is valid? [True, True] Translation: X:272.72, Y:-45.43, Z:-12.26 [[ 9.87538468e-01 1.53959747e-01 3.26216266e-02 2.72718178e+02] [-1.53879207e-01 9.88077115e-01 -4.98035480e-03 -4.54336582e+01] [-3.29994569e-02 -1.01498067e-04 9.99455364e-01 -1.22639483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.50264 meters 0.02497258637806543 Centerline is valid? [True, True] Translation: X:272.75, Y:-45.44, Z:-12.27 [[ 9.87783855e-01 1.52571823e-01 3.17000831e-02 2.72745501e+02] [-1.52495220e-01 9.88292384e-01 -4.83452890e-03 -4.54383231e+01] [-3.20665635e-02 -5.86415371e-05 9.99485734e-01 -1.22666893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.53264 meters 0.02849479814696041 Centerline is valid? [True, True] Translation: X:272.77, Y:-45.44, Z:-12.27 [[ 9.88306107e-01 1.49257777e-01 3.11954229e-02 2.72774019e+02] [-1.49182008e-01 9.88798318e-01 -4.75549584e-03 -4.54441681e+01] [-3.15557765e-02 4.60897498e-05 9.99501991e-01 -1.22674649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.56264 meters 0.015613005165730609 Centerline is valid? [True, True] Translation: X:272.80, Y:-45.45, Z:-12.27 [[ 9.88500312e-01 1.47848172e-01 3.17498217e-02 2.72802444e+02] [-1.47769008e-01 9.89010065e-01 -4.83845539e-03 -4.54497143e+01] [-3.21162500e-02 9.11750139e-05 9.99484136e-01 -1.22677796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.59264 meters 0.02852874086866118 Centerline is valid? [True, True] Translation: X:272.83, Y:-45.46, Z:-12.27 [[ 9.88695610e-01 1.46711388e-01 3.09315192e-02 2.72830099e+02] [-1.46635735e-01 9.89179333e-01 -4.71250903e-03 -4.54552513e+01] [-3.12881983e-02 1.23570931e-04 9.99510397e-01 -1.22701261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.62264 meters 0.022699463527960626 Centerline is valid? [True, True] Translation: X:272.86, Y:-45.46, Z:-12.27 [[ 9.88845089e-01 1.45677566e-01 3.10392633e-02 2.72858605e+02] [-1.45600942e-01 9.89332109e-01 -4.72681127e-03 -4.54604246e+01] [-3.13967302e-02 1.54738117e-04 9.99506989e-01 -1.22700284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.65264 meters 0.022224666662957523 Centerline is valid? [True, True] Translation: X:272.89, Y:-45.47, Z:-12.27 [[ 9.89053951e-01 1.44231253e-01 3.11388359e-02 2.72885665e+02] [-1.44153453e-01 9.89543989e-01 -4.74094082e-03 -4.54666537e+01] [-3.14970397e-02 2.00275524e-04 9.99503825e-01 -1.22729858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.68264 meters 0.016374500349285816 Centerline is valid? [True, True] Translation: X:272.92, Y:-45.47, Z:-12.27 [[ 9.89071283e-01 1.43732503e-01 3.28476006e-02 2.72916167e+02] [-1.43515147e-01 9.89608155e-01 -8.89398127e-03 -4.54684757e+01] [-3.37846076e-02 4.08265322e-03 9.99420798e-01 -1.22708864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.71264 meters 0.019046045406504186 Centerline is valid? [True, True] Translation: X:272.94, Y:-45.48, Z:-12.27 [[ 9.89282292e-01 1.42576124e-01 3.15054875e-02 2.72941499e+02] [-1.42614199e-01 9.89777801e-01 -1.04684007e-03 -4.54771892e+01] [-3.13326865e-02 -3.45750951e-03 9.99503031e-01 -1.22737764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.74264 meters 0.018354234262362688 Centerline is valid? [True, True] Translation: X:272.97, Y:-45.48, Z:-12.27 [[ 9.89409434e-01 1.41796580e-01 3.10274331e-02 2.72969185e+02] [-1.41718393e-01 9.89895781e-01 -4.71585611e-03 -4.54788589e+01] [-3.13826174e-02 2.68754564e-04 9.99507408e-01 -1.22749162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.77264 meters 0.02256516759206568 Centerline is valid? [True, True] Translation: X:273.00, Y:-45.48, Z:-12.28 [[ 9.89471316e-01 1.41474837e-01 3.05186116e-02 2.72995866e+02] [-1.41399099e-01 9.89941815e-01 -4.63667047e-03 -4.54844829e+01] [-3.08676220e-02 2.72548259e-04 9.99523444e-01 -1.22785012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.80264 meters 0.01890916357406095 Centerline is valid? [True, True] Translation: X:273.02, Y:-45.49, Z:-12.28 [[ 9.89529496e-01 1.41032252e-01 3.06803074e-02 2.73023292e+02] [-1.40955547e-01 9.90004961e-01 -4.65961298e-03 -4.54893083e+01] [-3.10308122e-02 2.86264983e-04 9.99518387e-01 -1.22782617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.83264 meters 0.01788220606313455 Centerline is valid? [True, True] Translation: X:273.05, Y:-45.49, Z:-12.28 [[ 9.89543815e-01 1.40994130e-01 3.03923346e-02 2.73051625e+02] [-1.40918918e-01 9.90010392e-01 -4.61333799e-03 -4.54932229e+01] [-3.07391807e-02 2.82245150e-04 9.99527400e-01 -1.22768775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86264 meters 0.018363504378651523 Centerline is valid? [True, True] Translation: X:273.08, Y:-45.50, Z:-12.28 [[ 9.89424310e-01 1.41821946e-01 3.04314113e-02 2.73079398e+02] [-1.41746973e-01 9.89892151e-01 -4.61796241e-03 -4.54965497e+01] [-3.07787436e-02 2.55563851e-04 9.99526190e-01 -1.22797167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.89264000000003 meters 0.018575133891696505 Centerline is valid? [True, True] Translation: X:273.11, Y:-45.50, Z:-12.28 [[ 9.89315406e-01 1.42555333e-01 3.05451214e-02 2.73107189e+02] [-1.42480207e-01 9.89786807e-01 -4.63326351e-03 -4.55000687e+01] [-3.08936546e-02 2.31683740e-04 9.99522650e-01 -1.22824741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92264 meters 0.017513105185284938 Centerline is valid? [True, True] Translation: X:273.14, Y:-45.50, Z:-12.28 [[ 9.89231526e-01 1.43083046e-01 3.07933337e-02 2.73136187e+02] [-1.43007015e-01 9.89710663e-01 -4.66882813e-03 -4.55023742e+01] [-3.11445209e-02 2.14889237e-04 9.99514869e-01 -1.22811786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.95264000000003 meters 0.01728538548015431 Centerline is valid? [True, True] Translation: X:273.17, Y:-45.50, Z:-12.28 [[ 9.89174886e-01 1.43742330e-01 2.95158707e-02 2.73165349e+02] [-1.43672810e-01 9.89615131e-01 -4.47383310e-03 -4.55045154e+01] [-2.98524315e-02 1.84775248e-04 9.99554300e-01 -1.22825745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98264 meters 0.017639483244057133 Centerline is valid? [True, True] Translation: X:273.19, Y:-45.51, Z:-12.29 [[ 9.89180552e-01 1.43766415e-01 2.92070948e-02 2.73192109e+02] [-1.43698381e-01 9.89611633e-01 -4.42609126e-03 -4.55093909e+01] [-2.95400040e-02 1.81191176e-04 9.99563582e-01 -1.22855802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.01264000000003 meters 0.01760202687347012 Centerline is valid? [True, True] Translation: X:273.22, Y:-45.52, Z:-12.29 [[ 9.89202933e-01 1.43692853e-01 2.88083482e-02 2.73220517e+02] [-1.43626707e-01 9.89622318e-01 -4.36312830e-03 -4.55153558e+01] [-2.91363346e-02 1.78371129e-04 9.99575431e-01 -1.22865956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04264 meters 0.01715186641987957 Centerline is valid? [True, True] Translation: X:273.25, Y:-45.52, Z:-12.29 [[ 9.89207591e-01 1.43661187e-01 2.88063524e-02 2.73248190e+02] [-1.43595062e-01 9.89626915e-01 -4.36194180e-03 -4.55211069e+01] [-2.91341834e-02 1.78415975e-04 9.99575494e-01 -1.22865160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.07264000000004 meters 0.02089423723393753 Centerline is valid? [True, True] Translation: X:273.28, Y:-45.53, Z:-12.29 [[ 9.89162252e-01 1.43924317e-01 2.90487448e-02 2.73275175e+02] [-1.43857246e-01 9.89588683e-01 -4.39667881e-03 -4.55262744e+01] [-2.93790981e-02 1.70156296e-04 9.99568327e-01 -1.22893276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10264 meters 0.01744021988053394 Centerline is valid? [True, True] Translation: X:273.30, Y:-45.53, Z:-12.29 [[ 9.89125348e-01 1.44054364e-01 2.96544519e-02 2.73303901e+02] [-1.43984627e-01 9.89569761e-01 -4.48492982e-03 -4.55299465e+01] [-2.99912226e-02 1.66372585e-04 9.99550148e-01 -1.22897998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.13264 meters 0.01731097917062737 Centerline is valid? [True, True] Translation: X:273.33, Y:-45.53, Z:-12.29 [[ 9.89060357e-01 1.44513950e-01 2.95859429e-02 2.73330402e+02] [-1.44444762e-01 9.89502752e-01 -4.47384518e-03 -4.55328601e+01] [-2.99219050e-02 1.51368420e-04 9.99552228e-01 -1.22912866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16264 meters 0.016729527590692215 Centerline is valid? [True, True] Translation: X:273.36, Y:-45.53, Z:-12.29 [[ 9.88773340e-01 1.46693559e-01 2.84302811e-02 2.73359644e+02] [-1.46630657e-01 9.89181982e-01 -4.29617719e-03 -4.55348562e+01] [-2.87529433e-02 7.91946777e-05 9.99586546e-01 -1.22919780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.19264 meters 0.01641914703470721 Centerline is valid? [True, True] Translation: X:273.39, Y:-45.54, Z:-12.29 [[ 9.88561510e-01 1.48054589e-01 2.87398700e-02 2.73387983e+02] [-1.47990925e-01 9.88979189e-01 -4.34153491e-03 -4.55373234e+01] [-2.90659175e-02 3.86343545e-05 9.99577496e-01 -1.22934388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22264 meters 0.01664983215586589 Centerline is valid? [True, True] Translation: X:273.42, Y:-45.54, Z:-12.30 [[ 9.88387198e-01 1.49328598e-01 2.81374505e-02 2.73417161e+02] [-1.49268129e-01 9.88787626e-01 -4.24920888e-03 -4.55396137e+01] [-2.84564913e-02 -1.60945457e-07 9.99595032e-01 -1.22956850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.25264 meters 0.016873716637146163 Centerline is valid? [True, True] Translation: X:273.45, Y:-45.54, Z:-12.30 [[ 9.88220541e-01 1.50451521e-01 2.80089576e-02 2.73445078e+02] [-1.50392085e-01 9.88617387e-01 -4.22870202e-03 -4.55422177e+01] [-2.83263571e-02 -3.34353345e-05 9.99598728e-01 -1.22979331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28264 meters 0.025969588869202018 Centerline is valid? [True, True] Translation: X:273.47, Y:-45.54, Z:-12.30 [[ 9.87965077e-01 1.52085624e-01 2.81952010e-02 2.73473058e+02] [-1.52026103e-01 9.88367318e-01 -4.25533180e-03 -4.55437792e+01] [-2.85143900e-02 -8.22873261e-05 9.99593379e-01 -1.22981156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.31264 meters 0.016944303938166975 Centerline is valid? [True, True] Translation: X:273.50, Y:-45.55, Z:-12.30 [[ 9.87896041e-01 1.52272620e-01 2.95712822e-02 2.73500812e+02] [-1.52207305e-01 9.88338525e-01 -4.46047541e-03 -4.55472947e+01] [-2.99056457e-02 -9.44791751e-05 9.99552722e-01 -1.22977798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34264 meters 0.016923006289902547 Centerline is valid? [True, True] Translation: X:273.53, Y:-45.55, Z:-12.30 [[ 9.87894105e-01 1.52241696e-01 2.97943388e-02 2.73529302e+02] [-1.52175440e-01 9.88343289e-01 -4.49206782e-03 -4.55511550e+01] [-3.01309148e-02 -9.62793101e-05 9.99545956e-01 -1.22984803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.37264 meters 0.016767223920016987 Centerline is valid? [True, True] Translation: X:273.56, Y:-45.56, Z:-12.30 [[ 9.87977000e-01 1.51711487e-01 2.97501611e-02 2.73556692e+02] [-1.51645216e-01 9.88424817e-01 -4.48444357e-03 -4.55553667e+01] [-3.00861392e-02 -8.09424992e-05 9.99547306e-01 -1.22995880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.40264 meters 0.016074288000559035 Centerline is valid? [True, True] Translation: X:273.58, Y:-45.56, Z:-12.30 [[ 9.88160494e-01 1.50531274e-01 2.96508768e-02 2.73583881e+02] [-1.50464976e-01 9.88605246e-01 -4.46740944e-03 -4.55601519e+01] [-2.99854973e-02 -4.69009504e-05 9.99550333e-01 -1.22987112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.43264 meters 0.01588249529477056 Centerline is valid? [True, True] Translation: X:273.61, Y:-45.57, Z:-12.30 [[ 9.88246781e-01 1.49854813e-01 3.01966157e-02 2.73611829e+02] [-1.49785819e-01 9.88708013e-01 -4.54689024e-03 -4.55655805e+01] [-3.05370092e-02 -2.95751618e-05 9.99533636e-01 -1.22999941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46264 meters 0.01607511861080903 Centerline is valid? [True, True] Translation: X:273.64, Y:-45.57, Z:-12.30 [[ 9.88376027e-01 1.48827415e-01 3.10359550e-02 2.73638723e+02] [-1.48754068e-01 9.88863186e-01 -4.67191047e-03 -4.55718064e+01] [-3.13856217e-02 8.79756567e-07 9.99507350e-01 -1.23022955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.49264 meters 0.01548989018038574 Centerline is valid? [True, True] Translation: X:273.67, Y:-45.58, Z:-12.30 [[ 9.88680998e-01 1.46782203e-01 3.10623578e-02 2.73665754e+02] [-1.46707773e-01 9.89168833e-01 -4.67423027e-03 -4.55790820e+01] [-3.14120100e-02 6.42333149e-05 9.99506519e-01 -1.23002983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52264 meters 0.016198911595541824 Centerline is valid? [True, True] Translation: X:273.69, Y:-45.58, Z:-12.30 [[ 9.88837675e-01 1.45887554e-01 3.02799288e-02 2.73692753e+02] [-1.45816481e-01 9.89301175e-01 -4.55411262e-03 -4.55836673e+01] [-3.06203575e-02 8.79654735e-05 9.99531083e-01 -1.23038021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.55264 meters 0.015974768608439785 Centerline is valid? [True, True] Translation: X:273.72, Y:-45.59, Z:-12.30 [[ 9.88996340e-01 1.44924897e-01 2.97155467e-02 2.73721408e+02] [-1.44856075e-01 9.89442652e-01 -4.46726470e-03 -4.55885352e+01] [-3.00492473e-02 1.13630985e-04 9.99548413e-01 -1.23038273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58264 meters 0.023630053675562302 Centerline is valid? [True, True] Translation: X:273.75, Y:-45.60, Z:-12.31 [[ 9.89311379e-01 1.42811361e-01 2.94603280e-02 2.73747643e+02] [-1.42742801e-01 9.89749910e-01 -4.42816291e-03 -4.55969480e+01] [-2.97907490e-02 1.75582225e-04 9.99556142e-01 -1.23087830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.61264 meters 0.018041576725989716 Centerline is valid? [True, True] Translation: X:273.77, Y:-45.60, Z:-12.31 [[ 9.89513774e-01 1.41295098e-01 2.99697505e-02 2.73774724e+02] [-1.41223540e-01 9.89967497e-01 -4.50175688e-03 -4.56032393e+01] [-3.03051551e-02 2.22116169e-04 9.99540669e-01 -1.23098344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64264000000003 meters 0.01916782429168925 Centerline is valid? [True, True] Translation: X:273.80, Y:-45.61, Z:-12.31 [[ 9.89741406e-01 1.39811879e-01 2.94038623e-02 2.73801920e+02] [-1.39742411e-01 9.90178050e-01 -4.41450587e-03 -4.56091536e+01] [-2.97322594e-02 2.60252641e-04 9.99557865e-01 -1.23121058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.67264 meters 0.02126539660164753 Centerline is valid? [True, True] Translation: X:273.83, Y:-45.62, Z:-12.31 [[ 9.90155689e-01 1.36923815e-01 2.90444616e-02 2.73829691e+02] [-1.36854848e-01 9.90581523e-01 -4.35863640e-03 -4.56197636e+01] [-2.93677082e-02 3.40853242e-04 9.99568618e-01 -1.23140810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70264000000003 meters 0.032733771021734276 Centerline is valid? [True, True] Translation: X:273.86, Y:-45.63, Z:-12.32 [[ 9.90291785e-01 1.36022821e-01 2.86351844e-02 2.73857507e+02] [-1.35955446e-01 9.90705638e-01 -4.29590668e-03 -4.56277455e+01] [-2.89533800e-02 3.61091825e-04 9.99580698e-01 -1.23161378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.73264 meters 0.022655781441757335 Centerline is valid? [True, True] Translation: X:273.88, Y:-45.64, Z:-12.32 [[ 9.90349726e-01 1.35461712e-01 2.92838797e-02 2.73884082e+02] [-1.35391037e-01 9.90782507e-01 -4.39211276e-03 -4.56351257e+01] [-2.96089188e-02 3.84952831e-04 9.99561486e-01 -1.23180437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76264000000003 meters 0.029115600926946237 Centerline is valid? [True, True] Translation: X:273.91, Y:-45.64, Z:-12.32 [[ 9.90354508e-01 1.35631400e-01 2.83208703e-02 2.73911235e+02] [-1.35565417e-01 9.90759300e-01 -4.24593452e-03 -4.56406044e+01] [-2.86350477e-02 3.65649784e-04 9.99589866e-01 -1.23201754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.79264 meters 0.029115600926946237 Centerline is valid? [True, True] Translation: X:273.94, Y:-45.64, Z:-12.32 [[ 9.90360553e-01 1.35587200e-01 2.83211426e-02 2.73939233e+02] [-1.35521252e-01 9.90765350e-01 -4.24411711e-03 -4.56447089e+01] [-2.86350547e-02 3.65089464e-04 9.99589866e-01 -1.23215699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82264000000004 meters 0.021145744749389944 Centerline is valid? [True, True] Translation: X:273.97, Y:-45.65, Z:-12.32 [[ 9.90298291e-01 1.35829396e-01 2.93201265e-02 2.73968496e+02] [-1.35758858e-01 9.90732173e-01 -4.39245576e-03 -4.56471466e+01] [-2.96450173e-02 3.69374525e-04 9.99560422e-01 -1.23193593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.85264 meters 0.024633255211085357 Centerline is valid? [True, True] Translation: X:274.00, Y:-45.65, Z:-12.32 [[ 9.90191204e-01 1.36521561e-01 2.97194031e-02 2.73996675e+02] [-1.36449444e-01 9.90637037e-01 -4.45081039e-03 -4.56509900e+01] [-3.00487730e-02 3.51957269e-04 9.99548372e-01 -1.23190173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.88264 meters 0.019947963114815857 Centerline is valid? [True, True] Translation: X:274.02, Y:-45.66, Z:-12.32 [[ 9.90042307e-01 1.37247105e-01 3.12963584e-02 2.74023985e+02] [-1.37167537e-01 9.90536780e-01 -4.68554812e-03 -4.56561747e+01] [-3.16432720e-02 3.46046471e-04 9.99499166e-01 -1.23207680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.91264 meters 0.01864195912799393 Centerline is valid? [True, True] Translation: X:274.05, Y:-45.66, Z:-12.32 [[ 9.89747978e-01 1.39468757e-01 3.07799560e-02 2.74052711e+02] [-1.39392929e-01 9.90226436e-01 -4.60623069e-03 -4.56604172e+01] [-3.11215514e-02 2.68499283e-04 9.99515571e-01 -1.23233020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.94264 meters 0.027759488495776564 Centerline is valid? [True, True] Translation: X:274.08, Y:-45.66, Z:-12.32 [[ 9.89636928e-01 1.40540284e-01 2.94479223e-02 2.74081555e+02] [-1.40471393e-01 9.90074936e-01 -4.40559410e-03 -4.56640521e+01] [-2.97748132e-02 2.23347952e-04 9.99556607e-01 -1.23237693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.97264 meters 0.017447678483021815 Centerline is valid? [True, True] Translation: X:274.11, Y:-45.67, Z:-12.33 [[ 9.89460877e-01 1.41497088e-01 3.07529860e-02 2.74110137e+02] [-1.41422465e-01 9.89938651e-01 -4.59925318e-03 -4.56680690e+01] [-3.10943505e-02 2.01618006e-04 9.99516433e-01 -1.23259446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.00264 meters 0.016732613452827075 Centerline is valid? [True, True] Translation: X:274.14, Y:-45.67, Z:-12.33 [[ 9.89241906e-01 1.43169184e-01 3.00505504e-02 2.74138672e+02] [-1.43098745e-01 9.89698219e-01 -4.49280905e-03 -4.56712922e+01] [-3.03842080e-02 1.44278937e-04 9.99538283e-01 -1.23272456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.03264 meters 0.017387931407769 Centerline is valid? [True, True] Translation: X:274.17, Y:-45.68, Z:-12.33 [[ 9.89195494e-01 1.43555299e-01 2.97346859e-02 2.74165715e+02] [-1.43486542e-01 9.89642289e-01 -4.44443300e-03 -4.56761672e+01] [-3.00647245e-02 1.29885852e-04 9.99547946e-01 -1.23315928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.06264 meters 0.017139689436882564 Centerline is valid? [True, True] Translation: X:274.19, Y:-45.68, Z:-12.33 [[ 9.89124926e-01 1.43882238e-01 3.04923316e-02 2.74192528e+02] [-1.43810157e-01 9.89594810e-01 -4.55540717e-03 -4.56818935e+01] [-3.08304952e-02 1.20759789e-04 9.99524620e-01 -1.23326249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.09264 meters 0.017000309203799868 Centerline is valid? [True, True] Translation: X:274.22, Y:-45.69, Z:-12.33 [[ 9.89122609e-01 1.43701150e-01 3.14077040e-02 2.74220015e+02] [-1.43624644e-01 9.89621121e-01 -4.69025633e-03 -4.56890122e+01] [-3.17557225e-02 1.28318269e-04 9.99495652e-01 -1.23335311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.12264 meters 0.02115461313025951 Centerline is valid? [True, True] Translation: X:274.26, Y:-45.69, Z:-12.33 [[ 9.89538594e-01 1.42846069e-01 2.02082262e-02 2.74257193e+02] [-1.42308225e-01 9.89482441e-01 -2.59397065e-02 -4.56865136e+01] [-2.37010700e-02 2.27925439e-02 9.99459233e-01 -1.23328841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.15264 meters 0.01643745078589522 Centerline is valid? [True, True] Translation: X:274.28, Y:-45.72, Z:-12.33 [[ 9.89349282e-01 1.41493088e-01 3.41716921e-02 2.74276659e+02] [-1.42045796e-01 9.89756561e-01 1.43157877e-02 -4.57163962e+01] [-3.17960714e-02 -1.90172595e-02 9.99313441e-01 -1.23343563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.18264 meters 0.016133404675403952 Centerline is valid? [True, True] Translation: X:274.31, Y:-45.71, Z:-12.33 [[ 9.89318378e-01 1.42324544e-01 3.15098556e-02 2.74306671e+02] [-1.42247477e-01 9.89820034e-01 -4.68556530e-03 -4.57114272e+01] [-3.18559573e-02 1.53318390e-04 9.99492458e-01 -1.23324137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.21264 meters 0.016247379543200213 Centerline is valid? [True, True] Translation: X:274.33, Y:-45.72, Z:-12.33 [[ 9.89302753e-01 1.42456897e-01 3.14021737e-02 2.74333510e+02] [-1.42380466e-01 9.89800996e-01 -4.66817154e-03 -4.57174430e+01] [-3.17469160e-02 1.47178823e-04 9.99495929e-01 -1.23344750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.24264 meters 0.01628709698924056 Centerline is valid? [True, True] Translation: X:274.36, Y:-45.72, Z:-12.34 [[ 9.89054497e-01 1.44242858e-01 3.10676735e-02 2.74361348e+02] [-1.44168987e-01 9.89542314e-01 -4.61659195e-03 -4.57216314e+01] [-3.14086879e-02 8.70660132e-05 9.99506622e-01 -1.23380682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.27264 meters 0.01598292089287682 Centerline is valid? [True, True] Translation: X:274.39, Y:-45.73, Z:-12.34 [[ 9.88897958e-01 1.45343457e-01 3.09210034e-02 2.74389637e+02] [-1.45270892e-01 9.89381260e-01 -4.59247614e-03 -4.57256170e+01] [-3.12601477e-02 4.95685321e-05 9.99511281e-01 -1.23389123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.30264 meters 0.02101540562006538 Centerline is valid? [True, True] Translation: X:274.42, Y:-45.73, Z:-12.34 [[ 9.88760844e-01 1.46477901e-01 2.99369080e-02 2.74418267e+02] [-1.46410444e-01 9.89213943e-01 -4.44493707e-03 -4.57302186e+01] [-3.02650919e-02 1.19037228e-05 9.99541907e-01 -1.23384832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.33264 meters 0.015806397575918816 Centerline is valid? [True, True] Translation: X:274.45, Y:-45.73, Z:-12.34 [[ 9.88321100e-01 1.48975674e-01 3.20570229e-02 2.74445776e+02] [-1.48899686e-01 9.88840859e-01 -4.75813215e-03 -4.57346143e+01] [-3.24081400e-02 -7.07182411e-05 9.99474716e-01 -1.23402993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36264 meters 0.016258075240261717 Centerline is valid? [True, True] Translation: X:274.47, Y:-45.74, Z:-12.34 [[ 9.88116170e-01 1.50323812e-01 3.20809350e-02 2.74473968e+02] [-1.50248484e-01 9.88636808e-01 -4.75975150e-03 -4.57366855e+01] [-3.24318972e-02 -1.16924431e-04 9.99473941e-01 -1.23419516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.39264000000003 meters 0.016973956778399912 Centerline is valid? [True, True] Translation: X:274.50, Y:-45.74, Z:-12.34 [[ 9.87887476e-01 1.51779810e-01 3.22679949e-02 2.74502090e+02] [-1.51704452e-01 9.88414316e-01 -4.78520689e-03 -4.57379374e+01] [-3.26204459e-02 -1.67952521e-04 9.99467798e-01 -1.23440673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42264 meters 0.017709296325875576 Centerline is valid? [True, True] Translation: X:274.53, Y:-45.74, Z:-12.35 [[ 9.87629376e-01 1.53406562e-01 3.24752556e-02 2.74530527e+02] [-1.53331183e-01 9.88163132e-01 -4.81377013e-03 -4.57399304e+01] [-3.28293143e-02 -2.25248572e-04 9.99460947e-01 -1.23451701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.45264000000003 meters 0.028930631105769173 Centerline is valid? [True, True] Translation: X:274.56, Y:-45.74, Z:-12.34 [[ 9.87225717e-01 1.56110622e-01 3.18568355e-02 2.74560120e+02] [-1.56039542e-01 9.87739529e-01 -4.72060730e-03 -4.57386901e+01] [-3.22031927e-02 -3.10621111e-04 9.99481294e-01 -1.23438356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48264 meters 0.019950521040813407 Centerline is valid? [True, True] Translation: X:274.59, Y:-45.74, Z:-12.35 [[ 9.87041827e-01 1.56897872e-01 3.36376160e-02 2.74589270e+02] [-1.56819143e-01 9.87614768e-01 -4.98258697e-03 -4.57412391e+01] [-3.40027636e-02 -3.57000372e-04 9.99421675e-01 -1.23468239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.51264000000003 meters 0.01969706207552297 Centerline is valid? [True, True] Translation: X:274.62, Y:-45.75, Z:-12.35 [[ 9.87033125e-01 1.56884326e-01 3.39546441e-02 2.74617370e+02] [-1.56804134e-01 9.87616919e-01 -5.02848576e-03 -4.57451937e+01] [-3.43230716e-02 -3.60946541e-04 9.99410725e-01 -1.23476314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54264 meters 0.018974145853336198 Centerline is valid? [True, True] Translation: X:274.65, Y:-45.75, Z:-12.35 [[ 9.87086562e-01 1.56541263e-01 3.39845774e-02 2.74646013e+02] [-1.56460782e-01 9.87671357e-01 -5.03129305e-03 -4.57504260e+01] [-3.43531987e-02 -3.50931807e-04 9.99409693e-01 -1.23484457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.57264000000004 meters 0.017814186127170523 Centerline is valid? [True, True] Translation: X:274.67, Y:-45.76, Z:-12.35 [[ 9.87605243e-01 1.53301854e-01 3.36812211e-02 2.74673270e+02] [-1.53220970e-01 9.88179379e-01 -4.98490483e-03 -4.57571009e+01] [-3.40472833e-02 -2.37551226e-04 9.99420195e-01 -1.23523454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60264 meters 0.017076019403206816 Centerline is valid? [True, True] Translation: X:274.70, Y:-45.76, Z:-12.36 [[ 9.87973958e-01 1.50955195e-01 3.34662273e-02 2.74699995e+02] [-1.50874062e-01 9.88540593e-01 -4.95107515e-03 -4.57637675e+01] [-3.38301147e-02 -1.57652344e-04 9.99427585e-01 -1.23553059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.63264 meters 0.015690039867131026 Centerline is valid? [True, True] Translation: X:274.73, Y:-45.77, Z:-12.36 [[ 9.88408908e-01 1.48125379e-01 3.32671410e-02 2.74727878e+02] [-1.48043684e-01 9.88968588e-01 -4.91931762e-03 -4.57722957e+01] [-3.36288333e-02 -6.26927430e-05 9.99434389e-01 -1.23550920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66264 meters 0.01568723581003206 Centerline is valid? [True, True] Translation: X:274.76, Y:-45.78, Z:-12.36 [[ 9.88866363e-01 1.45149951e-01 3.27842657e-02 2.74755288e+02] [-1.45069026e-01 9.89409668e-01 -4.84636520e-03 -4.57809549e+01] [-3.31405191e-02 3.64260262e-05 9.99450701e-01 -1.23577993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.69264 meters 0.017398694144685627 Centerline is valid? [True, True] Translation: X:274.78, Y:-45.80, Z:-12.36 [[ 9.89819072e-01 1.38736516e-01 3.17865207e-02 2.74782528e+02] [-1.38657188e-01 9.90329299e-01 -4.69717970e-03 -4.57963850e+01] [-3.21307931e-02 2.41928470e-04 9.99483643e-01 -1.23596285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72264 meters 0.03131600028003386 Centerline is valid? [True, True] Translation: X:274.81, Y:-45.81, Z:-12.36 [[ 9.90271962e-01 1.35910535e-01 2.98289784e-02 2.74809415e+02] [-1.35839416e-01 9.90721065e-01 -4.40729036e-03 -4.58069485e+01] [-3.01511945e-02 3.12465071e-04 9.99545301e-01 -1.23617772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.75264 meters 0.020818931677540984 Centerline is valid? [True, True] Translation: X:274.84, Y:-45.81, Z:-12.36 [[ 9.90575697e-01 1.33301303e-01 3.14730204e-02 2.74837430e+02] [-1.33220863e-01 9.91075473e-01 -4.64850603e-03 -4.58144387e+01] [-3.18117904e-02 4.11834169e-04 9.99493792e-01 -1.23630564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78264 meters 0.03179121021778743 Centerline is valid? [True, True] Translation: X:274.87, Y:-45.82, Z:-12.36 [[ 9.90867343e-01 1.31404601e-01 3.02446660e-02 2.74866578e+02] [-1.31329498e-01 9.91328718e-01 -4.46504738e-03 -4.58222528e+01] [-3.05691337e-02 4.52252834e-04 9.99532553e-01 -1.23621743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.81264 meters 0.032964908999719225 Centerline is valid? [True, True] Translation: X:274.90, Y:-45.83, Z:-12.36 [[ 9.91306812e-01 1.27931804e-01 3.07287719e-02 2.74895534e+02] [-1.27852620e-01 9.91782804e-01 -4.53613775e-03 -4.58329517e+01] [-3.10565838e-02 5.67950252e-04 9.99517467e-01 -1.23606495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84264 meters 0.02606806690530616 Centerline is valid? [True, True] Translation: X:274.93, Y:-45.82, Z:-12.36 [[ 9.91608265e-01 1.28338348e-01 1.55665354e-02 2.74932456e+02] [-1.27652729e-01 9.91049254e-01 -3.90660542e-02 -4.58198461e+01] [-2.04408761e-02 3.67511115e-02 9.99115372e-01 -1.23584126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.87264 meters 0.02798735159479241 Centerline is valid? [True, True] Translation: X:274.95, Y:-45.87, Z:-12.37 [[ 9.91560967e-01 1.24011851e-01 3.77876954e-02 2.74950029e+02] [-1.25208683e-01 9.91641592e-01 3.11406366e-02 -4.58747402e+01] [-3.36100424e-02 -3.56091873e-02 9.98800456e-01 -1.23707588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90264 meters 0.027347404563931997 Centerline is valid? [True, True] Translation: X:274.98, Y:-45.86, Z:-12.37 [[ 9.91497439e-01 1.26014335e-01 3.24532850e-02 2.74984563e+02] [-1.25925111e-01 9.92028202e-01 -4.78683891e-03 -4.58607059e+01] [-3.27977843e-02 6.59454998e-04 9.99461790e-01 -1.23694379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.93264 meters 0.02632766524452154 Centerline is valid? [True, True] Translation: X:275.02, Y:-45.87, Z:-12.37 [[ 9.91397658e-01 1.26824791e-01 3.23443319e-02 2.75016231e+02] [-1.26736422e-01 9.91924931e-01 -4.77611198e-03 -4.58660475e+01] [-3.26888786e-02 6.35821329e-04 9.99465374e-01 -1.23706023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96264 meters 0.02649897031998035 Centerline is valid? [True, True] Translation: X:275.05, Y:-45.87, Z:-12.37 [[ 9.91249486e-01 1.27943012e-01 3.24814192e-02 2.75047150e+02] [-1.27854304e-01 9.91781335e-01 -4.80206787e-03 -4.58727846e+01] [-3.28288564e-02 6.07158050e-04 9.99460803e-01 -1.23724325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.99264 meters 0.02898287240920613 Centerline is valid? [True, True] Translation: X:275.08, Y:-45.87, Z:-12.37 [[ 9.91095184e-01 1.29324504e-01 3.17097460e-02 2.75079225e+02] [-1.29240456e-01 9.91602171e-01 -4.69462958e-03 -4.58748201e+01] [-3.20505836e-02 5.54642727e-04 9.99486094e-01 -1.23691478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02264 meters 0.02238306805888286 Centerline is valid? [True, True] Translation: X:275.11, Y:-45.88, Z:-12.37 [[ 9.90705287e-01 1.31895048e-01 3.32675750e-02 2.75109403e+02] [-1.31803934e-01 9.91263562e-01 -4.92674016e-03 -4.58796180e+01] [-3.36267475e-02 4.96150267e-04 9.99434338e-01 -1.23723972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.05264 meters 0.023075517096579984 Centerline is valid? [True, True] Translation: X:275.14, Y:-45.89, Z:-12.38 [[ 9.90527837e-01 1.33368059e-01 3.26736137e-02 2.75140128e+02] [-1.33281016e-01 9.91066481e-01 -4.83744157e-03 -4.58870412e+01] [-3.30268836e-02 4.36848102e-04 9.99454368e-01 -1.23772170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08264 meters 0.020241361201141245 Centerline is valid? [True, True] Translation: X:275.17, Y:-45.89, Z:-12.38 [[ 9.90391042e-01 1.34567226e-01 3.18942916e-02 2.75171148e+02] [-1.34484671e-01 9.90904388e-01 -4.72941472e-03 -4.58888575e+01] [-3.22406177e-02 3.94676674e-04 9.99480058e-01 -1.23764499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.11264 meters 0.02651064703192449 Centerline is valid? [True, True] Translation: X:275.20, Y:-45.89, Z:-12.38 [[ 9.90155383e-01 1.36715444e-01 3.00200907e-02 2.75200770e+02] [-1.36643268e-01 9.90610314e-01 -4.45238660e-03 -4.58938779e+01] [-3.03469214e-02 3.06511259e-04 9.99539379e-01 -1.23783570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14264000000003 meters 0.018741156389104504 Centerline is valid? [True, True] Translation: X:275.23, Y:-45.90, Z:-12.38 [[ 9.89979437e-01 1.37715586e-01 3.12270840e-02 2.75231237e+02] [-1.37637969e-01 9.90471774e-01 -4.63192934e-03 -4.58987899e+01] [-3.15674342e-02 2.87482371e-04 9.99501583e-01 -1.23807904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.17264 meters 0.01745450323629832 Centerline is valid? [True, True] Translation: X:275.26, Y:-45.90, Z:-12.38 [[ 9.89833063e-01 1.38628483e-01 3.18221932e-02 2.75261742e+02] [-1.38548343e-01 9.90344422e-01 -4.72043836e-03 -4.59027332e+01] [-3.21693187e-02 2.63533825e-04 9.99482399e-01 -1.23797550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20264000000003 meters 0.016708557867771947 Centerline is valid? [True, True] Translation: X:275.29, Y:-45.91, Z:-12.38 [[ 9.89566981e-01 1.40552158e-01 3.16588275e-02 2.75290554e+02] [-1.40473816e-01 9.90073255e-01 -4.69640391e-03 -4.59069001e+01] [-3.20046481e-02 2.00169908e-04 9.99487700e-01 -1.23811000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.23264 meters 0.016379567265543876 Centerline is valid? [True, True] Translation: X:275.32, Y:-45.91, Z:-12.38 [[ 9.89524017e-01 1.40844324e-01 3.17032594e-02 2.75320839e+02] [-1.40765931e-01 9.90031737e-01 -4.70239806e-03 -4.59115811e+01] [-3.20495391e-02 1.90396994e-04 9.99486263e-01 -1.23820144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26264000000003 meters 0.016089919876887186 Centerline is valid? [True, True] Translation: X:275.35, Y:-45.92, Z:-12.38 [[ 9.89470237e-01 1.41206912e-01 3.17688292e-02 2.75351271e+02] [-1.41128381e-01 9.89980089e-01 -4.71212372e-03 -4.59166337e+01] [-3.21158928e-02 1.79022728e-04 9.99484136e-01 -1.23830444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.29264 meters 0.01653485129481195 Centerline is valid? [True, True] Translation: X:275.38, Y:-45.92, Z:-12.39 [[ 9.89399705e-01 1.41717214e-01 3.16931414e-02 2.75380341e+02] [-1.41639313e-01 9.89907170e-01 -4.70109617e-03 -4.59219982e+01] [-3.20394942e-02 1.62268397e-04 9.99486590e-01 -1.23866147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32264000000004 meters 0.015970444617477143 Centerline is valid? [True, True] Translation: X:275.41, Y:-45.93, Z:-12.39 [[ 9.89267987e-01 1.42663792e-01 3.15577546e-02 2.75410882e+02] [-1.42587055e-01 9.89771199e-01 -4.68041905e-03 -4.59259462e+01] [-3.19026829e-02 1.30461436e-04 9.99490971e-01 -1.23869756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.35264 meters 0.016536888740653795 Centerline is valid? [True, True] Translation: X:275.44, Y:-45.93, Z:-12.39 [[ 9.89234229e-01 1.43055906e-01 3.08325876e-02 2.75440381e+02] [-1.42982840e-01 9.89714603e-01 -4.57307250e-03 -4.59302831e+01] [-3.11696673e-02 1.15308889e-04 9.99514101e-01 -1.23907735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.38264 meters 0.016758616521011925 Centerline is valid? [True, True] Translation: X:275.47, Y:-45.93, Z:-12.39 [[ 9.89203839e-01 1.43402273e-01 3.01919306e-02 2.75469442e+02] [-1.43332378e-01 9.89664477e-01 -4.47789045e-03 -4.59339045e+01] [-3.05220209e-02 1.02065205e-04 9.99534089e-01 -1.23933643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.41264 meters 0.0169368592526775 Centerline is valid? [True, True] Translation: X:275.50, Y:-45.94, Z:-12.40 [[ 9.89148856e-01 1.43771732e-01 3.02362277e-02 2.75497848e+02] [-1.43701826e-01 9.89610874e-01 -4.48375820e-03 -4.59380545e+01] [-3.05667374e-02 9.01031545e-05 9.99532724e-01 -1.23963114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.44264 meters 0.015634071923350795 Centerline is valid? [True, True] Translation: X:275.53, Y:-45.94, Z:-12.39 [[ 9.89020257e-01 1.44470066e-01 3.11019639e-02 2.75527188e+02] [-1.44396470e-01 9.89509169e-01 -4.61132885e-03 -4.59407132e+01] [-3.14418774e-02 6.96838594e-05 9.99505580e-01 -1.23931594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.47264 meters 0.0156459051347734 Centerline is valid? [True, True] Translation: X:275.56, Y:-45.94, Z:-12.39 [[ 9.88865560e-01 1.45409166e-01 3.16398195e-02 2.75555929e+02] [-1.45333501e-01 9.89371605e-01 -4.69046481e-03 -4.59430044e+01] [-3.19855756e-02 3.99133548e-05 9.99488330e-01 -1.23944707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.50264 meters 0.014763121268363986 Centerline is valid? [True, True] Translation: X:275.59, Y:-45.94, Z:-12.39 [[ 9.88696040e-01 1.46394315e-01 3.23858774e-02 2.75585566e+02] [-1.46315614e-01 9.89226316e-01 -4.79964442e-03 -4.59449150e+01] [-3.27396028e-02 6.82991561e-06 9.99463915e-01 -1.23923041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.53264 meters 0.014834573890530623 Centerline is valid? [True, True] Translation: X:275.61, Y:-45.95, Z:-12.39 [[ 9.88415839e-01 1.48008568e-01 3.35796528e-02 2.75614690e+02] [-1.47924911e-01 9.88986078e-01 -4.97585167e-03 -4.59462615e+01] [-3.39462778e-02 -4.90565551e-05 9.99423658e-01 -1.23937311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.56264 meters 0.01733528377414445 Centerline is valid? [True, True] Translation: X:275.64, Y:-45.95, Z:-12.39 [[ 9.88393588e-01 1.48214527e-01 3.33252104e-02 2.75644104e+02] [-1.48132298e-01 9.88955232e-01 -4.93674716e-03 -4.59498475e+01] [-3.36888388e-02 -5.70907624e-05 9.99432368e-01 -1.23920897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.59264 meters 0.014820888722086421 Centerline is valid? [True, True] Translation: X:275.67, Y:-45.95, Z:-12.40 [[ 9.88421683e-01 1.48025558e-01 3.33318405e-02 2.75672314e+02] [-1.47943211e-01 9.88983535e-01 -4.93706750e-03 -4.59534886e+01] [-3.36954536e-02 -5.13149516e-05 9.99432146e-01 -1.23958486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.62264 meters 0.014474240022133295 Centerline is valid? [True, True] Translation: X:275.70, Y:-45.96, Z:-12.40 [[ 9.88496067e-01 1.47441667e-01 3.37117163e-02 2.75701749e+02] [-1.47357142e-01 9.89070753e-01 -4.99188138e-03 -4.59581672e+01] [-3.40792840e-02 -3.32070714e-05 9.99419132e-01 -1.23960698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.65264 meters 0.014984081659977841 Centerline is valid? [True, True] Translation: X:275.73, Y:-45.96, Z:-12.40 [[ 9.88630051e-01 1.46555295e-01 3.36476896e-02 2.75729792e+02] [-1.46470606e-01 9.89202479e-01 -4.98158373e-03 -4.59629031e+01] [-3.40144555e-02 -3.45411728e-06 9.99421341e-01 -1.23999776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.68264 meters 0.014984081659977841 Centerline is valid? [True, True] Translation: X:275.76, Y:-45.97, Z:-12.40 [[ 9.88633368e-01 1.46532889e-01 3.36478263e-02 2.75758617e+02] [-1.46448218e-01 9.89205799e-01 -4.98066047e-03 -4.59671235e+01] [-3.40144555e-02 -3.61707459e-06 9.99421341e-01 -1.24013785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.71264 meters 0.016801443804611765 Centerline is valid? [True, True] Translation: X:275.79, Y:-45.97, Z:-12.40 [[ 9.88882607e-01 1.44915047e-01 3.33289497e-02 2.75787581e+02] [-1.44831080e-01 9.89444100e-01 -4.93270928e-03 -4.59714165e+01] [-3.36919564e-02 5.08026344e-05 9.99432264e-01 -1.24009198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.74264 meters 0.015037476335057698 Centerline is valid? [True, True] Translation: X:275.82, Y:-45.98, Z:-12.40 [[ 9.89013150e-01 1.44103100e-01 3.29740244e-02 2.75816415e+02] [-1.44020487e-01 9.89562676e-01 -4.87940883e-03 -4.59764840e+01] [-3.33330018e-02 7.68644393e-05 9.99444298e-01 -1.24034898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.77264 meters 0.014738790178432498 Centerline is valid? [True, True] Translation: X:275.85, Y:-45.98, Z:-12.40 [[ 9.89097924e-01 1.43536398e-01 3.29028908e-02 2.75846484e+02] [-1.43453866e-01 9.89645034e-01 -4.86773485e-03 -4.59822085e+01] [-3.32608796e-02 9.46195473e-05 9.99446699e-01 -1.24036278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.80264 meters 0.014615033792438536 Centerline is valid? [True, True] Translation: X:275.88, Y:-45.99, Z:-12.40 [[ 9.89034796e-01 1.43771982e-01 3.37607651e-02 2.75876096e+02] [-1.43685220e-01 9.89610837e-01 -4.99482261e-03 -4.59862939e+01] [-3.41281346e-02 8.91303899e-05 9.99417462e-01 -1.24043022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.83264 meters 0.014352442290458832 Centerline is valid? [True, True] Translation: X:275.91, Y:-45.99, Z:-12.41 [[ 9.88935834e-01 1.44464534e-01 3.37033319e-02 2.75906277e+02] [-1.44378489e-01 9.89509977e-01 -4.98573308e-03 -4.59887360e+01] [-3.40700448e-02 6.45339645e-05 9.99419445e-01 -1.24050116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86264 meters 0.014734064519445762 Centerline is valid? [True, True] Translation: X:275.94, Y:-45.99, Z:-12.41 [[ 9.88814389e-01 1.45303411e-01 3.36604142e-02 2.75935200e+02] [-1.45218076e-01 9.89387142e-01 -4.97922582e-03 -4.59908893e+01] [-3.40266795e-02 3.54295305e-05 9.99420924e-01 -1.24084401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.89264000000003 meters 0.01480972743093025 Centerline is valid? [True, True] Translation: X:275.96, Y:-45.99, Z:-12.41 [[ 9.88702866e-01 1.46104796e-01 3.34668805e-02 2.75963684e+02] [-1.46020864e-01 9.89269118e-01 -4.95163486e-03 -4.59932208e+01] [-3.38312089e-02 8.83275377e-06 9.99427561e-01 -1.24104714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92264 meters 0.01432256576151342 Centerline is valid? [True, True] Translation: X:275.99, Y:-45.99, Z:-12.41 [[ 9.88524552e-01 1.47176561e-01 3.40333724e-02 2.75992235e+02] [-1.47090434e-01 9.89110236e-01 -5.03440365e-03 -4.59944527e+01] [-3.44037033e-02 -2.93518958e-05 9.99408017e-01 -1.24096043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.95264000000003 meters 0.014420170896429284 Centerline is valid? [True, True] Translation: X:276.02, Y:-46.00, Z:-12.41 [[ 9.88473707e-01 1.47428332e-01 3.44182626e-02 2.76021056e+02] [-1.47340463e-01 9.89072740e-01 -5.08945603e-03 -4.59972848e+01] [-3.47924953e-02 -4.04092868e-05 9.99394557e-01 -1.24112627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98264 meters 0.014122175352158322 Centerline is valid? [True, True] Translation: X:276.05, Y:-46.00, Z:-12.41 [[ 9.88468998e-01 1.47467853e-01 3.43841783e-02 2.76049439e+02] [-1.47380220e-01 9.89066848e-01 -5.08331851e-03 -4.60010187e+01] [-3.47578769e-02 -4.28450163e-05 9.99395762e-01 -1.24115406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.01264000000003 meters 0.01451841780299904 Centerline is valid? [True, True] Translation: X:276.08, Y:-46.01, Z:-12.41 [[ 9.88537961e-01 1.47301050e-01 3.30923078e-02 2.76078324e+02] [-1.47219851e-01 9.89091704e-01 -4.89042249e-03 -4.60057840e+01] [-3.34516915e-02 -3.74763512e-05 9.99440335e-01 -1.24149853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04264 meters 0.014734664308034875 Centerline is valid? [True, True] Translation: X:276.11, Y:-46.01, Z:-12.42 [[ 9.88592525e-01 1.47010537e-01 3.27524353e-02 2.76106330e+02] [-1.46930864e-01 9.89134926e-01 -4.83943772e-03 -4.60103640e+01] [-3.31080260e-02 -2.81116404e-05 9.99451779e-01 -1.24176587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.07264000000004 meters 0.014701601041269911 Centerline is valid? [True, True] Translation: X:276.14, Y:-46.01, Z:-12.42 [[ 9.88717264e-01 1.46310066e-01 3.21175276e-02 2.76135198e+02] [-1.46233111e-01 9.89238780e-01 -4.74474251e-03 -4.60149299e+01] [-3.24661075e-02 -5.43716226e-06 9.99472837e-01 -1.24191544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10264 meters 0.014544476393348767 Centerline is valid? [True, True] Translation: X:276.16, Y:-46.02, Z:-12.42 [[ 9.88940460e-01 1.44678390e-01 3.26332691e-02 2.76163409e+02] [-1.44598070e-01 9.89478732e-01 -4.82047624e-03 -4.60208957e+01] [-3.29873445e-02 4.84562597e-05 9.99455768e-01 -1.24190462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.13264 meters 0.039040321580420576 Centerline is valid? [True, True] Translation: X:276.19, Y:-46.03, Z:-12.42 [[ 9.88990530e-01 1.44020141e-01 3.39989930e-02 2.76191813e+02] [-1.43932641e-01 9.89574754e-01 -5.02004791e-03 -4.60259502e+01] [-3.43675331e-02 7.12149825e-05 9.99409259e-01 -1.24176391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16264 meters 0.017330232911333794 Centerline is valid? [True, True] Translation: X:276.22, Y:-46.03, Z:-12.42 [[ 9.89105691e-01 1.43239270e-01 3.39476591e-02 2.76219820e+02] [-1.43151596e-01 9.89688083e-01 -5.01185335e-03 -4.60313463e+01] [-3.43154879e-02 9.75910996e-05 9.99411045e-01 -1.24198772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.19264 meters 0.024428607643227004 Centerline is valid? [True, True] Translation: X:276.25, Y:-46.04, Z:-12.42 [[ 9.89207578e-01 1.42507661e-01 3.40577920e-02 2.76249397e+02] [-1.42419043e-01 9.89793691e-01 -5.02638591e-03 -4.60366249e+01] [-3.44264862e-02 1.21660892e-04 9.99407225e-01 -1.24202386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22264 meters 0.015463761976447016 Centerline is valid? [True, True] Translation: X:276.28, Y:-46.05, Z:-12.42 [[ 9.89493115e-01 1.40359066e-01 3.46800694e-02 2.76278199e+02] [-1.40265864e-01 9.90100648e-01 -5.11807968e-03 -4.60455140e+01] [-3.50551281e-02 1.99874713e-04 9.99385360e-01 -1.24227473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.25264 meters 0.01608947485382918 Centerline is valid? [True, True] Translation: X:276.31, Y:-46.05, Z:-12.42 [[ 9.89672784e-01 1.38802477e-01 3.58001854e-02 2.76306687e+02] [-1.38702112e-01 9.90320051e-01 -5.28407880e-03 -4.60531478e+01] [-3.61870846e-02 2.63947669e-04 9.99344998e-01 -1.24228212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28264 meters 0.01728737899268472 Centerline is valid? [True, True] Translation: X:276.34, Y:-46.06, Z:-12.42 [[ 9.89887107e-01 1.37176001e-01 3.61422143e-02 2.76336007e+02] [-1.37072667e-01 9.90546636e-01 -5.33338083e-03 -4.60611679e+01] [-3.65321606e-02 3.25335211e-04 9.99332425e-01 -1.24234956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.31264 meters 0.018474867386781994 Centerline is valid? [True, True] Translation: X:276.37, Y:-46.07, Z:-12.42 [[ 9.90116601e-01 1.35597264e-01 3.58119916e-02 2.76367226e+02] [-1.35494757e-01 9.90763966e-01 -5.28522183e-03 -4.60689104e+01] [-3.61978924e-02 3.80648767e-04 9.99344569e-01 -1.24249603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34264 meters 0.020771639364114455 Centerline is valid? [True, True] Translation: X:276.40, Y:-46.08, Z:-12.43 [[ 9.90460506e-01 1.33019076e-01 3.59709861e-02 2.76398008e+02] [-1.32913739e-01 9.91113360e-01 -5.31469400e-03 -4.60814226e+01] [-3.63582805e-02 4.82956260e-04 9.99338702e-01 -1.24266469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.37264 meters 0.020586535853577392 Centerline is valid? [True, True] Translation: X:276.43, Y:-46.09, Z:-12.43 [[ 9.90547234e-01 1.32166152e-01 3.67189986e-02 2.76430891e+02] [-1.32055582e-01 9.91227434e-01 -5.43107621e-03 -4.60884431e+01] [-3.71146832e-02 5.30788767e-04 9.99310872e-01 -1.24262471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.40264 meters 0.022374519624366217 Centerline is valid? [True, True] Translation: X:276.46, Y:-46.10, Z:-12.43 [[ 9.90651124e-01 1.31363770e-01 3.67955235e-02 2.76461481e+02] [-1.31251876e-01 9.91334068e-01 -5.45071994e-03 -4.60968177e+01] [-3.71926831e-02 5.70280364e-04 9.99307950e-01 -1.24284477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.43264 meters 0.021967394688491605 Centerline is valid? [True, True] Translation: X:276.49, Y:-46.10, Z:-12.43 [[ 9.90799358e-01 1.30652083e-01 3.53081516e-02 2.76492716e+02] [-1.30548526e-01 9.91428113e-01 -5.23255334e-03 -4.61033835e+01] [-3.56891380e-02 5.74983339e-04 9.99362774e-01 -1.24308770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46264 meters 0.02469490639486136 Centerline is valid? [True, True] Translation: X:276.52, Y:-46.11, Z:-12.44 [[ 9.90805917e-01 1.30671027e-01 3.50530754e-02 2.76523576e+02] [-1.30568766e-01 9.91425616e-01 -5.20059053e-03 -4.61140835e+01] [-3.54320834e-02 5.75939060e-04 9.99371921e-01 -1.24355822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.49264 meters 0.030410900583969606 Centerline is valid? [True, True] Translation: X:276.56, Y:-46.12, Z:-12.43 [[ 9.90769581e-01 1.30788256e-01 3.56380344e-02 2.76555114e+02] [-1.30682378e-01 9.91410150e-01 -5.29433529e-03 -4.61187850e+01] [-3.60243459e-02 5.88203291e-04 9.99350739e-01 -1.24334416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52264 meters 0.024863353128935426 Centerline is valid? [True, True] Translation: X:276.59, Y:-46.13, Z:-12.44 [[ 9.90748438e-01 1.31090999e-01 3.51095868e-02 2.76586051e+02] [-1.30988230e-01 9.91370173e-01 -5.22144126e-03 -4.61279837e+01] [-3.54910811e-02 5.74192144e-04 9.99369828e-01 -1.24389375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.55264 meters 0.022215304924134507 Centerline is valid? [True, True] Translation: X:276.62, Y:-46.13, Z:-12.44 [[ 9.90756089e-01 1.31060037e-01 3.50091371e-02 2.76618841e+02] [-1.30957623e-01 9.91374264e-01 -5.21250393e-03 -4.61334548e+01] [-3.53903084e-02 5.79606650e-04 9.99373399e-01 -1.24372433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58264 meters 0.036017500637706076 Centerline is valid? [True, True] Translation: X:276.65, Y:-46.14, Z:-12.44 [[ 9.90698523e-01 1.31211108e-01 3.60566486e-02 2.76650252e+02] [-1.31102292e-01 9.91354269e-01 -5.37613256e-03 -4.61402944e+01] [-3.64503208e-02 5.99017329e-04 9.99335287e-01 -1.24353534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.61264 meters 0.02524597822008637 Centerline is valid? [True, True] Translation: X:276.68, Y:-46.15, Z:-12.44 [[ 9.90714453e-01 1.30994694e-01 3.64041537e-02 2.76682544e+02] [-1.30883397e-01 9.91382876e-01 -5.43408488e-03 -4.61470636e+01] [-3.68022909e-02 6.18927138e-04 9.99322375e-01 -1.24368086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64264000000003 meters 0.023670649611016555 Centerline is valid? [True, True] Translation: X:276.71, Y:-46.16, Z:-12.44 [[ 9.90726134e-01 1.30939207e-01 3.62856800e-02 2.76712946e+02] [-1.30828320e-01 9.91390202e-01 -5.42393249e-03 -4.61570452e+01] [-3.66834731e-02 6.26437119e-04 9.99326739e-01 -1.24413798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.67264 meters 0.02441063545154941 Centerline is valid? [True, True] Translation: X:276.74, Y:-46.17, Z:-12.44 [[ 9.90792193e-01 1.30492932e-01 3.60891321e-02 2.76744239e+02] [-1.30382688e-01 9.91449029e-01 -5.40166548e-03 -4.61667426e+01] [-3.64854141e-02 6.46529925e-04 9.99333976e-01 -1.24430192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70264000000003 meters 0.02360681599894067 Centerline is valid? [True, True] Translation: X:276.78, Y:-46.17, Z:-12.44 [[ 9.90851461e-01 1.29991124e-01 3.62724394e-02 2.76776144e+02] [-1.29879200e-01 9.91514928e-01 -5.43511776e-03 -4.61737200e+01] [-3.66711822e-02 6.74358959e-04 9.99327158e-01 -1.24439566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.73264 meters 0.024444342476139108 Centerline is valid? [True, True] Translation: X:276.81, Y:-46.18, Z:-12.45 [[ 9.90961822e-01 1.29388701e-01 3.54010144e-02 2.76806728e+02] [-1.29281490e-01 9.91593714e-01 -5.31062940e-03 -4.61831150e+01] [-3.57905588e-02 6.85935085e-04 9.99359077e-01 -1.24459641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76264000000003 meters 0.030159493451918023 Centerline is valid? [True, True] Translation: X:276.84, Y:-46.20, Z:-12.45 [[ 9.91097563e-01 1.28360896e-01 3.53426358e-02 2.76835785e+02] [-1.28253154e-01 9.91727256e-01 -5.30835191e-03 -4.61972338e+01] [-3.57316400e-02 7.28290138e-04 9.99361156e-01 -1.24479150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.79264 meters 0.027336038279305478 Centerline is valid? [True, True] Translation: X:276.87, Y:-46.21, Z:-12.45 [[ 9.91145335e-01 1.28089883e-01 3.49843785e-02 2.76865432e+02] [-1.27984051e-01 9.91762292e-01 -5.25722766e-03 -4.62057303e+01] [-3.53695851e-02 7.33234191e-04 9.99374031e-01 -1.24511662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82264000000004 meters 0.025871992701223513 Centerline is valid? [True, True] Translation: X:276.90, Y:-46.21, Z:-12.45 [[ 9.91157324e-01 1.28028062e-01 3.48708392e-02 2.76897793e+02] [-1.27922745e-01 9.91770272e-01 -5.24391390e-03 -4.62120823e+01] [-3.52552298e-02 7.36770195e-04 9.99378070e-01 -1.24517416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.85264 meters 0.027012036306310095 Centerline is valid? [True, True] Translation: X:276.93, Y:-46.22, Z:-12.45 [[ 9.91129714e-01 1.28333968e-01 3.45294371e-02 2.76929512e+02] [-1.28230654e-01 9.91730743e-01 -5.19930442e-03 -4.62200636e+01] [-3.49111517e-02 7.25452781e-04 9.99390157e-01 -1.24526530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.88264 meters 0.036524890030142976 Centerline is valid? [True, True] Translation: X:276.96, Y:-46.23, Z:-12.46 [[ 9.90984418e-01 1.29817488e-01 3.31255740e-02 2.76959243e+02] [-1.29722979e-01 9.91537691e-01 -4.99556657e-03 -4.62311398e+01] [-3.34937670e-02 6.53380490e-04 9.99438713e-01 -1.24571712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.91264 meters 0.024271802289766747 Centerline is valid? [True, True] Translation: X:276.99, Y:-46.24, Z:-12.46 [[ 9.90836005e-01 1.31098605e-01 3.25141179e-02 2.76991132e+02] [-1.31008178e-01 9.91369152e-01 -4.90534782e-03 -4.62356382e+01] [-3.28765778e-02 6.00779897e-04 9.99459239e-01 -1.24607782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.94264 meters 0.030080955853358654 Centerline is valid? [True, True] Translation: X:277.02, Y:-46.24, Z:-12.46 [[ 9.90546499e-01 1.33274616e-01 3.24886133e-02 2.77022701e+02] [-1.33185318e-01 9.91079004e-01 -4.90707438e-03 -4.62411589e+01] [-3.28527709e-02 5.33679070e-04 9.99460060e-01 -1.24597386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.97264 meters 0.03449401300190806 Centerline is valid? [True, True] Translation: X:277.05, Y:-46.25, Z:-12.46 [[ 9.89855101e-01 1.38334272e-01 3.24115326e-02 2.77052507e+02] [-1.38247848e-01 9.90385526e-01 -4.90330400e-03 -4.62469253e+01] [-3.27782077e-02 3.72735849e-04 9.99462581e-01 -1.24633975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.00264 meters 0.017115592201157128 Centerline is valid? [True, True] Translation: X:277.08, Y:-46.25, Z:-12.47 [[ 9.89469012e-01 1.41146486e-01 3.20740294e-02 2.77084248e+02] [-1.41063378e-01 9.89988684e-01 -4.85073954e-03 -4.62491428e+01] [-3.24375910e-02 2.75185545e-04 9.99473725e-01 -1.24659017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.03264 meters 0.015450081346730662 Centerline is valid? [True, True] Translation: X:277.12, Y:-46.25, Z:-12.47 [[ 9.88963523e-01 1.44670503e-01 3.19624197e-02 2.77116318e+02] [-1.44589632e-01 9.89479873e-01 -4.83938475e-03 -4.62515663e+01] [-3.23262872e-02 1.64540477e-04 9.99477355e-01 -1.24677002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.06264 meters 0.014388347453256194 Centerline is valid? [True, True] Translation: X:277.15, Y:-46.25, Z:-12.47 [[ 9.88419294e-01 1.48365231e-01 3.18599564e-02 2.77148499e+02] [-1.48286620e-01 9.88932635e-01 -4.82935005e-03 -4.62533293e+01] [-3.22238583e-02 4.90175277e-05 9.99480675e-01 -1.24694413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.09264 meters 0.015487802865989785 Centerline is valid? [True, True] Translation: X:277.18, Y:-46.25, Z:-12.47 [[ 9.87292676e-01 1.55552207e-01 3.25066541e-02 2.77180372e+02] [-1.55474075e-01 9.87827656e-01 -4.93302790e-03 -4.62530720e+01] [-3.28783152e-02 -1.83599664e-04 9.99459345e-01 -1.24713754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.12264 meters 0.017089948868314837 Centerline is valid? [True, True] Translation: X:277.21, Y:-46.26, Z:-12.47 [[ 9.86781197e-01 1.58638483e-01 3.31164617e-02 2.77211190e+02] [-1.58558902e-01 9.87336696e-01 -5.03231226e-03 -4.62553754e+01] [-3.34954162e-02 -2.85118700e-04 9.99438830e-01 -1.24722088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.15264 meters 0.019189221010180415 Centerline is valid? [True, True] Translation: X:277.24, Y:-46.26, Z:-12.47 [[ 9.86366474e-01 1.61194464e-01 3.31288803e-02 2.77242047e+02] [-1.61116088e-01 9.86922596e-01 -5.03945135e-03 -4.62573251e+01] [-3.35079722e-02 -3.66849730e-04 9.99438383e-01 -1.24738127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.18264 meters 0.020492093379907327 Centerline is valid? [True, True] Translation: X:277.27, Y:-46.26, Z:-12.47 [[ 9.86039117e-01 1.63146718e-01 3.33167760e-02 2.77273006e+02] [-1.63068322e-01 9.86601725e-01 -5.07520030e-03 -4.62601540e+01] [-3.36983910e-02 -4.28564757e-04 9.99431956e-01 -1.24746351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.21264 meters 0.021785524922764702 Centerline is valid? [True, True] Translation: X:277.30, Y:-46.26, Z:-12.48 [[ 9.85766145e-01 1.64683218e-01 3.38311133e-02 2.77303497e+02] [-1.64603252e-01 9.86346390e-01 -5.15454996e-03 -4.62635776e+01] [-3.42180643e-02 -4.87530414e-04 9.99414272e-01 -1.24756548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.24264 meters 0.022963914332843886 Centerline is valid? [True, True] Translation: X:277.33, Y:-46.27, Z:-12.48 [[ 9.85460073e-01 1.66339386e-01 3.46360007e-02 2.77334533e+02] [-1.66256581e-01 9.86068404e-01 -5.27745753e-03 -4.62674408e+01] [-3.50313150e-02 -5.57739359e-04 9.99386059e-01 -1.24757147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.27264 meters 0.023602557809416922 Centerline is valid? [True, True] Translation: X:277.37, Y:-46.27, Z:-12.48 [[ 9.85341011e-01 1.66979781e-01 3.49405805e-02 2.77365404e+02] [-1.66895885e-01 9.85960147e-01 -5.32471588e-03 -4.62712136e+01] [-3.53391397e-02 -5.84778182e-04 9.99375206e-01 -1.24771995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.30264 meters 0.022601516120792194 Centerline is valid? [True, True] Translation: X:277.40, Y:-46.28, Z:-12.48 [[ 9.85242757e-01 1.67548083e-01 3.49906964e-02 2.77397271e+02] [-1.67464342e-01 9.85863718e-01 -5.33131946e-03 -4.62779725e+01] [-3.53893105e-02 -6.07050062e-04 9.99373418e-01 -1.24777884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.33264 meters 0.022124378636534353 Centerline is valid? [True, True] Translation: X:277.43, Y:-46.28, Z:-12.48 [[ 9.85129164e-01 1.68189911e-01 3.51096105e-02 2.77429611e+02] [-1.68105801e-01 9.85754412e-01 -5.35521264e-03 -4.62849959e+01] [-3.55101462e-02 -6.26553041e-04 9.99369119e-01 -1.24782877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36264 meters 0.02382358650188271 Centerline is valid? [True, True] Translation: X:277.46, Y:-46.29, Z:-12.48 [[ 9.85086839e-01 1.68474692e-01 3.49313330e-02 2.77461506e+02] [-1.68391358e-01 9.85705781e-01 -5.33524726e-03 -4.62871682e+01] [-3.53308710e-02 -6.26452727e-04 9.99375474e-01 -1.24815490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.39264000000003 meters 0.022712366760548577 Centerline is valid? [True, True] Translation: X:277.49, Y:-46.29, Z:-12.48 [[ 9.85120011e-01 1.68392488e-01 3.43879978e-02 2.77493311e+02] [-1.68311448e-01 9.85719839e-01 -5.25884240e-03 -4.62928137e+01] [-3.47824812e-02 -6.07302814e-04 9.99394722e-01 -1.24832804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42264 meters 0.024240841489464805 Centerline is valid? [True, True] Translation: X:277.52, Y:-46.29, Z:-12.49 [[ 9.85223838e-01 1.67863030e-01 3.39998807e-02 2.77523220e+02] [-1.67783218e-01 9.85810161e-01 -5.20751243e-03 -4.62946701e+01] [-3.43915767e-02 -5.74044004e-04 9.99408270e-01 -1.24876452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.45264000000003 meters 0.024844091317985324 Centerline is valid? [True, True] Translation: X:277.55, Y:-46.30, Z:-12.49 [[ 9.85491706e-01 1.66108759e-01 3.48421816e-02 2.77552082e+02] [-1.66023834e-01 9.86107299e-01 -5.33684915e-03 -4.62979950e+01] [-3.52446270e-02 -5.25212019e-04 9.99378577e-01 -1.24905673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48264 meters 0.019356594934542004 Centerline is valid? [True, True] Translation: X:277.58, Y:-46.31, Z:-12.49 [[ 9.85746650e-01 1.64527856e-01 3.51301370e-02 2.77583293e+02] [-1.64440557e-01 9.86372323e-01 -5.37985496e-03 -4.63104571e+01] [-3.55365308e-02 -4.73645302e-04 9.99368266e-01 -1.24876218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.51264000000003 meters 0.018418309089163084 Centerline is valid? [True, True] Translation: X:277.61, Y:-46.32, Z:-12.49 [[ 9.86084412e-01 1.62493349e-01 3.51204189e-02 2.77613611e+02] [-1.62404585e-01 9.86709560e-01 -5.38464537e-03 -4.63169105e+01] [-3.55286222e-02 -3.94002188e-04 9.99368582e-01 -1.24902608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54264 meters 0.018411128617895102 Centerline is valid? [True, True] Translation: X:277.64, Y:-46.33, Z:-12.49 [[ 9.86450962e-01 1.60128270e-01 3.56852334e-02 2.77644427e+02] [-1.60034875e-01 9.87096167e-01 -5.47692001e-03 -4.63265057e+01] [-3.61017668e-02 -3.08168860e-04 9.99348071e-01 -1.24887212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.57264000000004 meters 0.013870638554874755 Centerline is valid? [True, True] Translation: X:277.67, Y:-46.34, Z:-12.49 [[ 9.87383135e-01 1.54170834e-01 3.61372181e-02 2.77673914e+02] [-1.54070829e-01 9.88044203e-01 -5.55272785e-03 -4.63408796e+01] [-3.65612375e-02 -8.50213227e-05 9.99331411e-01 -1.24944932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60264 meters 0.013870638554874755 Centerline is valid? [True, True] Translation: X:277.71, Y:-46.35, Z:-12.50 [[ 9.87356313e-01 1.54342740e-01 3.61362768e-02 2.77705985e+02] [-1.54242627e-01 9.88017364e-01 -5.55884612e-03 -4.63460313e+01] [-3.65612364e-02 -8.51924586e-05 9.99331411e-01 -1.24960552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.63264 meters 0.013069183090558456 Centerline is valid? [True, True] Translation: X:277.74, Y:-46.36, Z:-12.50 [[ 9.87784799e-01 1.51544294e-01 3.62700662e-02 2.77737431e+02] [-1.51441318e-01 9.88450467e-01 -5.58577221e-03 -4.63564836e+01] [-3.66976558e-02 2.47542589e-05 9.99326414e-01 -1.24951067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66264 meters 0.01331883614463604 Centerline is valid? [True, True] Translation: X:277.77, Y:-46.37, Z:-12.50 [[ 9.88161209e-01 1.49198687e-01 3.57376086e-02 2.77769030e+02] [-1.49096930e-01 9.88807230e-01 -5.51065658e-03 -4.63651074e+01] [-3.61597885e-02 1.17049352e-04 9.99346014e-01 -1.24954344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.69264 meters 0.014317547509112703 Centerline is valid? [True, True] Translation: X:277.80, Y:-46.37, Z:-12.50 [[ 9.88470808e-01 1.47201562e-01 3.54564683e-02 2.77799779e+02] [-1.47099894e-01 9.89106497e-01 -5.47348101e-03 -4.63740296e+01] [-3.58759281e-02 1.94733490e-04 9.99356233e-01 -1.24976267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72264 meters 0.016809120491930583 Centerline is valid? [True, True] Translation: X:277.83, Y:-46.39, Z:-12.50 [[ 9.89008067e-01 1.43511850e-01 3.56004491e-02 2.77829607e+02] [-1.43406733e-01 9.89648542e-01 -5.50209473e-03 -4.63874678e+01] [-3.60215483e-02 3.36271976e-04 9.99350957e-01 -1.25000274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.75264 meters 0.018118417315596064 Centerline is valid? [True, True] Translation: X:277.86, Y:-46.40, Z:-12.50 [[ 9.89172642e-01 1.42291508e-01 3.59250636e-02 2.77859474e+02] [-1.42183446e-01 9.89824719e-01 -5.55815124e-03 -4.63961249e+01] [-3.63503938e-02 3.90021790e-04 9.99339030e-01 -1.25013405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78264 meters 0.01919044408305588 Centerline is valid? [True, True] Translation: X:277.89, Y:-46.40, Z:-12.50 [[ 9.89295320e-01 1.41419359e-01 3.59907711e-02 2.77890072e+02] [-1.41310116e-01 9.89949686e-01 -5.57403043e-03 -4.64035865e+01] [-3.64173284e-02 4.28502169e-04 9.99336577e-01 -1.25026617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.81264 meters 0.018948589212571337 Centerline is valid? [True, True] Translation: X:277.92, Y:-46.41, Z:-12.50 [[ 9.89398161e-01 1.40576526e-01 3.64625752e-02 2.77922397e+02] [-1.40463631e-01 9.90069704e-01 -5.65239242e-03 -4.64105418e+01] [-3.68950847e-02 4.70800947e-04 9.99319034e-01 -1.25025825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84264 meters 0.020189011312010858 Centerline is valid? [True, True] Translation: X:277.95, Y:-46.42, Z:-12.51 [[ 9.89409978e-01 1.40585700e-01 3.61048020e-02 2.77953678e+02] [-1.40474754e-01 9.90068400e-01 -5.60412767e-03 -4.64185214e+01] [-3.65340838e-02 4.72966661e-04 9.99332296e-01 -1.25061570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.87264 meters 0.019396849461644942 Centerline is valid? [True, True] Translation: X:277.99, Y:-46.42, Z:-12.51 [[ 9.89385074e-01 1.40958722e-01 3.53244111e-02 2.77986025e+02] [-1.40852538e-01 9.90015369e-01 -5.48920587e-03 -4.64232963e+01] [-3.57454614e-02 4.55405397e-04 9.99360823e-01 -1.25075885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.90264 meters 0.01796132588809379 Centerline is valid? [True, True] Translation: X:278.02, Y:-46.43, Z:-12.51 [[ 9.89215614e-01 1.42309640e-01 3.46472845e-02 2.78018234e+02] [-1.42208076e-01 9.89822106e-01 -5.39087091e-03 -4.64267738e+01] [-3.50618210e-02 4.05610022e-04 9.99385063e-01 -1.25101555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.93264 meters 0.02565400691507307 Centerline is valid? [True, True] Translation: X:278.05, Y:-46.43, Z:-12.51 [[ 9.89092375e-01 1.43113645e-01 3.48533717e-02 2.78048635e+02] [-1.43011143e-01 9.89706187e-01 -5.42928324e-03 -4.64323667e+01] [-3.52716021e-02 3.85642150e-04 9.99377689e-01 -1.25115242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96264 meters 0.017749620276626302 Centerline is valid? [True, True] Translation: X:278.08, Y:-46.44, Z:-12.52 [[ 9.88937127e-01 1.44239385e-01 3.46173137e-02 2.78079676e+02] [-1.44138759e-01 9.89542762e-01 -5.39814228e-03 -4.64373387e+01] [-3.50339370e-02 3.48726675e-04 9.99386062e-01 -1.25152414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.99264 meters 0.017009289275946197 Centerline is valid? [True, True] Translation: X:278.11, Y:-46.44, Z:-12.52 [[ 9.88779095e-01 1.45344568e-01 3.45087985e-02 2.78111115e+02] [-1.45245058e-01 9.89381048e-01 -5.38657038e-03 -4.64413655e+01] [-3.49252600e-02 3.13895754e-04 9.99389878e-01 -1.25167779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02264 meters 0.027652774064835517 Centerline is valid? [True, True] Translation: X:278.14, Y:-46.44, Z:-12.51 [[ 9.88484427e-01 1.47050193e-01 3.57040290e-02 2.78143362e+02] [-1.46944553e-01 9.89128995e-01 -5.57937928e-03 -4.64447096e+01] [-3.61363391e-02 2.68616943e-04 9.99346833e-01 -1.25143787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.05264 meters 0.021073214831113168 Centerline is valid? [True, True] Translation: X:278.17, Y:-46.45, Z:-12.52 [[ 9.88421243e-01 1.47482272e-01 3.56710681e-02 2.78174800e+02] [-1.47376892e-01 9.89064666e-01 -5.58024308e-03 -4.64514754e+01] [-3.61039799e-02 2.58539659e-04 9.99348005e-01 -1.25177125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08264 meters 0.015666380643010045 Centerline is valid? [True, True] Translation: X:278.21, Y:-46.46, Z:-12.52 [[ 9.88359584e-01 1.47931119e-01 3.55206630e-02 2.78205915e+02] [-1.47826679e-01 9.88997635e-01 -5.56329945e-03 -4.64575867e+01] [-3.59528369e-02 2.47638660e-04 9.99353457e-01 -1.25205306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.11264 meters 0.016602851761874742 Centerline is valid? [True, True] Translation: X:278.24, Y:-46.47, Z:-12.52 [[ 9.88485910e-01 1.47179075e-01 3.51272836e-02 2.78237159e+02] [-1.47076236e-01 9.89109823e-01 -5.50802130e-03 -4.64668836e+01] [-3.55554067e-02 2.78212800e-04 9.99367668e-01 -1.25239031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14264000000003 meters 0.016751093744800626 Centerline is valid? [True, True] Translation: X:278.27, Y:-46.47, Z:-12.53 [[ 9.88561558e-01 1.46690376e-01 3.50425418e-02 2.78269801e+02] [-1.46587534e-01 9.89182412e-01 -5.50013668e-03 -4.64737495e+01] [-3.54702831e-02 3.00423903e-04 9.99370686e-01 -1.25256857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.17264 meters 0.017536636218181193 Centerline is valid? [True, True] Translation: X:278.30, Y:-46.48, Z:-12.53 [[ 9.88646550e-01 1.46219250e-01 3.46111421e-02 2.78300425e+02] [-1.46118390e-01 9.89252156e-01 -5.43947620e-03 -4.64810682e+01] [-3.50345030e-02 3.20395034e-04 9.99386052e-01 -1.25285529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20264000000003 meters 0.0178148368302858 Centerline is valid? [True, True] Translation: X:278.33, Y:-46.49, Z:-12.53 [[ 9.88684676e-01 1.46005812e-01 3.44225830e-02 2.78332681e+02] [-1.45905750e-01 9.89283677e-01 -5.41470048e-03 -4.64883246e+01] [-3.48442772e-02 3.30978624e-04 9.99392699e-01 -1.25302898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.23264 meters 0.01785140485762059 Centerline is valid? [True, True] Translation: X:278.36, Y:-46.50, Z:-12.53 [[ 9.88698745e-01 1.45722262e-01 3.52109970e-02 2.78363952e+02] [-1.45617125e-01 9.89325475e-01 -5.54591963e-03 -4.64961512e+01] [-3.56433003e-02 3.55919614e-04 9.99364512e-01 -1.25305338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26264000000003 meters 0.01718154989200818 Centerline is valid? [True, True] Translation: X:278.40, Y:-46.50, Z:-12.53 [[ 9.88601555e-01 1.46171400e-01 3.60678128e-02 2.78395697e+02] [-1.46061110e-01 9.89259216e-01 -5.68828531e-03 -4.65048687e+01] [-3.65118808e-02 3.55342936e-04 9.99333156e-01 -1.25302307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.29264 meters 0.01620500719742191 Centerline is valid? [True, True] Translation: X:278.43, Y:-46.51, Z:-12.53 [[ 9.88473799e-01 1.47143931e-01 3.56119582e-02 2.78428017e+02] [-1.47037026e-01 9.89115041e-01 -5.61687907e-03 -4.65098620e+01] [-3.60508131e-02 3.15861383e-04 9.99349908e-01 -1.25314358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32264000000004 meters 0.015104307901717825 Centerline is valid? [True, True] Translation: X:278.46, Y:-46.51, Z:-12.54 [[ 9.88060322e-01 1.50146592e-01 3.45369436e-02 2.78459012e+02] [-1.50047633e-01 9.88663723e-01 -5.45433473e-03 -4.65141730e+01] [-3.49643730e-02 2.07025100e-04 9.99388538e-01 -1.25360081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.35264 meters 0.025787231996531393 Centerline is valid? [True, True] Translation: X:278.49, Y:-46.52, Z:-12.54 [[ 9.87739011e-01 1.52193160e-01 3.47690615e-02 2.78491740e+02] [-1.52093906e-01 9.88350759e-01 -5.49742952e-03 -4.65166663e+01] [-3.52006995e-02 1.41863228e-04 9.99380253e-01 -1.25360446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.38264 meters 0.01571372329389046 Centerline is valid? [True, True] Translation: X:278.52, Y:-46.52, Z:-12.54 [[ 9.87374304e-01 1.54513326e-01 3.48943511e-02 2.78523292e+02] [-1.54414718e-01 9.87990703e-01 -5.51965463e-03 -4.65186559e+01] [-3.53281546e-02 6.17637701e-05 9.99375764e-01 -1.25392429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.41264 meters 0.013178490427773831 Centerline is valid? [True, True] Translation: X:278.56, Y:-46.52, Z:-12.54 [[ 9.86936018e-01 1.57212103e-01 3.52370734e-02 2.78555424e+02] [-1.57113069e-01 9.87564860e-01 -5.57941008e-03 -4.65194827e+01] [-3.56760462e-02 -2.96839794e-05 9.99363407e-01 -1.25407741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.44264 meters 0.014018587192434852 Centerline is valid? [True, True] Translation: X:278.59, Y:-46.52, Z:-12.54 [[ 9.86186176e-01 1.61761253e-01 3.56388018e-02 2.78589141e+02] [-1.61662709e-01 9.86829905e-01 -5.64868310e-03 -4.65197167e+01] [-3.60831734e-02 -1.90812079e-04 9.99348772e-01 -1.25405218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.47264 meters 0.020234635731984717 Centerline is valid? [True, True] Translation: X:278.62, Y:-46.52, Z:-12.54 [[ 9.85876229e-01 1.63673295e-01 3.54839871e-02 2.78620608e+02] [-1.63576556e-01 9.86514566e-01 -5.63215510e-03 -4.65241155e+01] [-3.59273035e-02 -2.51740580e-04 9.99354374e-01 -1.25400184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.50264 meters 0.02920864666307197 Centerline is valid? [True, True] Translation: X:278.65, Y:-46.53, Z:-12.54 [[ 9.85660621e-01 1.64948523e-01 3.55685981e-02 2.78651965e+02] [-1.64852066e-01 9.86302133e-01 -5.64795986e-03 -4.65284254e+01] [-3.60130068e-02 -2.96585249e-04 9.99351277e-01 -1.25421716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.53264 meters 0.016525357985826692 Centerline is valid? [True, True] Translation: X:278.68, Y:-46.53, Z:-12.55 [[ 9.85470403e-01 1.66023429e-01 3.58372150e-02 2.78683968e+02] [-1.65925972e-01 9.86121753e-01 -5.69745167e-03 -4.65321028e+01] [-3.62857678e-02 -3.31654729e-04 9.99341400e-01 -1.25454046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.56264 meters 0.01581693628441472 Centerline is valid? [True, True] Translation: X:278.72, Y:-46.54, Z:-12.54 [[ 9.85334579e-01 1.66733609e-01 3.62721801e-02 2.78716434e+02] [-1.66634006e-01 9.86001915e-01 -5.77327685e-03 -4.65369960e+01] [-3.67270383e-02 -3.55569358e-04 9.99325271e-01 -1.25436090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.59264 meters 0.016059744901342654 Centerline is valid? [True, True] Translation: X:278.75, Y:-46.54, Z:-12.55 [[ 9.85248525e-01 1.67070117e-01 3.70529409e-02 2.78747821e+02] [-1.66966112e-01 9.85944948e-01 -5.90568048e-03 -4.65409296e+01] [-3.75188226e-02 -3.68022481e-04 9.99295853e-01 -1.25450837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.62264 meters 0.016886925628225094 Centerline is valid? [True, True] Translation: X:278.78, Y:-46.55, Z:-12.55 [[ 9.85184810e-01 1.67417607e-01 3.71784259e-02 2.78779203e+02] [-1.67312921e-01 9.85885999e-01 -5.93157835e-03 -4.65451815e+01] [-3.76467402e-02 -3.76730139e-04 9.99291039e-01 -1.25479841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.65264 meters 0.01591713821523979 Centerline is valid? [True, True] Translation: X:278.81, Y:-46.55, Z:-12.55 [[ 9.85318381e-01 1.66895699e-01 3.59654424e-02 2.78810770e+02] [-1.66797158e-01 9.85974498e-01 -5.74434545e-03 -4.65538571e+01] [-3.64197156e-02 -3.38924411e-04 9.99336525e-01 -1.25504779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.68264 meters 0.015759240426716923 Centerline is valid? [True, True] Translation: X:278.84, Y:-46.56, Z:-12.55 [[ 9.85326111e-01 1.66894775e-01 3.57573733e-02 2.78842794e+02] [-1.66797112e-01 9.85974658e-01 -5.71823437e-03 -4.65597234e+01] [-3.62102073e-02 -3.29900945e-04 9.99344141e-01 -1.25524091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.71264 meters 0.015896021615195866 Centerline is valid? [True, True] Translation: X:278.87, Y:-46.57, Z:-12.55 [[ 9.85317532e-01 1.66933821e-01 3.58114478e-02 2.78873914e+02] [-1.66835621e-01 9.85968049e-01 -5.73425098e-03 -4.65655380e+01] [-3.62661838e-02 -3.24567096e-04 9.99342113e-01 -1.25544028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.74264 meters 0.01633195055297959 Centerline is valid? [True, True] Translation: X:278.91, Y:-46.57, Z:-12.56 [[ 9.85275637e-01 1.67137402e-01 3.60139923e-02 2.78905157e+02] [-1.67037975e-01 9.85933559e-01 -5.77347939e-03 -4.65711156e+01] [-3.64723679e-02 -3.27235761e-04 9.99334608e-01 -1.25566369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.77264 meters 0.015636023143975705 Centerline is valid? [True, True] Translation: X:278.94, Y:-46.58, Z:-12.56 [[ 9.85203083e-01 1.67618604e-01 3.57615458e-02 2.78938049e+02] [-1.67520654e-01 9.85851860e-01 -5.73934645e-03 -4.65776273e+01] [-3.62176077e-02 -3.36375713e-04 9.99343871e-01 -1.25562553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.80264 meters 0.01668159704782887 Centerline is valid? [True, True] Translation: X:278.97, Y:-46.58, Z:-12.56 [[ 9.85120269e-01 1.68175358e-01 3.54274647e-02 2.78970152e+02] [-1.68079327e-01 9.85757034e-01 -5.69304193e-03 -4.65806745e+01] [-3.58803019e-02 -3.46293431e-04 9.99356035e-01 -1.25596893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.83264 meters 0.017344003737901927 Centerline is valid? [True, True] Translation: X:279.00, Y:-46.59, Z:-12.56 [[ 9.84996337e-01 1.68915847e-01 3.53504345e-02 2.79001695e+02] [-1.68820467e-01 9.85630409e-01 -5.68744685e-03 -4.65853636e+01] [-3.58031631e-02 -3.65762547e-04 9.99358794e-01 -1.25625001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86264 meters 0.017238284912659742 Centerline is valid? [True, True] Translation: X:279.03, Y:-46.59, Z:-12.56 [[ 9.84912434e-01 1.69410209e-01 3.53224899e-02 2.79034102e+02] [-1.69315071e-01 9.85545554e-01 -5.68930666e-03 -4.65918396e+01] [-3.57757495e-02 -3.77161005e-04 9.99359772e-01 -1.25636265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.89264000000003 meters 0.022332494856009442 Centerline is valid? [True, True] Translation: X:279.07, Y:-46.60, Z:-12.56 [[ 9.84713908e-01 1.70373086e-01 3.62150551e-02 2.79067031e+02] [-1.70273459e-01 9.85379541e-01 -5.84039868e-03 -4.65983172e+01] [-3.66806211e-02 -4.15340868e-04 9.99326953e-01 -1.25620287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92264 meters 0.017383878119769918 Centerline is valid? [True, True] Translation: X:279.10, Y:-46.60, Z:-12.56 [[ 9.84620380e-01 1.70806532e-01 3.67128789e-02 2.79098337e+02] [-1.70704161e-01 9.85304493e-01 -5.92838023e-03 -4.66028681e+01] [-3.71859706e-02 -4.29837180e-04 9.99308270e-01 -1.25638492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.95264000000003 meters 0.017546980794553704 Centerline is valid? [True, True] Translation: X:279.13, Y:-46.61, Z:-12.57 [[ 9.84536413e-01 1.71185570e-01 3.71961382e-02 2.79131429e+02] [-1.71080491e-01 9.85238704e-01 -6.01342655e-03 -4.66079422e+01] [-3.76764869e-02 -4.43096195e-04 9.99289891e-01 -1.25650337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.98264 meters 0.019058535338785768 Centerline is valid? [True, True] Translation: X:279.16, Y:-46.61, Z:-12.57 [[ 9.84481439e-01 1.71597129e-01 3.67521699e-02 2.79162330e+02] [-1.71494521e-01 9.85167106e-01 -5.94997133e-03 -4.66109742e+01] [-3.72280268e-02 -4.45159421e-04 9.99306698e-01 -1.25683962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.01264000000003 meters 0.01812876851961876 Centerline is valid? [True, True] Translation: X:279.19, Y:-46.62, Z:-12.57 [[ 9.84461565e-01 1.71841129e-01 3.61393504e-02 2.79194945e+02] [-1.71741998e-01 9.85124575e-01 -5.85297550e-03 -4.66180122e+01] [-3.66075442e-02 -4.44614842e-04 9.99329620e-01 -1.25694101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.04264 meters 0.017838703738504543 Centerline is valid? [True, True] Translation: X:279.23, Y:-46.62, Z:-12.57 [[ 9.84430570e-01 1.71958560e-01 3.64239706e-02 2.79227470e+02] [-1.71857671e-01 9.85104084e-01 -5.90640184e-03 -4.66239499e+01] [-3.68970586e-02 -4.45296220e-04 9.99318972e-01 -1.25708973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.07264000000004 meters 0.018090446982697413 Centerline is valid? [True, True] Translation: X:279.26, Y:-46.63, Z:-12.57 [[ 9.84406242e-01 1.72044208e-01 3.66761799e-02 2.79258611e+02] [-1.71941694e-01 9.85089130e-01 -5.95488474e-03 -4.66297988e+01] [-3.71538096e-02 -4.44138795e-04 9.99309460e-01 -1.25722740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.10264 meters 0.017346825557213317 Centerline is valid? [True, True] Translation: X:279.29, Y:-46.64, Z:-12.57 [[ 9.84452966e-01 1.71798246e-01 3.65748736e-02 2.79290534e+02] [-1.71695881e-01 9.85132062e-01 -5.94510644e-03 -4.66368069e+01] [-3.70524395e-02 -4.27077460e-04 9.99313231e-01 -1.25736087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.13264 meters 0.018062187513947642 Centerline is valid? [True, True] Translation: X:279.32, Y:-46.64, Z:-12.58 [[ 9.84472794e-01 1.71662897e-01 3.66765283e-02 2.79322386e+02] [-1.71559588e-01 9.85155661e-01 -5.96916589e-03 -4.66419437e+01] [-3.71567738e-02 -4.15728646e-04 9.99309362e-01 -1.25768691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16264 meters 0.016895179005008632 Centerline is valid? [True, True] Translation: X:279.35, Y:-46.65, Z:-12.58 [[ 9.84506806e-01 1.71430217e-01 3.68514458e-02 2.79354222e+02] [-1.71325492e-01 9.85196183e-01 -6.00471310e-03 -4.66493099e+01] [-3.73352930e-02 -4.01911181e-04 9.99302714e-01 -1.25773983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.19264 meters 0.02265253334862124 Centerline is valid? [True, True] Translation: X:279.39, Y:-46.65, Z:-12.58 [[ 9.84389495e-01 1.72222738e-01 3.62856715e-02 2.79385759e+02] [-1.72121508e-01 9.85057944e-01 -5.91891040e-03 -4.66508462e+01] [-3.67628600e-02 -4.19031272e-04 9.99323930e-01 -1.25786325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22264 meters 0.01742440777326795 Centerline is valid? [True, True] Translation: X:279.42, Y:-46.66, Z:-12.58 [[ 9.84335945e-01 1.72552716e-01 3.61705196e-02 2.79418731e+02] [-1.72452154e-01 9.85000193e-01 -5.90548506e-03 -4.66558706e+01] [-3.66469763e-02 -4.24702821e-04 9.99328184e-01 -1.25814090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.25264 meters 0.02532265173454053 Centerline is valid? [True, True] Translation: X:279.45, Y:-46.66, Z:-12.58 [[ 9.84254538e-01 1.73189598e-01 3.53322536e-02 2.79449370e+02] [-1.73093788e-01 9.84888409e-01 -5.77606356e-03 -4.66599392e+01] [-3.57986812e-02 -4.30676847e-04 9.99358929e-01 -1.25837881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28264 meters 0.01882326932840363 Centerline is valid? [True, True] Translation: X:279.48, Y:-46.67, Z:-12.59 [[ 9.84281499e-01 1.73057325e-01 3.52291418e-02 2.79480363e+02] [-1.72961792e-01 9.84911664e-01 -5.76471320e-03 -4.66651793e+01] [-3.56952185e-02 -4.19194930e-04 9.99362635e-01 -1.25875898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.31264 meters 0.019204157474605334 Centerline is valid? [True, True] Translation: X:279.51, Y:-46.67, Z:-12.59 [[ 9.84264374e-01 1.73335161e-01 3.43302268e-02 2.79511793e+02] [-1.73244396e-01 9.84862809e-01 -5.62382663e-03 -4.66688013e+01] [-3.47853705e-02 -4.12187191e-04 9.99394721e-01 -1.25909876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34264 meters 0.01905880579494056 Centerline is valid? [True, True] Translation: X:279.54, Y:-46.67, Z:-12.59 [[ 9.84274698e-01 1.73350708e-01 3.39536466e-02 2.79544497e+02] [-1.73261750e-01 9.84860076e-01 -5.56742515e-03 -4.66735925e+01] [-3.44047081e-02 -4.02992529e-04 9.99407902e-01 -1.25930195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.37264 meters 0.01747734970207402 Centerline is valid? [True, True] Translation: X:279.58, Y:-46.68, Z:-12.59 [[ 9.84397652e-01 1.72450986e-01 3.49559661e-02 2.79576510e+02] [-1.72355871e-01 9.85018029e-01 -5.73909995e-03 -4.66797132e+01] [-3.54219703e-02 -3.75309465e-04 9.99372375e-01 -1.25928585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.40264 meters 0.016534210321254534 Centerline is valid? [True, True] Translation: X:279.61, Y:-46.69, Z:-12.59 [[ 9.84507545e-01 1.71688268e-01 3.56094529e-02 2.79608395e+02] [-1.71588834e-01 9.85151266e-01 -5.85273892e-03 -4.66859921e+01] [-3.60855442e-02 -3.48118898e-04 9.99348644e-01 -1.25931718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.43264 meters 0.015807670814764082 Centerline is valid? [True, True] Translation: X:279.64, Y:-46.69, Z:-12.59 [[ 9.84655021e-01 1.70603952e-01 3.67257672e-02 2.79639098e+02] [-1.70497150e-01 9.85339634e-01 -6.04373429e-03 -4.66919380e+01] [-3.72184390e-02 -3.10645351e-04 9.99307106e-01 -1.25934009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46264 meters 0.01455420585586462 Centerline is valid? [True, True] Translation: X:279.67, Y:-46.70, Z:-12.59 [[ 9.84850080e-01 1.69303608e-01 3.75047842e-02 2.79670173e+02] [-1.69191164e-01 9.85563909e-01 -6.17505022e-03 -4.66993772e+01] [-3.80088200e-02 -2.63979397e-04 9.99277369e-01 -1.25931989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.49264 meters 0.01455420585586462 Centerline is valid? [True, True] Translation: X:279.70, Y:-46.70, Z:-12.59 [[ 9.84817042e-01 1.69495903e-01 3.75037709e-02 2.79702186e+02] [-1.69383365e-01 9.85530856e-01 -6.18119743e-03 -4.67048417e+01] [-3.80088111e-02 -2.65166337e-04 9.99277369e-01 -1.25947608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.52264 meters 0.01469684811052042 Centerline is valid? [True, True] Translation: X:279.73, Y:-46.71, Z:-12.60 [[ 9.84994133e-01 1.68390101e-01 3.78329571e-02 2.79732576e+02] [-1.68274431e-01 9.85720410e-01 -6.24408942e-03 -4.67109026e+01] [-3.83441609e-02 -2.15927874e-04 9.99264569e-01 -1.25981241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.55264 meters 0.013017563054978224 Centerline is valid? [True, True] Translation: X:279.76, Y:-46.72, Z:-12.60 [[ 9.85343377e-01 1.66310447e-01 3.79376327e-02 2.79763580e+02] [-1.66192477e-01 9.86073434e-01 -6.26441370e-03 -4.67209948e+01] [-3.84511292e-02 -1.32350608e-04 9.99260473e-01 -1.25970738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58264 meters 0.012900224037575991 Centerline is valid? [True, True] Translation: X:279.79, Y:-46.73, Z:-12.60 [[ 9.85455364e-01 1.65499470e-01 3.85700713e-02 2.79793856e+02] [-1.65376615e-01 9.86209874e-01 -6.37643878e-03 -4.67272854e+01] [-3.90934824e-02 -9.48920135e-05 9.99235553e-01 -1.25987641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.61264 meters 0.01255148533182639 Centerline is valid? [True, True] Translation: X:279.83, Y:-46.73, Z:-12.60 [[ 9.85567230e-01 1.64703409e-01 3.91154892e-02 2.79825801e+02] [-1.64576293e-01 9.86343137e-01 -6.46997043e-03 -4.67342543e+01] [-3.96469205e-02 -6.08913760e-05 9.99213750e-01 -1.25994076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64264000000003 meters 0.01235812296381986 Centerline is valid? [True, True] Translation: X:279.86, Y:-46.74, Z:-12.60 [[ 9.85860644e-01 1.62876617e-01 3.93700063e-02 2.79857617e+02] [-1.62746125e-01 9.86646445e-01 -6.51855014e-03 -4.67429358e+01] [-3.99059962e-02 1.90660673e-05 9.99203438e-01 -1.26000495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.67264 meters 0.012452542605852282 Centerline is valid? [True, True] Translation: X:279.89, Y:-46.75, Z:-12.60 [[ 9.85998427e-01 1.62049628e-01 3.93321854e-02 2.79890065e+02] [-1.61918412e-01 9.86782608e-01 -6.52021785e-03 -4.67500128e+01] [-3.98689153e-02 6.03195354e-05 9.99204917e-01 -1.26014052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70264000000003 meters 0.012800989574592001 Centerline is valid? [True, True] Translation: X:279.92, Y:-46.76, Z:-12.60 [[ 9.86155817e-01 1.61191804e-01 3.89089430e-02 2.79921304e+02] [-1.61062412e-01 9.86923093e-01 -6.45815299e-03 -4.67577838e+01] [-3.94411357e-02 1.01976944e-04 9.99221890e-01 -1.26035802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.73264 meters 0.01390686368339528 Centerline is valid? [True, True] Translation: X:279.95, Y:-46.77, Z:-12.61 [[ 9.86501360e-01 1.59363846e-01 3.76594057e-02 2.79950509e+02] [-1.59240998e-01 9.87219901e-01 -6.25870422e-03 -4.67700043e+01] [-3.81755259e-02 1.77298895e-04 9.99271033e-01 -1.26084914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76264000000003 meters 0.014155087128652514 Centerline is valid? [True, True] Translation: X:279.98, Y:-46.78, Z:-12.61 [[ 9.86575937e-01 1.59000261e-01 3.72402571e-02 2.79982089e+02] [-1.58879781e-01 9.87278522e-01 -6.19152522e-03 -4.67782833e+01] [-3.77509601e-02 1.91685918e-04 9.99287160e-01 -1.26103229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.79264 meters 0.01437907565122655 Centerline is valid? [True, True] Translation: X:280.01, Y:-46.79, Z:-12.61 [[ 9.86562184e-01 1.59129207e-01 3.70533852e-02 2.80012995e+02] [-1.59009716e-01 9.87257746e-01 -6.16866826e-03 -4.67851882e+01] [-3.75628568e-02 1.93926587e-04 9.99294248e-01 -1.26126215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82264000000004 meters 0.029462861083410886 Centerline is valid? [True, True] Translation: X:280.05, Y:-46.79, Z:-12.61 [[ 9.86442835e-01 1.60062357e-01 3.62018601e-02 2.80045763e+02] [-1.59948794e-01 9.87106892e-01 -6.03047448e-03 -4.67912711e+01] [-3.67003576e-02 1.58274486e-04 9.99326302e-01 -1.26118199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.85264 meters 0.031368824197858185 Centerline is valid? [True, True] Translation: X:280.08, Y:-46.80, Z:-12.61 [[ 9.86205578e-01 1.61583055e-01 3.59092470e-02 2.80078222e+02] [-1.61472070e-01 9.86859111e-01 -5.98881970e-03 -4.67958580e+01] [-3.64050593e-02 1.07866967e-04 9.99337110e-01 -1.26127687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.88264 meters 0.030033141002392655 Centerline is valid? [True, True] Translation: X:280.11, Y:-46.80, Z:-12.61 [[ 9.85420509e-01 1.66193687e-01 3.64153710e-02 2.80109707e+02] [-1.66082399e-01 9.86093127e-01 -6.08124959e-03 -4.67966927e+01] [-3.69196123e-02 -5.53640952e-05 9.99318237e-01 -1.26135216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.91264 meters 0.013780023508615931 Centerline is valid? [True, True] Translation: X:280.14, Y:-46.80, Z:-12.62 [[ 9.84890747e-01 1.69044915e-01 3.76036193e-02 2.80141473e+02] [-1.68928082e-01 9.85608335e-01 -6.28591502e-03 -4.67979656e+01] [-3.81250426e-02 -1.61367731e-04 9.99272963e-01 -1.26183086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.94264 meters 0.020466053089639672 Centerline is valid? [True, True] Translation: X:280.17, Y:-46.80, Z:-12.62 [[ 9.84356073e-01 1.72314319e-01 3.67545500e-02 2.80173814e+02] [-1.72204725e-01 9.85041979e-01 -6.15083010e-03 -4.68002468e+01] [-3.72646508e-02 -2.74700210e-04 9.99305394e-01 -1.26180898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.97264 meters 0.019273968101678543 Centerline is valid? [True, True] Translation: X:280.21, Y:-46.80, Z:-12.62 [[ 9.83430293e-01 1.77389013e-01 3.73897955e-02 2.80205182e+02] [-1.77278970e-01 9.84140701e-01 -6.26474810e-03 -4.67975231e+01] [-3.79081170e-02 -4.67481378e-04 9.99281120e-01 -1.26216867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.00264 meters 0.020306890676408187 Centerline is valid? [True, True] Translation: X:280.24, Y:-46.80, Z:-12.62 [[ 9.82987034e-01 1.79891550e-01 3.70880059e-02 2.80236851e+02] [-1.79784970e-01 9.83686291e-01 -6.21648539e-03 -4.68008679e+01] [-3.76012562e-02 -5.57141508e-04 9.99292667e-01 -1.26225191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.03264 meters 0.025829274938441223 Centerline is valid? [True, True] Translation: X:280.27, Y:-46.80, Z:-12.62 [[ 9.82621430e-01 1.82034682e-01 3.63111502e-02 2.80268655e+02] [-1.81933748e-01 9.83291915e-01 -6.09266218e-03 -4.68015993e+01] [-3.68135362e-02 -6.19443219e-04 9.99321960e-01 -1.26245071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.06264 meters 0.025683570937724935 Centerline is valid? [True, True] Translation: X:280.30, Y:-46.80, Z:-12.63 [[ 9.82011479e-01 1.85355220e-01 3.60124554e-02 2.80300950e+02] [-1.85257911e-01 9.82671313e-01 -6.04963486e-03 -4.68023698e+01] [-3.65097382e-02 -7.30781371e-04 9.99333030e-01 -1.26279295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.09264 meters 0.028580516197962723 Centerline is valid? [True, True] Translation: X:280.33, Y:-46.81, Z:-12.63 [[ 9.81797412e-01 1.86604820e-01 3.53904349e-02 2.80332917e+02] [-1.86511648e-01 9.82434760e-01 -5.94535482e-03 -4.68065223e+01] [-3.58782253e-02 -7.63594349e-04 9.99355877e-01 -1.26276786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.12264 meters 0.028629820996116627 Centerline is valid? [True, True] Translation: X:280.36, Y:-46.81, Z:-12.63 [[ 9.81593508e-01 1.87615969e-01 3.56992023e-02 2.80364545e+02] [-1.87521598e-01 9.82242132e-01 -6.00367379e-03 -4.68075809e+01] [-3.61916456e-02 -8.01204243e-04 9.99344547e-01 -1.26318135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.15264 meters 0.029128185742924542 Centerline is valid? [True, True] Translation: X:280.40, Y:-46.81, Z:-12.63 [[ 9.81425119e-01 1.88506443e-01 3.56378472e-02 2.80396676e+02] [-1.88412779e-01 9.82071605e-01 -5.99898568e-03 -4.68118709e+01] [-3.61297653e-02 -8.27070608e-04 9.99346765e-01 -1.26324663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.18264 meters 0.028186639952354712 Centerline is valid? [True, True] Translation: X:280.43, Y:-46.82, Z:-12.63 [[ 9.81414572e-01 1.88521660e-01 3.58472033e-02 2.80427851e+02] [-1.88426682e-01 9.82068684e-01 -6.04029305e-03 -4.68182831e+01] [-3.63431419e-02 -8.26537947e-04 9.99339028e-01 -1.26320414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.21264 meters 0.03293150434633419 Centerline is valid? [True, True] Translation: X:280.46, Y:-46.82, Z:-12.64 [[ 9.81458992e-01 1.88178907e-01 3.64272631e-02 2.80459457e+02] [-1.88080327e-01 9.82134424e-01 -6.14521815e-03 -4.68161118e+01] [-3.69328695e-02 -8.19971960e-04 9.99317412e-01 -1.26361916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.24264 meters 0.032155840188196734 Centerline is valid? [True, True] Translation: X:280.49, Y:-46.83, Z:-12.63 [[ 9.81541375e-01 1.87880442e-01 3.57417006e-02 2.80491466e+02] [-1.87785261e-01 9.82191587e-01 -6.03179264e-03 -4.68287068e+01] [-3.62384535e-02 -7.91310541e-04 9.99342858e-01 -1.26315689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.27264 meters 0.02687761335862842 Centerline is valid? [True, True] Translation: X:280.52, Y:-46.83, Z:-12.63 [[ 9.81642477e-01 1.87250799e-01 3.62654892e-02 2.80522413e+02] [-1.87152089e-01 9.82311836e-01 -6.12800951e-03 -4.68314831e+01] [-3.67714939e-02 -7.71647633e-04 9.99323402e-01 -1.26344598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.30264 meters 0.024407849565286646 Centerline is valid? [True, True] Translation: X:280.55, Y:-46.84, Z:-12.63 [[ 9.81742530e-01 1.86684127e-01 3.64779584e-02 2.80553645e+02] [-1.86583653e-01 9.82419704e-01 -6.16967787e-03 -4.68393807e+01] [-3.69884460e-02 -7.49155550e-04 9.99315412e-01 -1.26340981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.33264 meters 0.026224359769818816 Centerline is valid? [True, True] Translation: X:280.59, Y:-46.85, Z:-12.63 [[ 9.81833037e-01 1.86237590e-01 3.63242095e-02 2.80585790e+02] [-1.86137421e-01 9.82504472e-01 -6.15004830e-03 -4.68450797e+01] [-3.68340685e-02 -7.22974093e-04 9.99321134e-01 -1.26329512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36264 meters 0.0260653216163924 Centerline is valid? [True, True] Translation: X:280.62, Y:-46.85, Z:-12.64 [[ 9.81895159e-01 1.85877506e-01 3.64890386e-02 2.80617549e+02] [-1.85775930e-01 9.82572671e-01 -6.18464587e-03 -4.68452963e+01] [-3.70027187e-02 -7.06111236e-04 9.99314915e-01 -1.26383482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.39264000000003 meters 0.023475116259185563 Centerline is valid? [True, True] Translation: X:280.65, Y:-46.85, Z:-12.64 [[ 9.81889189e-01 1.86019800e-01 3.59201143e-02 2.80649645e+02] [-1.85921267e-01 9.82545750e-01 -6.09356169e-03 -4.68535292e+01] [-3.64266788e-02 -6.95110824e-04 9.99336087e-01 -1.26385503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42264 meters 0.026816715505004727 Centerline is valid? [True, True] Translation: X:280.68, Y:-46.85, Z:-12.64 [[ 9.81836096e-01 1.86413662e-01 3.53246007e-02 2.80680571e+02] [-1.86318327e-01 9.82471104e-01 -6.00086404e-03 -4.68546537e+01] [-3.58240425e-02 -6.89755565e-04 9.99357875e-01 -1.26412362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.45264000000003 meters 0.026755471642628585 Centerline is valid? [True, True] Translation: X:280.71, Y:-46.86, Z:-12.64 [[ 9.81616164e-01 1.87609512e-01 3.51052429e-02 2.80712566e+02] [-1.87516032e-01 9.82243424e-01 -5.96608806e-03 -4.68563055e+01] [-3.56011888e-02 -7.26387375e-04 9.99365813e-01 -1.26449623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.48264 meters 0.029380495000431404 Centerline is valid? [True, True] Translation: X:280.74, Y:-46.86, Z:-12.65 [[ 9.81484428e-01 1.88245984e-01 3.53803334e-02 2.80743314e+02] [-1.88151161e-01 9.82121627e-01 -6.02080510e-03 -4.68567334e+01] [-3.58811830e-02 -7.47524345e-04 9.99355783e-01 -1.26480397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.51264000000003 meters 0.03235460842469657 Centerline is valid? [True, True] Translation: X:280.77, Y:-46.86, Z:-12.65 [[ 9.81437780e-01 1.88556037e-01 3.50214952e-02 2.80774576e+02] [-1.88463315e-01 9.82062145e-01 -5.96000440e-03 -4.68634821e+01] [-3.55170795e-02 -7.50893611e-04 9.99368787e-01 -1.26453720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54264 meters 0.02767988038165833 Centerline is valid? [True, True] Translation: X:280.81, Y:-46.87, Z:-12.65 [[ 9.81333677e-01 1.89047674e-01 3.52872776e-02 2.80805020e+02] [-1.88953816e-01 9.81967606e-01 -6.00640466e-03 -4.68658943e+01] [-3.57864603e-02 -7.73378574e-04 9.99359160e-01 -1.26488157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.57264000000004 meters 0.034128815491725424 Centerline is valid? [True, True] Translation: X:280.83, Y:-46.87, Z:-12.65 [[ 9.81352309e-01 1.88848223e-01 3.58328756e-02 2.80834569e+02] [-1.88751301e-01 9.82005979e-01 -6.09941362e-03 -4.68665421e+01] [-3.63399615e-02 -7.77828247e-04 9.99339183e-01 -1.26476888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60264 meters 0.028432827498308284 Centerline is valid? [True, True] Translation: X:280.86, Y:-46.87, Z:-12.65 [[ 9.81319646e-01 1.89011257e-01 3.58677675e-02 2.80863496e+02] [-1.88914271e-01 9.81974607e-01 -6.10491262e-03 -4.68695894e+01] [-3.63751341e-02 -7.85062443e-04 9.99337897e-01 -1.26515829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.63264 meters 0.02618789383756705 Centerline is valid? [True, True] Translation: X:280.90, Y:-46.88, Z:-12.65 [[ 9.81384398e-01 1.88866015e-01 3.48466895e-02 2.80895175e+02] [-1.88774479e-01 9.82002572e-01 -5.92837105e-03 -4.68773751e+01] [-3.53392065e-02 -7.60154803e-04 9.99375086e-01 -1.26530310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.66264 meters 0.026086996507162587 Centerline is valid? [True, True] Translation: X:280.93, Y:-46.88, Z:-12.66 [[ 9.81585716e-01 1.87954013e-01 3.40994238e-02 2.80925108e+02] [-1.87865535e-01 9.82177578e-01 -5.80922122e-03 -4.68808639e+01] [-3.45835559e-02 -7.03857920e-04 9.99401562e-01 -1.26563207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.69264 meters 0.026856652814223864 Centerline is valid? [True, True] Translation: X:280.95, Y:-46.88, Z:-12.66 [[ 9.81676848e-01 1.87328745e-01 3.49071160e-02 2.80954837e+02] [-1.87235603e-01 9.82297030e-01 -5.94758186e-03 -4.68827016e+01] [-3.54033094e-02 -6.97251500e-04 9.99372863e-01 -1.26583393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.72264 meters 0.025610779806658705 Centerline is valid? [True, True] Translation: X:280.98, Y:-46.89, Z:-12.66 [[ 9.81781982e-01 1.86698068e-01 3.53266439e-02 2.80984706e+02] [-1.86602287e-01 9.82417103e-01 -6.01846855e-03 -4.68873529e+01] [-3.58291356e-02 -6.83208568e-04 9.99357697e-01 -1.26577258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.75264 meters 0.024608303054216157 Centerline is valid? [True, True] Translation: X:281.01, Y:-46.89, Z:-12.66 [[ 9.81866140e-01 1.86160590e-01 3.58206248e-02 2.81014808e+02] [-1.86061753e-01 9.82519100e-01 -6.10262623e-03 -4.68917797e+01] [-3.63305165e-02 -6.72886178e-04 9.99339602e-01 -1.26580689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78264 meters 0.02387720205489285 Centerline is valid? [True, True] Translation: X:281.04, Y:-46.90, Z:-12.66 [[ 9.82153540e-01 1.84749667e-01 3.52417927e-02 2.81044433e+02] [-1.84653091e-01 9.82785423e-01 -6.00401277e-03 -4.68958743e+01] [-3.57443595e-02 -6.10643574e-04 9.99360780e-01 -1.26613298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.81264 meters 0.022134097499361592 Centerline is valid? [True, True] Translation: X:281.07, Y:-46.90, Z:-12.66 [[ 9.82322387e-01 1.83965506e-01 3.46326518e-02 2.81074467e+02] [-1.83871765e-01 9.82932533e-01 -5.89991753e-03 -4.69035046e+01] [-3.51269415e-02 -5.72345752e-04 9.99382695e-01 -1.26628123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84264 meters 0.03899347694401144 Centerline is valid? [True, True] Translation: X:281.10, Y:-46.91, Z:-12.66 [[ 9.82533269e-01 1.82914626e-01 3.42142594e-02 2.81104570e+02] [-1.82822489e-01 9.83128659e-01 -5.82894812e-03 -4.69082742e+01] [-3.47032189e-02 -5.28000615e-04 9.99397522e-01 -1.26637791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.87264 meters 0.021452952939892717 Centerline is valid? [True, True] Translation: X:281.13, Y:-46.91, Z:-12.67 [[ 9.82827685e-01 1.81432252e-01 3.36463980e-02 2.81134020e+02] [-1.81342176e-01 9.83403336e-01 -5.73526822e-03 -4.69122329e+01] [-3.41285427e-02 -4.64730634e-04 9.99417344e-01 -1.26690621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.90264 meters 0.020283598941317205 Centerline is valid? [True, True] Translation: X:281.16, Y:-46.92, Z:-12.67 [[ 9.83012443e-01 1.80352809e-01 3.40499934e-02 2.81164262e+02] [-1.80259911e-01 9.83601890e-01 -5.80406395e-03 -4.69183873e+01] [-3.45384171e-02 -4.32381708e-04 9.99403277e-01 -1.26699489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.93264 meters 0.01841322658376108 Centerline is valid? [True, True] Translation: X:281.19, Y:-46.93, Z:-12.67 [[ 9.83270884e-01 1.78896920e-01 3.42674993e-02 2.81194470e+02] [-1.78801958e-01 9.83867748e-01 -5.84081723e-03 -4.69259141e+01] [-3.47595915e-02 -3.83990451e-04 9.99395629e-01 -1.26700235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96264 meters 0.01589166044826163 Centerline is valid? [True, True] Translation: X:281.22, Y:-46.94, Z:-12.67 [[ 9.83924067e-01 1.75236816e-01 3.44309416e-02 2.81224728e+02] [-1.75138735e-01 9.84526278e-01 -5.86778285e-03 -4.69359345e+01] [-3.49264184e-02 -2.56738817e-04 9.99389854e-01 -1.26715711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.99264 meters 0.014561015313706455 Centerline is valid? [True, True] Translation: X:281.26, Y:-46.95, Z:-12.67 [[ 9.84352587e-01 1.72794559e-01 3.45257072e-02 2.81255889e+02] [-1.72694246e-01 9.84957874e-01 -5.88932897e-03 -4.69460958e+01] [-3.50240111e-02 -1.65214760e-04 9.99386457e-01 -1.26730992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02264 meters 0.026168734632260608 Centerline is valid? [True, True] Translation: X:281.29, Y:-46.96, Z:-12.67 [[ 9.84785865e-01 1.70179732e-01 3.51519515e-02 2.81286560e+02] [-1.70073859e-01 9.85413037e-01 -6.00232922e-03 -4.69573370e+01] [-3.56606661e-02 -6.74190786e-05 9.99363954e-01 -1.26722157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.05264 meters 0.01371098802783484 Centerline is valid? [True, True] Translation: X:281.32, Y:-46.97, Z:-12.68 [[ 9.85159473e-01 1.68114662e-01 3.46160940e-02 2.81317334e+02] [-1.68010520e-01 9.85767447e-01 -5.91647654e-03 -4.69680267e+01] [-3.51180651e-02 1.28049307e-05 9.99383170e-01 -1.26760888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08264 meters 0.0140760268193116 Centerline is valid? [True, True] Translation: X:281.35, Y:-46.98, Z:-12.68 [[ 9.85503512e-01 1.66124533e-01 3.44306255e-02 2.81348646e+02] [-1.66020078e-01 9.86104777e-01 -5.89085416e-03 -4.69783154e+01] [-3.49308197e-02 8.92823357e-05 9.99389729e-01 -1.26776790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.11264 meters 0.01515493855077533 Centerline is valid? [True, True] Translation: X:281.38, Y:-46.99, Z:-12.68 [[ 9.85982389e-01 1.63117771e-01 3.50901821e-02 2.81378072e+02] [-1.63007079e-01 9.86606583e-01 -6.01187491e-03 -4.69905375e+01] [-3.56008483e-02 2.07654713e-04 9.99366067e-01 -1.26778745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14264000000003 meters 0.015649986554696158 Centerline is valid? [True, True] Translation: X:281.41, Y:-47.00, Z:-12.68 [[ 9.86084738e-01 1.62466740e-01 3.52341890e-02 2.81409342e+02] [-1.62354614e-01 9.86713993e-01 -6.03954381e-03 -4.69987896e+01] [-3.57472923e-02 2.35068826e-04 9.99360834e-01 -1.26794412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.17264 meters 0.016053934984048533 Centerline is valid? [True, True] Translation: X:281.44, Y:-47.01, Z:-12.68 [[ 9.86122640e-01 1.62263082e-01 3.51117078e-02 2.81441206e+02] [-1.62151488e-01 9.86747502e-01 -6.02186058e-03 -4.70069082e+01] [-3.56235156e-02 2.44877389e-04 9.99365251e-01 -1.26814811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20264000000003 meters 0.02144682415140819 Centerline is valid? [True, True] Translation: X:281.47, Y:-47.01, Z:-12.68 [[ 9.86129961e-01 1.62288452e-01 3.47873410e-02 2.81473068e+02] [-1.62178696e-01 9.86743329e-01 -5.97274571e-03 -4.70147731e+01] [-3.52954843e-02 2.48137877e-04 9.99376889e-01 -1.26826464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.23264 meters 0.015418910859266473 Centerline is valid? [True, True] Translation: X:281.50, Y:-47.02, Z:-12.69 [[ 9.85942024e-01 1.63599602e-01 3.39631506e-02 2.81504775e+02] [-1.63495552e-01 9.86526801e-01 -5.83738570e-03 -4.70225642e+01] [-3.44605523e-02 2.02499815e-04 9.99406038e-01 -1.26857887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26264000000003 meters 0.021927630123537933 Centerline is valid? [True, True] Translation: X:281.54, Y:-47.03, Z:-12.69 [[ 9.85813452e-01 1.64349102e-01 3.40765291e-02 2.81537686e+02] [-1.64244577e-01 9.86402220e-01 -5.86344884e-03 -4.70288163e+01] [-3.45768165e-02 1.83381649e-04 9.99402026e-01 -1.26857075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.29264 meters 0.015149123006583878 Centerline is valid? [True, True] Translation: X:281.57, Y:-47.04, Z:-12.69 [[ 9.85615295e-01 1.65623859e-01 3.36337159e-02 2.81569049e+02] [-1.65522547e-01 9.86188986e-01 -5.79394868e-03 -4.70356022e+01] [-3.41288163e-02 1.43466125e-04 9.99417432e-01 -1.26909175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32264000000004 meters 0.01379310227851513 Centerline is valid? [True, True] Translation: X:281.60, Y:-47.04, Z:-12.69 [[ 9.85181021e-01 1.68169733e-01 3.37238382e-02 2.81600617e+02] [-1.68069148e-01 9.85758052e-01 -5.81588308e-03 -4.70410701e+01] [-3.42216005e-02 6.17608823e-05 9.99414268e-01 -1.26900520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.35264 meters 0.013421078314568883 Centerline is valid? [True, True] Translation: X:281.63, Y:-47.05, Z:-12.69 [[ 9.84847082e-01 1.70050202e-01 3.40463429e-02 2.81631782e+02] [-1.69948568e-01 9.85435401e-01 -5.87839684e-03 -4.70457377e+01] [-3.45500941e-02 3.19476482e-06 9.99402967e-01 -1.26909767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.38264 meters 0.013421078314568883 Centerline is valid? [True, True] Translation: X:281.66, Y:-47.05, Z:-12.69 [[ 9.84814905e-01 1.70236517e-01 3.40460116e-02 2.81663750e+02] [-1.70134928e-01 9.85403231e-01 -5.88031581e-03 -4.70514602e+01] [-3.45500943e-02 -1.39306827e-06 9.99402967e-01 -1.26925384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.41264 meters 0.013336005954817877 Centerline is valid? [True, True] Translation: X:281.70, Y:-47.06, Z:-12.69 [[ 9.84412655e-01 1.72500190e-01 3.42842386e-02 2.81696856e+02] [-1.72398313e-01 9.85009482e-01 -5.92813394e-03 -4.70565130e+01] [-3.47929043e-02 -7.48148337e-05 9.99394541e-01 -1.26926484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.44264 meters 0.013907324614907983 Centerline is valid? [True, True] Translation: X:281.73, Y:-47.06, Z:-12.69 [[ 9.83980087e-01 1.74985732e-01 3.41054654e-02 2.81728327e+02] [-1.74886161e-01 9.84570957e-01 -5.90433344e-03 -4.70607828e+01] [-3.46124248e-02 -1.54827366e-04 9.99400799e-01 -1.26936655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.47264 meters 0.018916112755529596 Centerline is valid? [True, True] Translation: X:281.76, Y:-47.06, Z:-12.70 [[ 9.82933672e-01 1.80688420e-01 3.45411484e-02 2.81760293e+02] [-1.80589579e-01 9.83540324e-01 -5.98616113e-03 -4.70593670e+01] [-3.50542423e-02 -3.53772134e-04 9.99385349e-01 -1.26986270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.50264 meters 0.021535276225881975 Centerline is valid? [True, True] Translation: X:281.79, Y:-47.06, Z:-12.70 [[ 9.82416069e-01 1.83490252e-01 3.44962989e-02 2.81792095e+02] [-1.83393194e-01 9.83021428e-01 -5.98408921e-03 -4.70619088e+01] [-3.50086230e-02 -4.47521026e-04 9.99386910e-01 -1.27002736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.53264 meters 0.024587129239791575 Centerline is valid? [True, True] Translation: X:281.82, Y:-47.06, Z:-12.70 [[ 9.81903674e-01 1.86236070e-01 3.43700516e-02 2.81822854e+02] [-1.86141147e-01 9.82504880e-01 -5.96948145e-03 -4.70639419e+01] [-3.48804762e-02 -5.36225051e-04 9.99391347e-01 -1.27021539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.56264 meters 0.025417374698170587 Centerline is valid? [True, True] Translation: X:281.85, Y:-47.07, Z:-12.70 [[ 9.81402876e-01 1.88845974e-01 3.44324314e-02 2.81854401e+02] [-1.88752366e-01 9.82006517e-01 -5.97872972e-03 -4.70689955e+01] [-3.49419310e-02 -6.31660350e-04 9.99389145e-01 -1.27017726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.59264 meters 0.03289511679560796 Centerline is valid? [True, True] Translation: X:281.89, Y:-47.07, Z:-12.71 [[ 9.80567483e-01 1.93204396e-01 3.40510173e-02 2.81885117e+02] [-1.93115209e-01 9.81158227e-01 -5.92019287e-03 -4.70650051e+01] [-3.45532431e-02 -7.70620707e-04 9.99402561e-01 -1.27053774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.62264 meters 0.030462398118578638 Centerline is valid? [True, True] Translation: X:281.92, Y:-47.07, Z:-12.70 [[ 9.80249704e-01 1.94815275e-01 3.40224568e-02 2.81915712e+02] [-1.94727217e-01 9.80839602e-01 -5.91490230e-03 -4.70742998e+01] [-3.45228863e-02 -8.27017118e-04 9.99403565e-01 -1.27027306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.65264 meters 0.032052341763191716 Centerline is valid? [True, True] Translation: X:281.95, Y:-47.08, Z:-12.71 [[ 9.79901487e-01 1.96609485e-01 3.37310793e-02 2.81946326e+02] [-1.96523974e-01 9.80481480e-01 -5.86474936e-03 -4.70755325e+01] [-3.42257639e-02 -8.82089140e-04 9.99413738e-01 -1.27052411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.68264 meters 0.034182211615979875 Centerline is valid? [True, True] Translation: X:281.98, Y:-47.08, Z:-12.71 [[ 9.79555059e-01 1.98282824e-01 3.39971694e-02 2.81975808e+02] [-1.98196881e-01 9.80144391e-01 -5.91343046e-03 -4.70769915e+01] [-3.44946666e-02 -9.45602215e-04 9.99404435e-01 -1.27064143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.71264 meters 0.04510505018404166 Centerline is valid? [True, True] Translation: X:282.01, Y:-47.07, Z:-12.71 [[ 9.78863755e-01 2.01679409e-01 3.39288322e-02 2.82006687e+02] [-2.01595856e-01 9.79451012e-01 -5.90129736e-03 -4.70666017e+01] [-3.44217992e-02 -1.06334588e-03 9.99406829e-01 -1.27120126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.74264 meters 0.038947262159573816 Centerline is valid? [True, True] Translation: X:282.04, Y:-47.08, Z:-12.71 [[ 9.78583014e-01 2.03158308e-01 3.31961914e-02 2.82035078e+02] [-2.03079201e-01 9.79145295e-01 -5.77310582e-03 -4.70783110e+01] [-3.36767490e-02 -1.09199271e-03 9.99432181e-01 -1.27099150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.77264 meters 0.040592937037322266 Centerline is valid? [True, True] Translation: X:282.06, Y:-47.08, Z:-12.71 [[ 9.78302320e-01 2.04508389e-01 3.31796670e-02 2.82064673e+02] [-2.04430162e-01 9.78864149e-01 -5.76943373e-03 -4.70795030e+01] [-3.36582841e-02 -1.13867430e-03 9.99432751e-01 -1.27115185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.80264 meters 0.03879615411425711 Centerline is valid? [True, True] Translation: X:282.09, Y:-47.08, Z:-12.71 [[ 9.77866859e-01 2.06496957e-01 3.36958936e-02 2.82093996e+02] [-2.06417477e-01 9.78446474e-01 -5.85856106e-03 -4.70814517e+01] [-3.41794033e-02 -1.22652863e-03 9.99414961e-01 -1.27104494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.83264 meters 0.053805999164525053 Centerline is valid? [True, True] Translation: X:282.12, Y:-47.06, Z:-12.72 [[ 9.77711951e-01 2.07108822e-01 3.44278449e-02 2.82124865e+02] [-2.07026266e-01 9.78317079e-01 -5.98480299e-03 -4.70644777e+01] [-3.49208542e-02 -1.27605475e-03 9.99389266e-01 -1.27174118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86264 meters 0.04515961210936656 Centerline is valid? [True, True] Translation: X:282.15, Y:-47.08, Z:-12.71 [[ 9.77643383e-01 2.07401007e-01 3.46155769e-02 2.82152209e+02] [-2.07317814e-01 9.78255152e-01 -6.01505629e-03 -4.70771022e+01] [-3.51103952e-02 -1.29584577e-03 9.99382600e-01 -1.27143158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.89264000000003 meters 0.039308824973338964 Centerline is valid? [True, True] Translation: X:282.18, Y:-47.08, Z:-12.72 [[ 9.77734811e-01 2.07182681e-01 3.33163071e-02 2.82180393e+02] [-2.07105538e-01 9.78301486e-01 -5.78785470e-03 -4.70835887e+01] [-3.37925360e-02 -1.24100469e-03 9.99428099e-01 -1.27154351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92264 meters 0.044111462845630084 Centerline is valid? [True, True] Translation: X:282.21, Y:-47.08, Z:-12.72 [[ 9.77961124e-01 2.06151610e-01 3.30689383e-02 2.82209468e+02] [-2.06075070e-01 9.78519330e-01 -5.74339533e-03 -4.70794279e+01] [-3.35426055e-02 -1.19786642e-03 9.99436571e-01 -1.27202430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.95264000000003 meters 0.04143107327396751 Centerline is valid? [True, True] Translation: X:282.24, Y:-47.09, Z:-12.72 [[ 9.78302062e-01 2.04459896e-01 3.34847291e-02 2.82237795e+02] [-2.04380510e-01 9.78874258e-01 -5.81324338e-03 -4.70850093e+01] [-3.39659145e-02 -1.15651803e-03 9.99422323e-01 -1.27209411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98264 meters 0.034851506658002906 Centerline is valid? [True, True] Translation: X:282.27, Y:-47.10, Z:-12.72 [[ 9.78769522e-01 2.02210587e-01 3.34828361e-02 2.82266620e+02] [-2.02129966e-01 9.79341468e-01 -5.81083739e-03 -4.70963063e+01] [-3.39661427e-02 -1.08041397e-03 9.99422400e-01 -1.27203600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.01264000000003 meters 0.030264518200228345 Centerline is valid? [True, True] Translation: X:282.30, Y:-47.10, Z:-12.72 [[ 9.80052335e-01 1.95736951e-01 3.44160855e-02 2.82295584e+02] [-1.95647800e-01 9.80656041e-01 -5.97221224e-03 -4.71038068e+01] [-3.49193248e-02 -8.80350871e-04 9.99389747e-01 -1.27225044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.04264 meters 0.026447120363407586 Centerline is valid? [True, True] Translation: X:282.32, Y:-47.11, Z:-12.72 [[ 9.80830549e-01 1.91684475e-01 3.50499118e-02 2.82324860e+02] [-1.91589421e-01 9.81456316e-01 -6.08224188e-03 -4.71125441e+01] [-3.55658287e-02 -7.49543650e-04 9.99367055e-01 -1.27232364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.07264000000004 meters 0.021419456824551594 Centerline is valid? [True, True] Translation: X:282.35, Y:-47.12, Z:-12.72 [[ 9.81642320e-01 1.87469297e-01 3.51228989e-02 2.82354188e+02] [-1.87371175e-01 9.82270281e-01 -6.09417009e-03 -4.71235920e+01] [-3.56426495e-02 -5.98723553e-04 9.99364420e-01 -1.27233473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.10264 meters 0.019003455732456348 Centerline is valid? [True, True] Translation: X:282.38, Y:-47.13, Z:-12.73 [[ 9.82450800e-01 1.83160572e-01 3.52509770e-02 2.82383670e+02] [-1.83058941e-01 9.83082910e-01 -6.11684235e-03 -4.71319575e+01] [-3.57749974e-02 -4.43509864e-04 9.99359771e-01 -1.27265802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.13264 meters 0.013284677855476245 Centerline is valid? [True, True] Translation: X:282.41, Y:-47.15, Z:-12.73 [[ 9.83873002e-01 1.75334362e-01 3.53804743e-02 2.82412755e+02] [-1.75226907e-01 9.84508932e-01 -6.13961032e-03 -4.71469332e+01] [-3.59088776e-02 -1.59014235e-04 9.99355056e-01 -1.27271123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.16264 meters 0.023682405269170734 Centerline is valid? [True, True] Translation: X:282.44, Y:-47.16, Z:-12.73 [[ 9.84418496e-01 1.72179606e-01 3.56988512e-02 2.82443259e+02] [-1.72068163e-01 9.85065572e-01 -6.19402503e-03 -4.71560543e+01] [-3.62321941e-02 -4.51229451e-05 9.99343397e-01 -1.27297535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.19264 meters 0.012691038641845882 Centerline is valid? [True, True] Translation: X:282.47, Y:-47.17, Z:-12.73 [[ 9.84850966e-01 1.69846678e-01 3.49382326e-02 2.82474268e+02] [-1.69738257e-01 9.85470499e-01 -6.06798969e-03 -4.71654972e+01] [-3.54612254e-02 4.57108168e-05 9.99371052e-01 -1.27315645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22264 meters 0.013961837635232403 Centerline is valid? [True, True] Translation: X:282.50, Y:-47.18, Z:-12.73 [[ 9.85520787e-01 1.65953754e-01 3.47581515e-02 2.82504532e+02] [-1.65843775e-01 9.86133518e-01 -6.04380244e-03 -4.71761130e+01] [-3.52791699e-02 1.91869865e-04 9.99377478e-01 -1.27335054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.25264 meters 0.014999744148023447 Centerline is valid? [True, True] Translation: X:282.54, Y:-47.18, Z:-12.74 [[ 9.85667802e-01 1.65086799e-01 3.47179078e-02 2.82535392e+02] [-1.64976453e-01 9.86279016e-01 -6.03920566e-03 -4.71837221e+01] [-3.52385371e-02 2.25013297e-04 9.99378905e-01 -1.27365961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28264 meters 0.015593062674012798 Centerline is valid? [True, True] Translation: X:282.57, Y:-47.19, Z:-12.74 [[ 9.85718450e-01 1.64793736e-01 3.46722170e-02 2.82566449e+02] [-1.64683265e-01 9.86328022e-01 -6.03788627e-03 -4.71908094e+01] [-3.51931850e-02 2.41722002e-04 9.99380499e-01 -1.27390441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.31264 meters 0.029658106844977643 Centerline is valid? [True, True] Translation: X:282.60, Y:-47.20, Z:-12.74 [[ 9.85650062e-01 1.65051187e-01 3.53844849e-02 2.82598801e+02] [-1.64936057e-01 9.86284972e-01 -6.16852040e-03 -4.71960552e+01] [-3.59173073e-02 2.43825075e-04 9.99354736e-01 -1.27366105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34264 meters 0.013950240210987223 Centerline is valid? [True, True] Translation: X:282.63, Y:-47.20, Z:-12.74 [[ 9.85282824e-01 1.67271770e-01 3.51839624e-02 2.82629362e+02] [-1.67159127e-01 9.85910811e-01 -6.13998292e-03 -4.72005779e+01] [-3.57152947e-02 1.68299248e-04 9.99361991e-01 -1.27403982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.37264 meters 0.01283848596367447 Centerline is valid? [True, True] Translation: X:282.66, Y:-47.20, Z:-12.74 [[ 9.84992638e-01 1.68937781e-01 3.53486722e-02 2.82661295e+02] [-1.68824947e-01 9.85626711e-01 -6.17449378e-03 -4.72037990e+01] [-3.58837008e-02 1.14093222e-04 9.99355966e-01 -1.27397888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.40264 meters 0.012588112926041556 Centerline is valid? [True, True] Translation: X:282.69, Y:-47.21, Z:-12.74 [[ 9.84680284e-01 1.70767841e-01 3.52573884e-02 2.82693081e+02] [-1.70656542e-01 9.85311292e-01 -6.16466454e-03 -4.72077200e+01] [-3.57922294e-02 5.33196379e-05 9.99359251e-01 -1.27425538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.43264 meters 0.0127157006664127 Centerline is valid? [True, True] Translation: X:282.72, Y:-47.21, Z:-12.75 [[ 9.84371270e-01 1.72585234e-01 3.50362617e-02 2.82724704e+02] [-1.72476241e-01 9.84994587e-01 -6.13262747e-03 -4.72117288e+01] [-3.55689291e-02 -6.14043713e-06 9.99367225e-01 -1.27453581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46264 meters 0.013202446739811878 Centerline is valid? [True, True] Translation: X:282.76, Y:-47.21, Z:-12.75 [[ 9.83686269e-01 1.76318004e-01 3.56831385e-02 2.82756286e+02] [-1.76207151e-01 9.84333248e-01 -6.25278177e-03 -4.72143487e+01] [-3.62265776e-02 -1.36848615e-04 9.99343593e-01 -1.27468221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.49264 meters 0.014095909758449916 Centerline is valid? [True, True] Translation: X:282.79, Y:-47.22, Z:-12.75 [[ 9.83301745e-01 1.78370896e-01 3.60763454e-02 2.82788324e+02] [-1.78258720e-01 9.83963302e-01 -6.32838664e-03 -4.72178980e+01] [-3.66266000e-02 -2.08209534e-04 9.99328999e-01 -1.27478106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52264 meters 0.029826575645868224 Centerline is valid? [True, True] Translation: X:282.82, Y:-47.22, Z:-12.75 [[ 9.82866216e-01 1.80495534e-01 3.73545583e-02 2.82821119e+02] [-1.80376539e-01 9.83575761e-01 -6.55947612e-03 -4.72221134e+01] [-3.79249943e-02 -2.90798457e-04 9.99280546e-01 -1.27456776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.55264 meters 0.01599678314758791 Centerline is valid? [True, True] Translation: X:282.85, Y:-47.23, Z:-12.75 [[ 9.82405732e-01 1.83049076e-01 3.70406917e-02 2.82852648e+02] [-1.82933593e-01 9.83103704e-01 -6.51214786e-03 -4.72250949e+01] [-3.76068838e-02 -3.78415429e-04 9.99292539e-01 -1.27478111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58264 meters 0.01914726627582811 Centerline is valid? [True, True] Translation: X:282.88, Y:-47.23, Z:-12.75 [[ 9.81574193e-01 1.87367128e-01 3.74921750e-02 2.82884585e+02] [-1.87251720e-01 9.82289806e-01 -6.59773483e-03 -4.72264361e+01] [-3.80643799e-02 -5.44308017e-04 9.99275141e-01 -1.27484927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.61264 meters 0.021997484846467102 Centerline is valid? [True, True] Translation: X:282.92, Y:-47.23, Z:-12.75 [[ 9.81140694e-01 1.89576302e-01 3.77327925e-02 2.82915137e+02] [-1.89460759e-01 9.81865792e-01 -6.64740906e-03 -4.72277564e+01] [-3.83087294e-02 -6.26839953e-04 9.99265755e-01 -1.27501262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64264000000003 meters 0.027963920711627708 Centerline is valid? [True, True] Translation: X:282.95, Y:-47.22, Z:-12.75 [[ 9.80688136e-01 1.91846857e-01 3.80205667e-02 2.82945038e+02] [-1.91731143e-01 9.81424611e-01 -6.70083180e-03 -4.72248650e+01] [-3.85998534e-02 -7.18300455e-04 9.99254490e-01 -1.27535205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.67264 meters 0.02694005764343274 Centerline is valid? [True, True] Translation: X:282.97, Y:-47.23, Z:-12.75 [[ 9.80238009e-01 1.94102021e-01 3.81818083e-02 2.82973704e+02] [-1.93987066e-01 9.80981013e-01 -6.72838214e-03 -4.72309542e+01] [-3.87616215e-02 -8.11361043e-04 9.99248157e-01 -1.27521451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70264000000003 meters 0.03185429366795041 Centerline is valid? [True, True] Translation: X:283.00, Y:-47.23, Z:-12.75 [[ 9.79318334e-01 1.98731451e-01 3.79659161e-02 2.83004966e+02] [-1.98621322e-01 9.80053483e-01 -6.68885399e-03 -4.72295382e+01] [-3.85379140e-02 -9.90323098e-04 9.99256648e-01 -1.27540791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.73264 meters 0.034899546805739416 Centerline is valid? [True, True] Translation: X:283.03, Y:-47.23, Z:-12.75 [[ 9.78862511e-01 2.00947867e-01 3.80544200e-02 2.83034939e+02] [-2.00838887e-01 9.79601342e-01 -6.70467349e-03 -4.72321704e+01] [-3.86254507e-02 -1.07985384e-03 9.99253175e-01 -1.27547231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76264000000003 meters 0.03727687837408585 Centerline is valid? [True, True] Translation: X:283.06, Y:-47.23, Z:-12.76 [[ 9.78405107e-01 2.03296629e-01 3.73353431e-02 2.83064243e+02] [-2.03193467e-01 9.79116518e-01 -6.57720705e-03 -4.72298274e+01] [-3.78927752e-02 -1.15112484e-03 9.99281148e-01 -1.27582675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.79264 meters 0.0385975962955523 Centerline is valid? [True, True] Translation: X:283.09, Y:-47.23, Z:-12.76 [[ 9.77935423e-01 2.05483778e-01 3.76659678e-02 2.83094151e+02] [-2.05380457e-01 9.78659726e-01 -6.63394270e-03 -4.72312196e+01] [-3.82253333e-02 -1.24828612e-03 9.99268365e-01 -1.27590541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82264000000004 meters 0.04439903990703869 Centerline is valid? [True, True] Translation: X:283.12, Y:-47.23, Z:-12.76 [[ 9.77104877e-01 2.09129387e-01 3.91274772e-02 2.83124495e+02] [-2.09020851e-01 9.77886910e-01 -6.89021289e-03 -4.72260086e+01] [-3.97031938e-02 -1.44599798e-03 9.99210471e-01 -1.27584565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.85264 meters 0.04491964687625005 Centerline is valid? [True, True] Translation: X:283.15, Y:-47.23, Z:-12.76 [[ 9.76799040e-01 2.10553605e-01 3.91256245e-02 2.83153784e+02] [-2.10446220e-01 9.77581157e-01 -6.88987011e-03 -4.72275327e+01] [-3.96991603e-02 -1.50382128e-03 9.99210546e-01 -1.27599509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.88264 meters 0.04214279207293293 Centerline is valid? [True, True] Translation: X:283.18, Y:-47.23, Z:-12.76 [[ 9.76574878e-01 2.11537437e-01 3.94134542e-02 2.83182348e+02] [-2.11429319e-01 9.77368656e-01 -6.93924721e-03 -4.72334908e+01] [-3.99893854e-02 -1.55646528e-03 9.99198892e-01 -1.27598173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.91264 meters 0.05247646164940645 Centerline is valid? [True, True] Translation: X:283.21, Y:-47.23, Z:-12.76 [[ 9.76448756e-01 2.12017429e-01 3.99554279e-02 2.83211381e+02] [-2.11906796e-01 9.77264576e-01 -7.03272455e-03 -4.72294414e+01] [-4.05380844e-02 -1.59973154e-03 9.99176713e-01 -1.27609981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.94264 meters 0.048391816670646015 Centerline is valid? [True, True] Translation: X:283.24, Y:-47.23, Z:-12.77 [[ 9.76467855e-01 2.12228806e-01 3.83335626e-02 2.83239556e+02] [-2.12127226e-01 9.77218781e-01 -6.74494444e-03 -4.72274880e+01] [-3.88917488e-02 -1.54537087e-03 9.99242235e-01 -1.27664778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.97264 meters 0.04290300556802237 Centerline is valid? [True, True] Translation: X:283.27, Y:-47.24, Z:-12.77 [[ 9.76674992e-01 2.11285508e-01 3.82674069e-02 2.83267764e+02] [-2.11183651e-01 9.77423225e-01 -6.73085079e-03 -4.72360696e+01] [-3.88255835e-02 -1.50759705e-03 9.99244865e-01 -1.27667771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.00264 meters 0.0424819553308264 Centerline is valid? [True, True] Translation: X:283.30, Y:-47.24, Z:-12.77 [[ 9.76947517e-01 2.09916061e-01 3.88432328e-02 2.83296204e+02] [-2.09810088e-01 9.77718297e-01 -6.83076953e-03 -4.72380670e+01] [-3.94116276e-02 -1.47639877e-03 9.99221969e-01 -1.27677444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.03264 meters 0.041878151874202484 Centerline is valid? [True, True] Translation: X:283.32, Y:-47.24, Z:-12.77 [[ 9.77250927e-01 2.08440152e-01 3.91577332e-02 2.83323884e+02] [-2.08331346e-01 9.78034078e-01 -6.88422642e-03 -4.72406483e+01] [-3.97325467e-02 -1.43016662e-03 9.99209327e-01 -1.27685456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.06264 meters 0.03521268499643609 Centerline is valid? [True, True] Translation: X:283.35, Y:-47.25, Z:-12.77 [[ 9.78021147e-01 2.04601231e-01 4.01618199e-02 2.83353273e+02] [-2.04483651e-01 9.78844534e-01 -7.05798716e-03 -4.72485521e+01] [-4.07562508e-02 -1.30957485e-03 9.99168261e-01 -1.27679044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.09264 meters 0.036309495457007235 Centerline is valid? [True, True] Translation: X:283.38, Y:-47.25, Z:-12.77 [[ 9.78464896e-01 2.02582799e-01 3.95810285e-02 2.83381317e+02] [-2.02466978e-01 9.79264392e-01 -6.95511092e-03 -4.72493319e+01] [-4.01692777e-02 -1.20851938e-03 9.99192158e-01 -1.27706247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.12264 meters 0.03148433989899168 Centerline is valid? [True, True] Translation: X:283.41, Y:-47.26, Z:-12.77 [[ 9.78893661e-01 2.00313506e-01 4.05179060e-02 2.83408914e+02] [-2.00190299e-01 9.79731183e-01 -7.11717177e-03 -4.72580793e+01] [-4.11223215e-02 -1.14433739e-03 9.99153464e-01 -1.27702606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.15264 meters 0.028147861341830456 Centerline is valid? [True, True] Translation: X:283.44, Y:-47.26, Z:-12.77 [[ 9.79814360e-01 1.95710775e-01 4.07567550e-02 2.83437704e+02] [-1.95582222e-01 9.80661192e-01 -7.15689538e-03 -4.72638544e+01] [-4.13692495e-02 -9.58867850e-04 9.99143466e-01 -1.27722679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.18264 meters 0.027493110909287594 Centerline is valid? [True, True] Translation: X:283.47, Y:-47.27, Z:-12.77 [[ 9.80175452e-01 1.93921336e-01 4.06275704e-02 2.83465504e+02] [-1.93792093e-01 9.81016686e-01 -7.13343717e-03 -4.72675222e+01] [-4.12396502e-02 -8.81281897e-04 9.99148895e-01 -1.27743544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.21264 meters 0.025865984577468804 Centerline is valid? [True, True] Translation: X:283.49, Y:-47.27, Z:-12.78 [[ 9.80490193e-01 1.92398074e-01 4.02735860e-02 2.83494134e+02] [-1.92269893e-01 9.81316626e-01 -7.06876354e-03 -4.72720919e+01] [-4.08811561e-02 -8.12544764e-04 9.99163686e-01 -1.27759187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.24264 meters 0.02417531318864622 Centerline is valid? [True, True] Translation: X:283.52, Y:-47.27, Z:-12.78 [[ 9.80798962e-01 1.90542347e-01 4.15573032e-02 2.83522692e+02] [-1.90404284e-01 9.81678682e-01 -7.29200410e-03 -4.72735342e+01] [-4.21853542e-02 -7.60698498e-04 9.99109512e-01 -1.27758219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.27264 meters 0.022016447893908105 Centerline is valid? [True, True] Translation: X:283.55, Y:-47.28, Z:-12.78 [[ 9.80894557e-01 1.90092838e-01 4.13591726e-02 2.83551287e+02] [-1.89955771e-01 9.81765841e-01 -7.25528498e-03 -4.72787061e+01] [-4.19842005e-02 -7.39743973e-04 9.99118001e-01 -1.27767608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.30264 meters 0.022016447893908105 Centerline is valid? [True, True] Translation: X:283.58, Y:-47.28, Z:-12.78 [[ 9.80903732e-01 1.90045410e-01 4.13595231e-02 2.83579176e+02] [-1.89908386e-01 9.81775022e-01 -7.25328634e-03 -4.72835079e+01] [-4.19842005e-02 -7.39744632e-04 9.99118001e-01 -1.27781216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.33264 meters 0.023407972963346676 Centerline is valid? [True, True] Translation: X:283.61, Y:-47.28, Z:-12.78 [[ 9.80919505e-01 1.90101888e-01 4.07209615e-02 2.83607169e+02] [-1.89969191e-01 9.81764094e-01 -7.13938938e-03 -4.72840919e+01] [-4.13355893e-02 -7.32561807e-04 9.99145051e-01 -1.27812716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36264 meters 0.027948567802690994 Centerline is valid? [True, True] Translation: X:283.64, Y:-47.29, Z:-12.78 [[ 9.80984946e-01 1.90046980e-01 3.93786960e-02 2.83635870e+02] [-1.89922942e-01 9.81774742e-01 -6.90163754e-03 -4.72896762e+01] [-3.99726445e-02 -7.08515273e-04 9.99200523e-01 -1.27821561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.39264000000003 meters 0.022426289956521645 Centerline is valid? [True, True] Translation: X:283.66, Y:-47.29, Z:-12.79 [[ 9.80926879e-01 1.90605643e-01 3.81044288e-02 2.83664142e+02] [-1.90489995e-01 9.81666433e-01 -6.67651810e-03 -4.72872683e+01] [-3.86784207e-02 -7.09336395e-04 9.99251458e-01 -1.27884557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42264 meters 0.023170528597471367 Centerline is valid? [True, True] Translation: X:283.69, Y:-47.29, Z:-12.79 [[ 9.80893363e-01 1.90860439e-01 3.76895496e-02 2.83691680e+02] [-1.90747576e-01 9.81616923e-01 -6.60146436e-03 -4.72884119e+01] [-3.82566581e-02 -7.13857627e-04 9.99267691e-01 -1.27910810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.45264000000003 meters 0.022493598651199136 Centerline is valid? [True, True] Translation: X:283.72, Y:-47.29, Z:-12.79 [[ 9.80874569e-01 1.90957252e-01 3.76882977e-02 2.83720267e+02] [-1.90844576e-01 9.81598089e-01 -6.59840676e-03 -4.72911051e+01] [-3.82547746e-02 -7.20397799e-04 9.99267759e-01 -1.27920290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.48264 meters 0.024490566697996187 Centerline is valid? [True, True] Translation: X:283.75, Y:-47.29, Z:-12.79 [[ 9.80892189e-01 1.90837363e-01 3.78366888e-02 2.83747659e+02] [-1.90723770e-01 9.81621405e-01 -6.62278669e-03 -4.72898303e+01] [-3.84051788e-02 -7.20116187e-04 9.99261990e-01 -1.27939465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.51264000000003 meters 0.023790012857420367 Centerline is valid? [True, True] Translation: X:283.78, Y:-47.29, Z:-12.79 [[ 9.81076253e-01 1.89768683e-01 3.84347771e-02 2.83775499e+02] [-1.89650797e-01 9.81828583e-01 -6.72369308e-03 -4.72910676e+01] [-3.90123092e-02 -6.92730507e-04 9.99238490e-01 -1.27943909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.54264 meters 0.02713811454356107 Centerline is valid? [True, True] Translation: X:283.80, Y:-47.30, Z:-12.80 [[ 9.81291031e-01 1.88752443e-01 3.79529700e-02 2.83803356e+02] [-1.88636828e-01 9.82024489e-01 -6.63700622e-03 -4.72957087e+01] [-3.85234971e-02 -6.46493206e-04 9.99257485e-01 -1.27961409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.57264000000004 meters 0.019988084798792244 Centerline is valid? [True, True] Translation: X:283.83, Y:-47.30, Z:-12.80 [[ 9.81742168e-01 1.86348294e-01 3.81658021e-02 2.83831735e+02] [-1.86229634e-01 9.82483589e-01 -6.67237971e-03 -4.73016413e+01] [-3.87406608e-02 -5.57046826e-04 9.99249144e-01 -1.27971542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.60264 meters 0.024442378542981702 Centerline is valid? [True, True] Translation: X:283.86, Y:-47.31, Z:-12.80 [[ 9.81954992e-01 1.85272494e-01 3.79275054e-02 2.83860124e+02] [-1.85154580e-01 9.82687051e-01 -6.62888439e-03 -4.73065519e+01] [-3.84990184e-02 -5.13185210e-04 9.99258506e-01 -1.27968882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.63264 meters 0.017107239218573697 Centerline is valid? [True, True] Translation: X:283.89, Y:-47.31, Z:-12.80 [[ 9.82172964e-01 1.84025554e-01 3.83518532e-02 2.83888689e+02] [-1.83904112e-01 9.82921346e-01 -6.70107202e-03 -4.73099736e+01] [-3.89300237e-02 -4.71451740e-04 9.99241828e-01 -1.27990447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.66264 meters 0.016555245915270037 Centerline is valid? [True, True] Translation: X:283.92, Y:-47.31, Z:-12.80 [[ 9.82302323e-01 1.83302428e-01 3.85015123e-02 2.83917373e+02] [-1.83179557e-01 9.83056469e-01 -6.72525908e-03 -4.73129187e+01] [-3.90819170e-02 -4.46452364e-04 9.99235910e-01 -1.28000770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.69264 meters 0.022811502698463083 Centerline is valid? [True, True] Translation: X:283.95, Y:-47.32, Z:-12.80 [[ 9.82418921e-01 1.82720134e-01 3.82938047e-02 2.83945770e+02] [-1.82598219e-01 9.83164876e-01 -6.68705672e-03 -4.73156711e+01] [-3.88709836e-02 -4.22889473e-04 9.99244148e-01 -1.28010059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.72264 meters 0.015527115469143976 Centerline is valid? [True, True] Translation: X:283.98, Y:-47.32, Z:-12.80 [[ 9.82492066e-01 1.82208243e-01 3.88522479e-02 2.83975383e+02] [-1.82082429e-01 9.83259878e-01 -6.78244561e-03 -4.73163749e+01] [-3.94376740e-02 -4.10612662e-04 9.99221948e-01 -1.28026376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.75264 meters 0.01620242841404673 Centerline is valid? [True, True] Translation: X:284.00, Y:-47.32, Z:-12.80 [[ 9.82497847e-01 1.82244555e-01 3.85344323e-02 2.84003601e+02] [-1.82120868e-01 9.83253149e-01 -6.72573491e-03 -4.73175668e+01] [-3.91148304e-02 -4.09904172e-04 9.99234638e-01 -1.28044928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78264 meters 0.0161006526905906 Centerline is valid? [True, True] Translation: X:284.03, Y:-47.32, Z:-12.81 [[ 9.82505734e-01 1.82228854e-01 3.84073751e-02 2.84031836e+02] [-1.82106059e-01 9.83256058e-01 -6.70126304e-03 -4.73196262e+01] [-3.89854477e-02 -4.10186350e-04 9.99239694e-01 -1.28060286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.81264 meters 0.016142162332288552 Centerline is valid? [True, True] Translation: X:284.06, Y:-47.32, Z:-12.81 [[ 9.82530442e-01 1.82252415e-01 3.76561803e-02 2.84061100e+02] [-1.82134509e-01 9.83251693e-01 -6.56721319e-03 -4.73195890e+01] [-3.82223935e-02 -4.06003030e-04 9.99269175e-01 -1.28083621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84264 meters 0.016330519723353212 Centerline is valid? [True, True] Translation: X:284.09, Y:-47.32, Z:-12.81 [[ 9.82533626e-01 1.82124010e-01 3.81905604e-02 2.84088624e+02] [-1.82002707e-01 9.83275484e-01 -6.65856348e-03 -4.73214022e+01] [-3.87645261e-02 -4.08522865e-04 9.99248290e-01 -1.28093417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.87264 meters 0.016003042712148755 Centerline is valid? [True, True] Translation: X:284.12, Y:-47.32, Z:-12.81 [[ 9.82547377e-01 1.81932482e-01 3.87456269e-02 2.84117276e+02] [-1.81807579e-01 9.83310940e-01 -6.75275820e-03 -4.73244071e+01] [-3.93275448e-02 -4.09343769e-04 9.99226289e-01 -1.28091856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.90264 meters 0.02660240797880288 Centerline is valid? [True, True] Translation: X:284.14, Y:-47.33, Z:-12.81 [[ 9.82682994e-01 1.81260231e-01 3.84559645e-02 2.84144834e+02] [-1.81136744e-01 9.83435094e-01 -6.70049069e-03 -4.73268659e+01] [-3.90334776e-02 -3.81329960e-04 9.99237831e-01 -1.28102284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.93264 meters 0.013732647505405631 Centerline is valid? [True, True] Translation: X:284.17, Y:-47.33, Z:-12.81 [[ 9.83008684e-01 1.79221354e-01 3.96690483e-02 2.84172951e+02] [-1.79088397e-01 9.83808726e-01 -6.90922566e-03 -4.73312408e+01] [-4.02650367e-02 -3.12437446e-04 9.99188986e-01 -1.28104401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96264 meters 0.012769963140551125 Centerline is valid? [True, True] Translation: X:284.20, Y:-47.34, Z:-12.81 [[ 9.83284829e-01 1.77696398e-01 3.96854560e-02 2.84201466e+02] [-1.77562169e-01 9.84085325e-01 -6.91008878e-03 -4.73364813e+01] [-4.02817727e-02 -2.52050195e-04 9.99188328e-01 -1.28115561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.99264 meters 0.012131555087381882 Centerline is valid? [True, True] Translation: X:284.23, Y:-47.34, Z:-12.81 [[ 9.83591452e-01 1.76084856e-01 3.92680373e-02 2.84228401e+02] [-1.75952227e-01 9.84374974e-01 -6.83555843e-03 -4.73414220e+01] [-3.98581116e-02 -1.85901769e-04 9.99205332e-01 -1.28141791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02264 meters 0.01154605914377961 Centerline is valid? [True, True] Translation: X:284.26, Y:-47.35, Z:-12.82 [[ 9.83938541e-01 1.74255355e-01 3.87300845e-02 2.84255524e+02] [-1.74125007e-01 9.84700492e-01 -6.73965953e-03 -4.73473373e+01] [-3.93119551e-02 -1.12465502e-04 9.99226980e-01 -1.28159598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.05264 meters 0.010876329146860217 Centerline is valid? [True, True] Translation: X:284.28, Y:-47.35, Z:-12.82 [[ 9.84439735e-01 1.71435940e-01 3.85762480e-02 2.84284104e+02] [-1.71304581e-01 9.85195269e-01 -6.70984378e-03 -4.73537650e+01] [-3.91554454e-02 -2.85118400e-06 9.99233132e-01 -1.28168954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08264 meters 0.0112237232083477 Centerline is valid? [True, True] Translation: X:284.31, Y:-47.36, Z:-12.82 [[ 9.84574238e-01 1.70733500e-01 3.82575687e-02 2.84311133e+02] [-1.70603845e-01 9.85317244e-01 -6.65257933e-03 -4.73587746e+01] [-3.88316603e-02 2.30699016e-05 9.99245766e-01 -1.28201937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.11264 meters 0.011130124603373958 Centerline is valid? [True, True] Translation: X:284.34, Y:-47.36, Z:-12.82 [[ 9.84683483e-01 1.70194889e-01 3.78436093e-02 2.84339869e+02] [-1.70067724e-01 9.85410421e-01 -6.57809504e-03 -4.73638565e+01] [-3.84110451e-02 4.13650500e-05 9.99262023e-01 -1.28214910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14264000000003 meters 0.014877896157528828 Centerline is valid? [True, True] Translation: X:284.37, Y:-47.37, Z:-12.82 [[ 9.84735135e-01 1.70072964e-01 3.70391895e-02 2.84367187e+02] [-1.69951127e-01 9.85431472e-01 -6.43656382e-03 -4.73679990e+01] [-3.75942685e-02 4.34585424e-05 9.99293085e-01 -1.28233607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.17264 meters 0.011577031518602164 Centerline is valid? [True, True] Translation: X:284.39, Y:-47.37, Z:-12.83 [[ 9.84662213e-01 1.70495221e-01 3.70365404e-02 2.84393806e+02] [-1.70373779e-01 9.85358503e-01 -6.43399796e-03 -4.73708415e+01] [-3.75912359e-02 2.52593233e-05 9.99293199e-01 -1.28267207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20264000000003 meters 0.011632926497508534 Centerline is valid? [True, True] Translation: X:284.42, Y:-47.37, Z:-12.83 [[ 9.84345802e-01 1.72395511e-01 3.66487348e-02 2.84422574e+02] [-1.72278043e-01 9.85027809e-01 -6.36321908e-03 -4.73706363e+01] [-3.71970133e-02 -5.01643230e-05 9.99307950e-01 -1.28277929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.23264 meters 0.011800611762654284 Centerline is valid? [True, True] Translation: X:284.45, Y:-47.37, Z:-12.83 [[ 9.84185429e-01 1.73320594e-01 3.65925242e-02 2.84450877e+02] [-1.73204215e-01 9.84865455e-01 -6.35106555e-03 -4.73738167e+01] [-3.71394835e-02 -8.73532558e-05 9.99310088e-01 -1.28291990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26264000000003 meters 0.012117089068245542 Centerline is valid? [True, True] Translation: X:284.48, Y:-47.38, Z:-12.83 [[ 9.84018473e-01 1.74238602e-01 3.67226650e-02 2.84477914e+02] [-1.74122086e-01 9.84703455e-01 -6.37219479e-03 -4.73764275e+01] [-3.72712174e-02 -1.23869660e-04 9.99305179e-01 -1.28300388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.29264 meters 0.012525454955522946 Centerline is valid? [True, True] Translation: X:284.51, Y:-47.38, Z:-12.83 [[ 9.83785375e-01 1.75429633e-01 3.72931561e-02 2.84505806e+02] [-1.75310450e-01 9.84491957e-01 -6.46783923e-03 -4.73758913e+01] [-3.78494629e-02 -1.74914338e-04 9.99283437e-01 -1.28303998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32264000000004 meters 0.013178180301042128 Centerline is valid? [True, True] Translation: X:284.53, Y:-47.38, Z:-12.83 [[ 9.83709462e-01 1.75889798e-01 3.71278086e-02 2.84533677e+02] [-1.75772128e-01 9.84409844e-01 -6.43569304e-03 -4.73785801e+01] [-3.76809530e-02 -1.95181792e-04 9.99289802e-01 -1.28331190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.35264 meters 0.012756587314736901 Centerline is valid? [True, True] Translation: X:284.56, Y:-47.38, Z:-12.83 [[ 9.83729724e-01 1.75866146e-01 3.67005265e-02 2.84561968e+02] [-1.75751240e-01 9.84414070e-01 -6.35929969e-03 -4.73835023e+01] [-3.72469001e-02 -1.94330918e-04 9.99306075e-01 -1.28340344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.38264 meters 0.012858183292736287 Centerline is valid? [True, True] Translation: X:284.59, Y:-47.39, Z:-12.84 [[ 9.83764946e-01 1.75675552e-01 3.66692274e-02 2.84588485e+02] [-1.75560765e-01 9.84448102e-01 -6.35241225e-03 -4.73873324e+01] [-3.72149148e-02 -1.88397103e-04 9.99307267e-01 -1.28358965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.41264 meters 0.01235372327962298 Centerline is valid? [True, True] Translation: X:284.62, Y:-47.39, Z:-12.84 [[ 9.83997438e-01 1.74295976e-01 3.70129116e-02 2.84615365e+02] [-1.74178175e-01 9.84693299e-01 -6.40862474e-03 -4.73925451e+01] [-3.75633635e-02 -1.40771071e-04 9.99294238e-01 -1.28375468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.44264 meters 0.012146315395745871 Centerline is valid? [True, True] Translation: X:284.64, Y:-47.40, Z:-12.84 [[ 9.84170965e-01 1.73278247e-01 3.71774229e-02 2.84642512e+02] [-1.73158808e-01 9.84872904e-01 -6.43345127e-03 -4.73986503e+01] [-3.77298136e-02 -1.05982291e-04 9.99287971e-01 -1.28390354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.47264 meters 0.011506360362840288 Centerline is valid? [True, True] Translation: X:284.67, Y:-47.41, Z:-12.84 [[ 9.84349371e-01 1.72125473e-01 3.78039221e-02 2.84670646e+02] [-1.72001218e-01 9.85075031e-01 -6.53939972e-03 -4.74059402e+01] [-3.83652970e-02 -6.52666456e-05 9.99263779e-01 -1.28388529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.50264 meters 0.011521377030120768 Centerline is valid? [True, True] Translation: X:284.70, Y:-47.41, Z:-12.84 [[ 9.84538794e-01 1.70915301e-01 3.83578305e-02 2.84697456e+02] [-1.70786528e-01 9.85285725e-01 -6.63341248e-03 -4.74124983e+01] [-3.89271745e-02 -2.01487897e-05 9.99242050e-01 -1.28403097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.53264 meters 0.011879798817629655 Centerline is valid? [True, True] Translation: X:284.72, Y:-47.42, Z:-12.84 [[ 9.85016037e-01 1.68297568e-01 3.76740691e-02 2.84724138e+02] [-1.68171518e-01 9.85736234e-01 -6.51291597e-03 -4.74196533e+01] [-3.82328029e-02 7.96212701e-05 9.99268856e-01 -1.28419468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.56264 meters 0.012013037271833803 Centerline is valid? [True, True] Translation: X:284.75, Y:-47.42, Z:-12.84 [[ 9.85248551e-01 1.67058777e-01 3.71033519e-02 2.84752551e+02] [-1.66935724e-01 9.85946931e-01 -6.41204730e-03 -4.74248331e+01] [-3.76531247e-02 1.23585410e-04 9.99290862e-01 -1.28424701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.59264 meters 0.012414299786344592 Centerline is valid? [True, True] Translation: X:284.78, Y:-47.43, Z:-12.84 [[ 9.85448293e-01 1.65869908e-01 3.71326657e-02 2.84780440e+02] [-1.65745885e-01 9.86147629e-01 -6.41529467e-03 -4.74305868e+01] [-3.76823946e-02 1.67354649e-04 9.99289752e-01 -1.28437077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.62264 meters 0.013003917252842546 Centerline is valid? [True, True] Translation: X:284.81, Y:-47.44, Z:-12.84 [[ 9.85801850e-01 1.63791499e-01 3.69737482e-02 2.84807932e+02] [-1.63667140e-01 9.86494949e-01 -6.38607519e-03 -4.74393879e+01] [-3.75204007e-02 2.44017111e-04 9.99295832e-01 -1.28436752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.65264 meters 0.014153158571232895 Centerline is valid? [True, True] Translation: X:284.83, Y:-47.45, Z:-12.85 [[ 9.85946396e-01 1.62895854e-01 3.70762026e-02 2.84834657e+02] [-1.62770236e-01 9.86643230e-01 -6.40207731e-03 -4.74477350e+01] [-3.76238561e-02 2.77202815e-04 9.99291934e-01 -1.28466051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.68264 meters 0.01407249937857269 Centerline is valid? [True, True] Translation: X:284.86, Y:-47.45, Z:-12.85 [[ 9.86056262e-01 1.62087712e-01 3.76911308e-02 2.84863043e+02] [-1.61957408e-01 9.86776306e-01 -6.50545124e-03 -4.74538695e+01] [-3.82471685e-02 3.10383095e-04 9.99268261e-01 -1.28458832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.71264 meters 0.014184273698409355 Centerline is valid? [True, True] Translation: X:284.89, Y:-47.46, Z:-12.85 [[ 9.86098674e-01 1.61635634e-01 3.85139838e-02 2.84890013e+02] [-1.61499303e-01 9.86850450e-01 -6.64561940e-03 -4.74593778e+01] [-3.90817111e-02 3.33254930e-04 9.99235963e-01 -1.28452513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.74264 meters 0.01406724064893843 Centerline is valid? [True, True] Translation: X:284.92, Y:-47.46, Z:-12.85 [[ 9.86124329e-01 1.61550460e-01 3.82132915e-02 2.84918813e+02] [-1.61416282e-01 9.86864397e-01 -6.59128412e-03 -4.74626367e+01] [-3.87761619e-02 3.31578188e-04 9.99247867e-01 -1.28458553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.77264 meters 0.024740075506729013 Centerline is valid? [True, True] Translation: X:284.95, Y:-47.47, Z:-12.85 [[ 9.86146505e-01 1.61607905e-01 3.73892450e-02 2.84947437e+02] [-1.61479564e-01 9.86854996e-01 -6.44734227e-03 -4.74657554e+01] [-3.79397047e-02 3.20425071e-04 9.99279979e-01 -1.28478155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.80264 meters 0.013424913891976649 Centerline is valid? [True, True] Translation: X:284.98, Y:-47.47, Z:-12.85 [[ 9.85980576e-01 1.62560572e-01 3.76346161e-02 2.84975635e+02] [-1.62431306e-01 9.86698525e-01 -6.48775177e-03 -4.74692672e+01] [-3.81886728e-02 2.83757385e-04 9.99270506e-01 -1.28500686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.83264 meters 0.013212191028174749 Centerline is valid? [True, True] Translation: X:285.00, Y:-47.47, Z:-12.85 [[ 9.85844997e-01 1.63406405e-01 3.75231806e-02 2.85003557e+02] [-1.63278582e-01 9.86558810e-01 -6.46679189e-03 -4.74732941e+01] [-3.80755396e-02 2.48522695e-04 9.99274833e-01 -1.28525193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86264 meters 0.013699490169465865 Centerline is valid? [True, True] Translation: X:285.03, Y:-47.48, Z:-12.86 [[ 9.85661999e-01 1.65106332e-01 3.47896949e-02 2.85031313e+02] [-1.64997588e-01 9.86275758e-01 -5.99373477e-03 -4.74756036e+01] [-3.53018363e-02 1.67580842e-04 9.99376682e-01 -1.28603544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.89264000000003 meters 0.012947519693034591 Centerline is valid? [True, True] Translation: X:285.06, Y:-47.48, Z:-12.86 [[ 9.85527286e-01 1.66079224e-01 3.39655822e-02 2.85059771e+02] [-1.65976225e-01 9.86112405e-01 -5.84958931e-03 -4.74774428e+01] [-3.44653772e-02 1.27450765e-04 9.99405884e-01 -1.28612550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92264 meters 0.012876516857814475 Centerline is valid? [True, True] Translation: X:285.09, Y:-47.48, Z:-12.86 [[ 9.85435512e-01 1.66603864e-01 3.40588384e-02 2.85087769e+02] [-1.66500664e-01 9.86023905e-01 -5.86413227e-03 -4.74803511e+01] [-3.45598159e-02 1.07904983e-04 9.99402625e-01 -1.28631451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.95264000000003 meters 0.012741966027748764 Centerline is valid? [True, True] Translation: X:285.12, Y:-47.48, Z:-12.86 [[ 9.85389692e-01 1.66877267e-01 3.40460279e-02 2.85115927e+02] [-1.66774374e-01 9.85977671e-01 -5.86001553e-03 -4.74829099e+01] [-3.45465267e-02 9.63939072e-05 9.99403086e-01 -1.28638088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98264 meters 0.022774931381435826 Centerline is valid? [True, True] Translation: X:285.14, Y:-47.49, Z:-12.86 [[ 9.85531249e-01 1.65961618e-01 3.44223426e-02 2.85143526e+02] [-1.65855967e-01 9.86132205e-01 -5.92225771e-03 -4.74870287e+01] [-3.49278480e-02 1.27419129e-04 9.99389828e-01 -1.28626456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.01264000000003 meters 0.012991555651569349 Centerline is valid? [True, True] Translation: X:285.17, Y:-47.49, Z:-12.86 [[ 9.85706201e-01 1.64648783e-01 3.56940194e-02 2.85171578e+02] [-1.64534427e-01 9.86352243e-01 -6.13805451e-03 -4.74940613e+01] [-3.62174993e-02 1.77423375e-04 9.99343915e-01 -1.28630084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04264 meters 0.013597451609073231 Centerline is valid? [True, True] Translation: X:285.20, Y:-47.50, Z:-12.86 [[ 9.85937659e-01 1.63044979e-01 3.66506135e-02 2.85197302e+02] [-1.62923354e-01 9.86618608e-01 -6.30109368e-03 -4.75014741e+01] [-3.71875390e-02 2.41244651e-04 9.99308275e-01 -1.28628872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.07264000000004 meters 0.014478115342484133 Centerline is valid? [True, True] Translation: X:285.23, Y:-47.51, Z:-12.86 [[ 9.86210047e-01 1.61339400e-01 3.68692439e-02 2.85225420e+02] [-1.61215260e-01 9.86898934e-01 -6.33517336e-03 -4.75088862e+01] [-3.74083306e-02 3.03926897e-04 9.99300017e-01 -1.28632762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10264 meters 0.015935473960353195 Centerline is valid? [True, True] Translation: X:285.25, Y:-47.52, Z:-12.86 [[ 9.86489214e-01 1.59608388e-01 3.69349997e-02 2.85252364e+02] [-1.59482653e-01 9.87180342e-01 -6.34480062e-03 -4.75164290e+01] [-3.74741890e-02 3.68585619e-04 9.99297528e-01 -1.28648058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.13264 meters 0.018579673975393493 Centerline is valid? [True, True] Translation: X:285.28, Y:-47.53, Z:-12.87 [[ 9.86954810e-01 1.56504623e-01 3.77691180e-02 2.85278624e+02] [-1.56370960e-01 9.87677102e-01 -6.48573839e-03 -4.75271377e+01] [-3.83187410e-02 4.95137449e-04 9.99265445e-01 -1.28658837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16264 meters 0.01822805917166031 Centerline is valid? [True, True] Translation: X:285.31, Y:-47.53, Z:-12.87 [[ 9.87155886e-01 1.55345901e-01 3.72948652e-02 2.85306878e+02] [-1.55214835e-01 9.87859995e-01 -6.40203600e-03 -4.75326300e+01] [-3.78366354e-02 5.31091165e-04 9.99283797e-01 -1.28666963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.19264 meters 0.01822805917166031 Centerline is valid? [True, True] Translation: X:285.33, Y:-47.54, Z:-12.87 [[ 9.87163320e-01 1.55298586e-01 3.72951722e-02 2.85334780e+02] [-1.55167553e-01 9.87867434e-01 -6.40024696e-03 -4.75373337e+01] [-3.78366354e-02 5.31088413e-04 9.99283797e-01 -1.28680571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22264 meters 0.021398831997936102 Centerline is valid? [True, True] Translation: X:285.36, Y:-47.55, Z:-12.87 [[ 9.87326011e-01 1.54448836e-01 3.65089614e-02 2.85361234e+02] [-1.54322751e-01 9.88000635e-01 -6.26370393e-03 -4.75473890e+01] [-3.70382989e-02 5.50154453e-04 9.99313695e-01 -1.28730470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.25264 meters 0.02074290109478084 Centerline is valid? [True, True] Translation: X:285.39, Y:-47.55, Z:-12.87 [[ 9.87600656e-01 1.53066285e-01 3.48662676e-02 2.85389674e+02] [-1.52950516e-01 9.88215758e-01 -5.97955811e-03 -4.75534379e+01] [-3.53706638e-02 5.72601882e-04 9.99374098e-01 -1.28742785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28264 meters 0.03099501093806153 Centerline is valid? [True, True] Translation: X:285.42, Y:-47.56, Z:-12.87 [[ 9.87633986e-01 1.52759836e-01 3.52639002e-02 2.85416345e+02] [-1.52641252e-01 9.88263166e-01 -6.04672910e-03 -4.75609210e+01] [-3.57737110e-02 5.89229276e-04 9.99359742e-01 -1.28742551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.31264 meters 0.019984019408030126 Centerline is valid? [True, True] Translation: X:285.44, Y:-47.57, Z:-12.87 [[ 9.87610828e-01 1.52823308e-01 3.56354991e-02 2.85444489e+02] [-1.52702335e-01 9.88253352e-01 -6.10813804e-03 -4.75652912e+01] [-3.61503673e-02 5.90839348e-04 9.99346187e-01 -1.28734134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34264 meters 0.020428949125887077 Centerline is valid? [True, True] Translation: X:285.47, Y:-47.57, Z:-12.88 [[ 9.87586077e-01 1.53023951e-01 3.54599934e-02 2.85471425e+02] [-1.52904353e-01 9.88222311e-01 -6.07649061e-03 -4.75716294e+01] [-3.59722052e-02 5.79070182e-04 9.99352623e-01 -1.28752998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.37264 meters 0.018628696051550743 Centerline is valid? [True, True] Translation: X:285.50, Y:-47.58, Z:-12.88 [[ 9.87400256e-01 1.54391379e-01 3.46992384e-02 2.85500537e+02] [-1.54277802e-01 9.88009634e-01 -5.94333761e-03 -4.75764382e+01] [-3.52007819e-02 5.15130859e-04 9.99380128e-01 -1.28764135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.40264 meters 0.019132237514221558 Centerline is valid? [True, True] Translation: X:285.53, Y:-47.58, Z:-12.88 [[ 9.87249575e-01 1.55307011e-01 3.48999828e-02 2.85528658e+02] [-1.55192718e-01 9.87866134e-01 -5.97681431e-03 -4.75839384e+01] [-3.54047522e-02 4.84384196e-04 9.99372938e-01 -1.28796952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.43264 meters 0.021266376075660808 Centerline is valid? [True, True] Translation: X:285.56, Y:-47.59, Z:-12.88 [[ 9.87151065e-01 1.56046587e-01 3.43836794e-02 2.85555510e+02] [-1.55936110e-01 9.87749594e-01 -5.88811328e-03 -4.75903814e+01] [-3.48812854e-02 4.50800062e-04 9.99391361e-01 -1.28814933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46264 meters 0.03118102282538129 Centerline is valid? [True, True] Translation: X:285.58, Y:-47.60, Z:-12.88 [[ 9.86980685e-01 1.57069345e-01 3.46171572e-02 2.85584540e+02] [-1.56958083e-01 9.87587489e-01 -5.92548211e-03 -4.75950733e+01] [-3.51181830e-02 4.14893756e-04 9.99383080e-01 -1.28811068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.49264 meters 0.017504816321334833 Centerline is valid? [True, True] Translation: X:285.61, Y:-47.60, Z:-12.88 [[ 9.86628263e-01 1.59210787e-01 3.48797257e-02 2.85613199e+02] [-1.59099207e-01 9.87244554e-01 -5.96930332e-03 -4.76002271e+01] [-3.53851967e-02 3.40146664e-04 9.99373690e-01 -1.28820914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52264 meters 0.01501420848545835 Centerline is valid? [True, True] Translation: X:285.64, Y:-47.61, Z:-12.89 [[ 9.86425180e-01 1.60625734e-01 3.41282475e-02 2.85641744e+02] [-1.60519821e-01 9.87015347e-01 -5.83889856e-03 -4.76060340e+01] [-3.46229814e-02 2.81376404e-04 9.99400405e-01 -1.28854683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.55264 meters 0.023272549029112292 Centerline is valid? [True, True] Translation: X:285.67, Y:-47.61, Z:-12.89 [[ 9.86198379e-01 1.62176154e-01 3.33414416e-02 2.85670573e+02] [-1.62075989e-01 9.86761798e-01 -5.70328356e-03 -4.76101900e+01] [-3.38249975e-02 2.20721871e-04 9.99427747e-01 -1.28866862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58264 meters 0.012510448604235091 Centerline is valid? [True, True] Translation: X:285.70, Y:-47.61, Z:-12.89 [[ 9.85448805e-01 1.66601836e-01 3.36820704e-02 2.85698610e+02] [-1.66502248e-01 9.86024251e-01 -5.76000604e-03 -4.76117955e+01] [-3.41709658e-02 6.80506341e-05 9.99416000e-01 -1.28880815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.61264 meters 0.012438160354713334 Centerline is valid? [True, True] Translation: X:285.73, Y:-47.61, Z:-12.89 [[ 9.85020135e-01 1.69025538e-01 3.41423724e-02 2.85726631e+02] [-1.68924739e-01 9.85611672e-01 -5.83654127e-03 -4.76142777e+01] [-3.46376452e-02 -1.83806881e-05 9.99399937e-01 -1.28902591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64264000000003 meters 0.012950402415793216 Centerline is valid? [True, True] Translation: X:285.76, Y:-47.62, Z:-12.89 [[ 9.84607071e-01 1.71472242e-01 3.38553583e-02 2.85755636e+02] [-1.71374654e-01 9.85188946e-01 -5.78523906e-03 -4.76171381e+01] [-3.43459327e-02 -1.05763038e-04 9.99409999e-01 -1.28913410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.67264 meters 0.013868138566169915 Centerline is valid? [True, True] Translation: X:285.78, Y:-47.62, Z:-12.89 [[ 9.84200397e-01 1.73824615e-01 3.36835679e-02 2.85784633e+02] [-1.73729447e-01 9.84776608e-01 -5.75424047e-03 -4.76201507e+01] [-3.41710184e-02 -1.88501889e-04 9.99415982e-01 -1.28925914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70264000000003 meters 0.01516308475723818 Centerline is valid? [True, True] Translation: X:285.81, Y:-47.62, Z:-12.89 [[ 9.83797042e-01 1.76084864e-01 3.37268502e-02 2.85813729e+02] [-1.75990837e-01 9.84374953e-01 -5.75994200e-03 -4.76227622e+01] [-3.42141052e-02 -2.69002683e-04 9.99414490e-01 -1.28934001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.73264 meters 0.018040703826702194 Centerline is valid? [True, True] Translation: X:285.84, Y:-47.62, Z:-12.89 [[ 9.83038505e-01 1.80096694e-01 3.46479084e-02 2.85842764e+02] [-1.80000012e-01 9.83648821e-01 -5.91544332e-03 -4.76222731e+01] [-3.51467260e-02 -4.21515378e-04 9.99382074e-01 -1.28936439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76264000000003 meters 0.0204895764064932 Centerline is valid? [True, True] Translation: X:285.87, Y:-47.62, Z:-12.90 [[ 9.82747239e-01 1.81729100e-01 3.43860149e-02 2.85870868e+02] [-1.81634927e-01 9.83348517e-01 -5.86919103e-03 -4.76245838e+01] [-3.48800396e-02 -4.77770026e-04 9.99391392e-01 -1.28962911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.79264 meters 0.020647179187580723 Centerline is valid? [True, True] Translation: X:285.90, Y:-47.63, Z:-12.90 [[ 9.82543130e-01 1.82946931e-01 3.37552838e-02 2.85899493e+02] [-1.82856975e-01 9.83122656e-01 -5.75932696e-03 -4.76303550e+01] [-3.42392355e-02 -5.13601962e-04 9.99413534e-01 -1.28971193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82264000000004 meters 0.021891004888910312 Centerline is valid? [True, True] Translation: X:285.93, Y:-47.63, Z:-12.90 [[ 9.82347463e-01 1.84044064e-01 3.34850033e-02 2.85926816e+02] [-1.83956231e-01 9.82917841e-01 -5.71171261e-03 -4.76332960e+01] [-3.39642139e-02 -5.48888624e-04 9.99422899e-01 -1.28989094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.85264 meters 0.022736243952999176 Centerline is valid? [True, True] Translation: X:285.95, Y:-47.64, Z:-12.90 [[ 9.82169426e-01 1.84992844e-01 3.34793469e-02 2.85954923e+02] [-1.84905663e-01 9.82739695e-01 -5.70864074e-03 -4.76365293e+01] [-3.39575408e-02 -5.83668438e-04 9.99423106e-01 -1.29003332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.88264 meters 0.027248091567787545 Centerline is valid? [True, True] Translation: X:285.98, Y:-47.64, Z:-12.90 [[ 9.81854320e-01 1.86550745e-01 3.40721777e-02 2.85982434e+02] [-1.86461450e-01 9.82445111e-01 -5.80790220e-03 -4.76385796e+01] [-3.45575129e-02 -6.50633779e-04 9.99402499e-01 -1.29006011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.91264 meters 0.026425196382038472 Centerline is valid? [True, True] Translation: X:286.01, Y:-47.64, Z:-12.90 [[ 9.81685254e-01 1.87363665e-01 3.44807047e-02 2.86010311e+02] [-1.87272840e-01 9.82290374e-01 -5.87397925e-03 -4.76411931e+01] [-3.49706346e-02 -6.90900698e-04 9.99388101e-01 -1.29026141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.94264 meters 0.026761706782546777 Centerline is valid? [True, True] Translation: X:286.04, Y:-47.65, Z:-12.90 [[ 9.81490270e-01 1.88304023e-01 3.49062324e-02 2.86038980e+02] [-1.88211619e-01 9.82110510e-01 -5.94411653e-03 -4.76455057e+01] [-3.54010787e-02 -7.35665988e-04 9.99372915e-01 -1.29027518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.97264 meters 0.030555646076151865 Centerline is valid? [True, True] Translation: X:286.07, Y:-47.64, Z:-12.90 [[ 9.81100762e-01 1.90401283e-01 3.44767495e-02 2.86067373e+02] [-1.90312487e-01 9.81706019e-01 -5.86946027e-03 -4.76431820e+01] [-3.49635853e-02 -8.02823994e-04 9.99388264e-01 -1.29042492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.00264 meters 0.03130268019247827 Centerline is valid? [True, True] Translation: X:286.10, Y:-47.65, Z:-12.91 [[ 9.80883309e-01 1.91531328e-01 3.44047062e-02 2.86096039e+02] [-1.91443676e-01 9.81486138e-01 -5.85493842e-03 -4.76455607e+01] [-3.48891464e-02 -8.43552056e-04 9.99390832e-01 -1.29054180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.03264 meters 0.03261464077112828 Centerline is valid? [True, True] Translation: X:286.12, Y:-47.65, Z:-12.91 [[ 9.80667881e-01 1.92654795e-01 3.42729798e-02 2.86124818e+02] [-1.92568556e-01 9.81266199e-01 -5.83086017e-03 -4.76472285e+01] [-3.47542598e-02 -8.81760933e-04 9.99395499e-01 -1.29068383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.06264 meters 0.033784356362412275 Centerline is valid? [True, True] Translation: X:286.15, Y:-47.65, Z:-12.91 [[ 9.80577570e-01 1.93161690e-01 3.40027989e-02 2.86152390e+02] [-1.93077147e-01 9.81166532e-01 -5.78381813e-03 -4.76489466e+01] [-3.44796203e-02 -8.93681069e-04 9.99405002e-01 -1.29091214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.09264 meters 0.03088165877683366 Centerline is valid? [True, True] Translation: X:286.18, Y:-47.65, Z:-12.91 [[ 9.80687505e-01 1.92682045e-01 3.35506631e-02 2.86180419e+02] [-1.92599574e-01 9.81260860e-01 -5.70339695e-03 -4.76543731e+01] [-3.40208947e-02 -8.68593304e-04 9.99420744e-01 -1.29096399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.12264 meters 0.032473476372512085 Centerline is valid? [True, True] Translation: X:286.21, Y:-47.66, Z:-12.91 [[ 9.80895595e-01 1.91669269e-01 3.32674466e-02 2.86207858e+02] [-1.91587653e-01 9.81459223e-01 -5.65377400e-03 -4.76557961e+01] [-3.37342970e-02 -8.27870010e-04 9.99430494e-01 -1.29136666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.15264 meters 0.03067715867102909 Centerline is valid? [True, True] Translation: X:286.24, Y:-47.66, Z:-12.92 [[ 9.81208234e-01 1.90074887e-01 3.31954584e-02 2.86235716e+02] [-1.89992788e-01 9.81769290e-01 -5.63927949e-03 -4.76625198e+01] [-3.36621670e-02 -7.73590234e-04 9.99432969e-01 -1.29157156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.18264 meters 0.024582726582212697 Centerline is valid? [True, True] Translation: X:286.26, Y:-47.67, Z:-12.91 [[ 9.81999342e-01 1.85895633e-01 3.34679709e-02 2.86263964e+02] [-1.85809820e-01 9.82569289e-01 -5.68362440e-03 -4.76740759e+01] [-3.39411613e-02 -6.37362216e-04 9.99423630e-01 -1.29149333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.21264 meters 0.022020519131751286 Centerline is valid? [True, True] Translation: X:286.29, Y:-47.68, Z:-12.92 [[ 9.82436184e-01 1.83544116e-01 3.36259060e-02 2.86292590e+02] [-1.83456136e-01 9.83011315e-01 -5.70977797e-03 -4.76805643e+01] [-3.41026422e-02 -5.59386297e-04 9.99418179e-01 -1.29152298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.24264 meters 0.0201843547250787 Centerline is valid? [True, True] Translation: X:286.32, Y:-47.69, Z:-12.92 [[ 9.82924506e-01 1.80905291e-01 3.36554881e-02 2.86320228e+02] [-1.80815647e-01 9.83500409e-01 -5.71370352e-03 -4.76861104e+01] [-3.41338255e-02 -4.69299653e-04 9.99417161e-01 -1.29172806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.27264 meters 0.01734190429122911 Centerline is valid? [True, True] Translation: X:286.35, Y:-47.69, Z:-12.92 [[ 9.83436795e-01 1.78111020e-01 3.35936823e-02 2.86348378e+02] [-1.78020131e-01 9.84010328e-01 -5.70154312e-03 -4.76936242e+01] [-3.40720380e-02 -3.73244442e-04 9.99419310e-01 -1.29176399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.30264 meters 0.015765412404305845 Centerline is valid? [True, True] Translation: X:286.38, Y:-47.70, Z:-12.92 [[ 9.83905783e-01 1.75474646e-01 3.37351371e-02 2.86375470e+02] [-1.75381493e-01 9.84483909e-01 -5.72401509e-03 -4.77005218e+01] [-3.42161192e-02 -2.84627161e-04 9.99414417e-01 -1.29194938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.33264 meters 0.013855299960141532 Centerline is valid? [True, True] Translation: X:286.40, Y:-47.71, Z:-12.92 [[ 9.84345056e-01 1.72986985e-01 3.37685286e-02 2.86403067e+02] [-1.72892260e-01 9.84924090e-01 -5.72743077e-03 -4.77089738e+01] [-3.42502082e-02 -2.00549071e-04 9.99413269e-01 -1.29196826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36264 meters 0.012082044237504216 Centerline is valid? [True, True] Translation: X:286.43, Y:-47.72, Z:-12.92 [[ 9.85175465e-01 1.68249719e-01 3.34863418e-02 2.86430585e+02] [-1.68153889e-01 9.85744404e-01 -5.67794351e-03 -4.77206012e+01] [-3.39642865e-02 -3.70879666e-05 9.99423046e-01 -1.29204642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.39264000000003 meters 0.01240308732906373 Centerline is valid? [True, True] Translation: X:286.46, Y:-47.73, Z:-12.92 [[ 9.85516365e-01 1.66252515e-01 3.34304678e-02 2.86457623e+02] [-1.66155908e-01 9.86083212e-01 -5.66692127e-03 -4.77279119e+01] [-3.39073630e-02 3.01739019e-05 9.99424980e-01 -1.29237749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42264 meters 0.012939673338047542 Centerline is valid? [True, True] Translation: X:286.48, Y:-47.73, Z:-12.93 [[ 9.85761073e-01 1.64807631e-01 3.33699130e-02 2.86484686e+02] [-1.64710620e-01 9.86325726e-01 -5.65445988e-03 -4.77344361e+01] [-3.38455018e-02 7.75673839e-05 9.99427074e-01 -1.29263634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.45264000000003 meters 0.016057318472458358 Centerline is valid? [True, True] Translation: X:286.51, Y:-47.74, Z:-12.93 [[ 9.86037427e-01 1.63107074e-01 3.35600360e-02 2.86513067e+02] [-1.63008046e-01 9.86608364e-01 -5.68442168e-03 -4.77399911e+01] [-3.40377816e-02 1.34496644e-04 9.99420538e-01 -1.29254418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48264 meters 0.013005538385991755 Centerline is valid? [True, True] Translation: X:286.54, Y:-47.75, Z:-12.93 [[ 9.86163447e-01 1.62344612e-01 3.35541852e-02 2.86540944e+02] [-1.62245233e-01 9.86734109e-01 -5.68177822e-03 -4.77452308e+01] [-3.40314651e-02 1.59155379e-04 9.99420749e-01 -1.29266982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.51264000000003 meters 0.014004705025799855 Centerline is valid? [True, True] Translation: X:286.57, Y:-47.75, Z:-12.93 [[ 9.86304314e-01 1.61577834e-01 3.31119818e-02 2.86568155e+02] [-1.61480672e-01 9.86859955e-01 -5.60552957e-03 -4.77519223e+01] [-3.35826182e-02 1.81812910e-04 9.99435928e-01 -1.29306914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.54264 meters 0.01758344930530414 Centerline is valid? [True, True] Translation: X:286.59, Y:-47.76, Z:-12.93 [[ 9.86538996e-01 1.60178279e-01 3.29200277e-02 2.86594088e+02] [-1.60081536e-01 9.87088075e-01 -5.57080692e-03 -4.77617699e+01] [-3.33872890e-02 2.25929670e-04 9.99442464e-01 -1.29330833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.57264000000004 meters 0.014802881920226083 Centerline is valid? [True, True] Translation: X:286.62, Y:-47.77, Z:-12.93 [[ 9.86638404e-01 1.59531387e-01 3.30816606e-02 2.86621850e+02] [-1.59433419e-01 9.87192826e-01 -5.59544361e-03 -4.77688626e+01] [-3.35506269e-02 2.46357291e-04 9.99436989e-01 -1.29335687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60264 meters 0.01470030678163075 Centerline is valid? [True, True] Translation: X:286.65, Y:-47.77, Z:-12.93 [[ 9.86734685e-01 1.58875455e-01 3.33654074e-02 2.86650329e+02] [-1.58775480e-01 9.87298596e-01 -5.64178883e-03 -4.77748619e+01] [-3.38379617e-02 2.69340143e-04 9.99427296e-01 -1.29333810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.63264 meters 0.015410231322505533 Centerline is valid? [True, True] Translation: X:286.68, Y:-47.78, Z:-12.94 [[ 9.86718094e-01 1.58907280e-01 3.37028031e-02 2.86677549e+02] [-1.58805341e-01 9.87293474e-01 -5.69736314e-03 -4.77803728e+01] [-3.41799101e-02 2.69506146e-04 9.99415660e-01 -1.29359719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66264 meters 0.014235605144983635 Centerline is valid? [True, True] Translation: X:286.71, Y:-47.78, Z:-12.93 [[ 9.86706864e-01 1.58948408e-01 3.38373802e-02 2.86706192e+02] [-1.58845761e-01 9.87286854e-01 -5.71765289e-03 -4.77836062e+01] [-3.43160125e-02 2.66722930e-04 9.99410997e-01 -1.29339880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.69264 meters 0.01477278184242739 Centerline is valid? [True, True] Translation: X:286.73, Y:-47.79, Z:-12.94 [[ 9.86585433e-01 1.59699216e-01 3.38429239e-02 2.86732633e+02] [-1.59597031e-01 9.87165692e-01 -5.71702098e-03 -4.77917535e+01] [-3.43215772e-02 2.39099431e-04 9.99410813e-01 -1.29382018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72264 meters 0.013880238259007933 Centerline is valid? [True, True] Translation: X:286.76, Y:-47.80, Z:-12.94 [[ 9.86497914e-01 1.60285838e-01 3.36201724e-02 2.86761467e+02] [-1.60185414e-01 9.87070618e-01 -5.67708127e-03 -4.77966948e+01] [-3.40954400e-02 2.14967603e-04 9.99418558e-01 -1.29378174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.75264 meters 0.013619772960359013 Centerline is valid? [True, True] Translation: X:286.79, Y:-47.80, Z:-12.94 [[ 9.86342608e-01 1.61208919e-01 3.37630723e-02 2.86789039e+02] [-1.61108232e-01 9.86920286e-01 -5.69967150e-03 -4.78017023e+01] [-3.42402988e-02 1.82319960e-04 9.99413612e-01 -1.29396883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78264 meters 0.013378330484844839 Centerline is valid? [True, True] Translation: X:286.82, Y:-47.81, Z:-12.94 [[ 9.86194943e-01 1.62098874e-01 3.38155167e-02 2.86816784e+02] [-1.61998470e-01 9.86774510e-01 -5.70640832e-03 -4.78064020e+01] [-3.42932922e-02 1.49569073e-04 9.99411801e-01 -1.29415380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.81264 meters 0.012320276250564985 Centerline is valid? [True, True] Translation: X:286.85, Y:-47.81, Z:-12.94 [[ 9.85749159e-01 1.64740705e-01 3.40454833e-02 2.86845803e+02] [-1.64640582e-01 9.86336908e-01 -5.74296361e-03 -4.78077775e+01] [-3.45264167e-02 5.58533510e-05 9.99403784e-01 -1.29412311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84264 meters 0.0123978614377297 Centerline is valid? [True, True] Translation: X:286.87, Y:-47.81, Z:-12.94 [[ 9.85508547e-01 1.66163609e-01 3.40963235e-02 2.86873781e+02] [-1.66064092e-01 9.86098197e-01 -5.74998556e-03 -4.78102245e+01] [-3.45777614e-02 4.48490558e-06 9.99402010e-01 -1.29433578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.87264 meters 0.012318267231486525 Centerline is valid? [True, True] Translation: X:286.90, Y:-47.81, Z:-12.94 [[ 9.85279880e-01 1.67491375e-01 3.42081557e-02 2.86902685e+02] [-1.67392084e-01 9.85873540e-01 -5.76654091e-03 -4.78136014e+01] [-3.46907614e-02 -4.45177221e-05 9.99398093e-01 -1.29443453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.90264 meters 0.012383425215860255 Centerline is valid? [True, True] Translation: X:286.93, Y:-47.82, Z:-12.95 [[ 9.85066911e-01 1.68721645e-01 3.42955841e-02 2.86931377e+02] [-1.68622656e-01 9.85663735e-01 -5.77941472e-03 -4.78177727e+01] [-3.47790259e-02 -8.99022525e-05 9.99395023e-01 -1.29455124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.93264 meters 0.012673586346547697 Centerline is valid? [True, True] Translation: X:286.96, Y:-47.82, Z:-12.95 [[ 9.84835767e-01 1.69998386e-01 3.46274687e-02 2.86960067e+02] [-1.69898301e-01 9.85444331e-01 -5.83417059e-03 -4.78222782e+01] [-3.51152423e-02 -1.37448217e-04 9.99383260e-01 -1.29464189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96264 meters 0.013947317745283055 Centerline is valid? [True, True] Translation: X:286.99, Y:-47.83, Z:-12.95 [[ 9.84489109e-01 1.71868409e-01 3.52483342e-02 2.86987573e+02] [-1.71765960e-01 9.85119894e-01 -5.93708797e-03 -4.78254123e+01] [-3.57442331e-02 -2.09465499e-04 9.99360949e-01 -1.29481431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.99264 meters 0.01433820849470483 Centerline is valid? [True, True] Translation: X:287.02, Y:-47.83, Z:-12.95 [[ 9.84380395e-01 1.72470970e-01 3.53412372e-02 2.87015548e+02] [-1.72368442e-01 9.85014573e-01 -5.95065961e-03 -4.78296279e+01] [-3.58379497e-02 -2.34001329e-04 9.99357587e-01 -1.29497017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02264 meters 0.01655625775788802 Centerline is valid? [True, True] Translation: X:287.04, Y:-47.83, Z:-12.95 [[ 9.84220444e-01 1.73342629e-01 3.55309686e-02 2.87044607e+02] [-1.73239671e-01 9.84861544e-01 -5.97966932e-03 -4.78326500e+01] [-3.60296161e-02 -2.70060513e-04 9.99350686e-01 -1.29488299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.05264 meters 0.015283966540772822 Centerline is valid? [True, True] Translation: X:287.07, Y:-47.84, Z:-12.95 [[ 9.84134393e-01 1.73863647e-01 3.53684607e-02 2.87072417e+02] [-1.73762019e-01 9.84769693e-01 -5.95080663e-03 -4.78362002e+01] [-3.58644171e-02 -2.89301662e-04 9.99356623e-01 -1.29515883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08264 meters 0.015141694274068073 Centerline is valid? [True, True] Translation: X:287.10, Y:-47.84, Z:-12.95 [[ 9.84111810e-01 1.74072473e-01 3.49674109e-02 2.87100717e+02] [-1.73973364e-01 9.84732799e-01 -5.88066905e-03 -4.78421021e+01] [-3.54572190e-02 -2.96162242e-04 9.99371151e-01 -1.29528602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.11264 meters 0.015141694274068073 Centerline is valid? [True, True] Translation: X:287.13, Y:-47.85, Z:-12.95 [[ 9.84124434e-01 1.74001044e-01 3.49676449e-02 2.87127818e+02] [-1.73901939e-01 9.84745424e-01 -5.87927739e-03 -4.78465241e+01] [-3.54572287e-02 -2.95000706e-04 9.99371151e-01 -1.29541808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14264000000003 meters 0.01672620310559916 Centerline is valid? [True, True] Translation: X:287.16, Y:-47.85, Z:-12.96 [[ 9.84071828e-01 1.74338572e-01 3.47663640e-02 2.87155309e+02] [-1.74240906e-01 9.84685720e-01 -5.84288502e-03 -4.78506355e+01] [-3.52525824e-02 -3.07904210e-04 9.99378387e-01 -1.29585165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.17264 meters 0.017041297803605512 Centerline is valid? [True, True] Translation: X:287.18, Y:-47.86, Z:-12.96 [[ 9.83988387e-01 1.74866828e-01 3.44738494e-02 2.87183294e+02] [-1.74771228e-01 9.84592040e-01 -5.79073600e-03 -4.78559840e+01] [-3.49552853e-02 -3.27019994e-04 9.99388824e-01 -1.29597230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20264000000003 meters 0.017311308500175728 Centerline is valid? [True, True] Translation: X:287.21, Y:-47.86, Z:-12.96 [[ 9.83808572e-01 1.75856768e-01 3.45700982e-02 2.87211444e+02] [-1.75761300e-01 9.84415697e-01 -5.80528213e-03 -4.78618240e+01] [-3.50522455e-02 -3.64799070e-04 9.99385415e-01 -1.29604528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.23264 meters 0.01719641334870493 Centerline is valid? [True, True] Translation: X:287.24, Y:-47.87, Z:-12.96 [[ 9.83723547e-01 1.76223564e-01 3.51174880e-02 2.87239717e+02] [-1.76125344e-01 9.84350094e-01 -5.89546823e-03 -4.78665525e+01] [-3.56068231e-02 -3.85568739e-04 9.99365802e-01 -1.29603583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26264000000003 meters 0.017260002275002167 Centerline is valid? [True, True] Translation: X:287.27, Y:-47.87, Z:-12.96 [[ 9.83554705e-01 1.76994115e-01 3.59614338e-02 2.87267670e+02] [-1.76891686e-01 9.84211818e-01 -6.03561436e-03 -4.78699630e+01] [-3.64619364e-02 -4.24921756e-04 9.99334952e-01 -1.29590061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.29264 meters 0.022912055834844368 Centerline is valid? [True, True] Translation: X:287.30, Y:-47.87, Z:-12.96 [[ 9.83114053e-01 1.79052287e-01 3.77761467e-02 2.87296229e+02] [-1.78940895e-01 9.83839417e-01 -6.33704920e-03 -4.78661763e+01] [-3.83003253e-02 -5.29655361e-04 9.99266133e-01 -1.29618993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32264000000004 meters 0.022439177595561563 Centerline is valid? [True, True] Translation: X:287.32, Y:-47.87, Z:-12.96 [[ 9.82949781e-01 1.79971425e-01 3.76830853e-02 2.87323862e+02] [-1.79861348e-01 9.83671676e-01 -6.31904619e-03 -4.78727813e+01] [-3.82050314e-02 -5.66425458e-04 9.99269761e-01 -1.29617226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.35264 meters 0.021132167890739267 Centerline is valid? [True, True] Translation: X:287.35, Y:-47.88, Z:-12.96 [[ 9.82762971e-01 1.81046431e-01 3.74049810e-02 2.87351522e+02] [-1.80938834e-01 9.83474363e-01 -6.27021304e-03 -4.78801754e+01] [-3.79220395e-02 -6.05880447e-04 9.99280517e-01 -1.29616169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.38264 meters 0.02360551240133325 Centerline is valid? [True, True] Translation: X:287.38, Y:-47.88, Z:-12.96 [[ 9.82548378e-01 1.82284583e-01 3.70272243e-02 2.87379496e+02] [-1.82180091e-01 9.83245600e-01 -6.20520492e-03 -4.78815774e+01] [-3.75379685e-02 -6.48709042e-04 9.99294992e-01 -1.29638746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.41264 meters 0.025140984571498597 Centerline is valid? [True, True] Translation: X:287.41, Y:-47.88, Z:-12.96 [[ 9.82088584e-01 1.84635381e-01 3.75737868e-02 2.87408287e+02] [-1.84529594e-01 9.82806802e-01 -6.29431536e-03 -4.78837376e+01] [-3.80899266e-02 -7.51900352e-04 9.99274033e-01 -1.29638793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.44264 meters 0.03195609961121798 Centerline is valid? [True, True] Translation: X:287.44, Y:-47.89, Z:-12.96 [[ 9.81916993e-01 1.85524054e-01 3.76808083e-02 2.87436443e+02] [-1.85418387e-01 9.82639405e-01 -6.31039963e-03 -4.78887019e+01] [-3.81973780e-02 -7.90426081e-04 9.99269901e-01 -1.29636643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.47264 meters 0.02932503308433755 Centerline is valid? [True, True] Translation: X:287.46, Y:-47.89, Z:-12.97 [[ 9.81653723e-01 1.87068915e-01 3.68942845e-02 2.87464390e+02] [-1.86968757e-01 9.82346438e-01 -6.17728798e-03 -4.78877238e+01] [-3.73985476e-02 -8.34120761e-04 9.99300081e-01 -1.29682933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.50264 meters 0.029513690203875984 Centerline is valid? [True, True] Translation: X:287.49, Y:-47.89, Z:-12.97 [[ 9.81411005e-01 1.88454414e-01 3.62956328e-02 2.87492430e+02] [-1.88358561e-01 9.82081548e-01 -6.07338493e-03 -4.78915155e+01] [-3.67898275e-02 -8.76106375e-04 9.99322641e-01 -1.29698628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.53264 meters 0.03363624590482176 Centerline is valid? [True, True] Translation: X:287.52, Y:-47.89, Z:-12.97 [[ 9.80900894e-01 1.91162435e-01 3.59215763e-02 2.87521816e+02] [-1.91070452e-01 9.81557936e-01 -6.00832462e-03 -4.78907234e+01] [-3.64076743e-02 -9.69980805e-04 9.99336550e-01 -1.29727978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.56264 meters 0.03803164145294232 Centerline is valid? [True, True] Translation: X:287.55, Y:-47.89, Z:-12.98 [[ 9.80681951e-01 1.92352050e-01 3.55471540e-02 2.87549867e+02] [-1.92262792e-01 9.81325471e-01 -5.94467626e-03 -4.78897984e+01] [-3.60267983e-02 -1.00455837e-03 9.99350319e-01 -1.29763300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.59264 meters 0.03554708494035807 Centerline is valid? [True, True] Translation: X:287.58, Y:-47.90, Z:-12.98 [[ 9.80493711e-01 1.93348013e-01 3.53359309e-02 2.87577568e+02] [-1.93260538e-01 9.81129691e-01 -5.90711841e-03 -4.78971522e+01] [-3.58112605e-02 -1.03714856e-03 9.99358033e-01 -1.29762627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.62264 meters 0.035284421704899774 Centerline is valid? [True, True] Translation: X:287.61, Y:-47.90, Z:-12.98 [[ 9.80292881e-01 1.94447263e-01 3.48730355e-02 2.87605803e+02] [-1.94362818e-01 9.80912396e-01 -5.82808483e-03 -4.79005030e+01] [-3.53406480e-02 -1.06479139e-03 9.99374757e-01 -1.29783166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.65264 meters 0.03494066032857712 Centerline is valid? [True, True] Translation: X:287.63, Y:-47.90, Z:-12.98 [[ 9.80229623e-01 1.94809609e-01 3.46280653e-02 2.87634539e+02] [-1.94726632e-01 9.80840490e-01 -5.78545213e-03 -4.79048444e+01] [-3.50916702e-02 -1.07193499e-03 9.99383523e-01 -1.29796296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.68264 meters 0.037330422934935 Centerline is valid? [True, True] Translation: X:287.66, Y:-47.91, Z:-12.98 [[ 9.80258352e-01 1.94650714e-01 3.47082444e-02 2.87662742e+02] [-1.94567310e-01 9.80872037e-01 -5.79725200e-03 -4.79050776e+01] [-3.51727857e-02 -1.07028505e-03 9.99380673e-01 -1.29825616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.71264 meters 0.03573497731029302 Centerline is valid? [True, True] Translation: X:287.69, Y:-47.91, Z:-12.98 [[ 9.80384082e-01 1.93992578e-01 3.48415320e-02 2.87691324e+02] [-1.93908200e-01 9.81002432e-01 -5.81715960e-03 -4.79109219e+01] [-3.53081134e-02 -1.05300807e-03 9.99375919e-01 -1.29831656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.74264 meters 0.03531745019214013 Centerline is valid? [True, True] Translation: X:287.72, Y:-47.92, Z:-12.99 [[ 9.80890782e-01 1.91308525e-01 3.54164171e-02 2.87719841e+02] [-1.91219665e-01 9.81529469e-01 -5.91105176e-03 -4.79171444e+01] [-3.58930916e-02 -9.74219228e-04 9.99355161e-01 -1.29863531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.77264 meters 0.02978747864745632 Centerline is valid? [True, True] Translation: X:287.75, Y:-47.93, Z:-12.99 [[ 9.81370007e-01 1.88858334e-01 3.52907742e-02 2.87747405e+02] [-1.88768526e-01 9.82003947e-01 -5.88992241e-03 -4.79304031e+01] [-3.57680405e-02 -8.81594210e-04 9.99359730e-01 -1.29857855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.80264 meters 0.03068654456845349 Centerline is valid? [True, True] Translation: X:287.77, Y:-47.94, Z:-12.99 [[ 9.81917174e-01 1.85946645e-01 3.55318013e-02 2.87774626e+02] [-1.85853822e-01 9.82559530e-01 -5.92676075e-03 -4.79395207e+01] [-3.60141713e-02 -7.84132896e-04 9.99350972e-01 -1.29865684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.83264 meters 0.021806155068801614 Centerline is valid? [True, True] Translation: X:287.80, Y:-47.95, Z:-12.99 [[ 9.82963436e-01 1.80234089e-01 3.60355010e-02 2.87800962e+02] [-1.80134854e-01 9.83623572e-01 -6.00863182e-03 -4.79543575e+01] [-3.65283285e-02 -5.84984339e-04 9.99332447e-01 -1.29881117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86264 meters 0.019194835753087107 Centerline is valid? [True, True] Translation: X:287.83, Y:-47.96, Z:-12.99 [[ 9.83426445e-01 1.77645395e-01 3.62565884e-02 2.87828396e+02] [-1.77543195e-01 9.84094442e-01 -6.04504301e-03 -4.79635328e+01] [-3.67537812e-02 -4.92255382e-04 9.99324230e-01 -1.29888792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.89264000000003 meters 0.016896461553808615 Centerline is valid? [True, True] Translation: X:287.86, Y:-47.97, Z:-12.99 [[ 9.83798573e-01 1.75575884e-01 3.62419222e-02 2.87856397e+02] [-1.75472428e-01 9.84465812e-01 -6.04082741e-03 -4.79721879e+01] [-3.67395570e-02 -4.16500709e-04 9.99324788e-01 -1.29891568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92264 meters 0.014848116708697007 Centerline is valid? [True, True] Translation: X:287.88, Y:-47.98, Z:-12.99 [[ 9.84248629e-01 1.73042739e-01 3.62056190e-02 2.87883674e+02] [-1.72937842e-01 9.84914263e-01 -6.03297846e-03 -4.79836562e+01] [-3.67033937e-02 -3.23370857e-04 9.99326151e-01 -1.29909683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.95264000000003 meters 0.015024137863594508 Centerline is valid? [True, True] Translation: X:287.91, Y:-47.99, Z:-12.99 [[ 9.84335784e-01 1.72595868e-01 3.59684801e-02 2.87910266e+02] [-1.72492102e-01 9.84992676e-01 -5.99185803e-03 -4.79901099e+01] [-3.64628594e-02 -3.06278449e-04 9.99334962e-01 -1.29935564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98264 meters 0.015195770689964186 Centerline is valid? [True, True] Translation: X:287.94, Y:-48.00, Z:-13.00 [[ 9.84303637e-01 1.72885277e-01 3.54546251e-02 2.87937925e+02] [-1.72784736e-01 9.84941918e-01 -5.90367870e-03 -4.79963403e+01] [-3.59414056e-02 -3.15005614e-04 9.99353849e-01 -1.29953688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.01264000000003 meters 0.016219517945691857 Centerline is valid? [True, True] Translation: X:287.97, Y:-48.00, Z:-13.00 [[ 9.84128490e-01 1.74013465e-01 3.47912292e-02 2.87965984e+02] [-1.73917411e-01 9.84743211e-01 -5.79168629e-03 -4.80000103e+01] [-3.52682582e-02 -3.51037017e-04 9.99377820e-01 -1.29975929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04264 meters 0.020184461392732462 Centerline is valid? [True, True] Translation: X:287.99, Y:-48.00, Z:-13.00 [[ 9.83532562e-01 1.77642931e-01 3.32669210e-02 2.87994777e+02] [-1.77557257e-01 9.84094902e-01 -5.53580606e-03 -4.79984262e+01] [-3.37212041e-02 -4.62137703e-04 9.99431172e-01 -1.30023540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.07264000000004 meters 0.021579172982550618 Centerline is valid? [True, True] Translation: X:288.02, Y:-48.00, Z:-13.00 [[ 9.83206682e-01 1.79476254e-01 3.30589700e-02 2.88023621e+02] [-1.79392738e-01 9.83762167e-01 -5.49957060e-03 -4.80004612e+01] [-3.35092062e-02 -5.23324566e-04 9.99438272e-01 -1.30036655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10264 meters 0.02386387106158579 Centerline is valid? [True, True] Translation: X:288.05, Y:-48.00, Z:-13.01 [[ 9.82907606e-01 1.81099020e-01 3.31026017e-02 2.88051081e+02] [-1.81016250e-01 9.83464696e-01 -5.50541251e-03 -4.80016317e+01] [-3.35522649e-02 -5.80797000e-04 9.99436795e-01 -1.30056498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.13264 meters 0.02603202918990768 Centerline is valid? [True, True] Translation: X:288.08, Y:-48.00, Z:-13.01 [[ 9.82680949e-01 1.82258044e-01 3.34687599e-02 2.88078450e+02] [-1.82174183e-01 9.83250532e-01 -5.56399407e-03 -4.80035059e+01] [-3.39222586e-02 -6.29513011e-04 9.99424276e-01 -1.30078864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16264 meters 0.031029704905181713 Centerline is valid? [True, True] Translation: X:288.11, Y:-48.01, Z:-13.01 [[ 9.82409714e-01 1.83701363e-01 3.35404581e-02 2.88105859e+02] [-1.83618052e-01 9.82981863e-01 -5.57384297e-03 -4.80059650e+01] [-3.39935846e-02 -6.82836119e-04 9.99421818e-01 -1.30100450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.19264 meters 0.02667826408706075 Centerline is valid? [True, True] Translation: X:288.13, Y:-48.01, Z:-13.01 [[ 9.82369799e-01 1.83993472e-01 3.31055981e-02 2.88134008e+02] [-1.83912543e-01 9.82927226e-01 -5.49951623e-03 -4.80137309e+01] [-3.35522688e-02 -6.85976083e-04 9.99436729e-01 -1.30109514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22264 meters 0.027994505153640707 Centerline is valid? [True, True] Translation: X:288.16, Y:-48.02, Z:-13.01 [[ 9.82348439e-01 1.84208139e-01 3.25408205e-02 2.88161255e+02] [-1.84130112e-01 9.82887021e-01 -5.40431428e-03 -4.80161778e+01] [-3.29794688e-02 -6.82825225e-04 9.99455796e-01 -1.30134776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.25264 meters 0.028575621560042775 Centerline is valid? [True, True] Translation: X:288.19, Y:-48.02, Z:-13.02 [[ 9.82351382e-01 1.84215996e-01 3.24072300e-02 2.88188489e+02] [-1.84138664e-01 9.82885549e-01 -5.38055074e-03 -4.80195350e+01] [-3.28437816e-02 -6.81832582e-04 9.99460265e-01 -1.30157124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28264 meters 0.026177575037281412 Centerline is valid? [True, True] Translation: X:288.22, Y:-48.03, Z:-13.01 [[ 9.82321233e-01 1.84162896e-01 3.36009492e-02 2.88216241e+02] [-1.84079853e-01 9.82895481e-01 -5.57513644e-03 -4.80270166e+01] [-3.40529544e-02 -7.08682873e-04 9.99419779e-01 -1.30135765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.31264 meters 0.027356542614354887 Centerline is valid? [True, True] Translation: X:288.24, Y:-48.03, Z:-13.01 [[ 9.82376244e-01 1.83698343e-01 3.45229483e-02 2.88244133e+02] [-1.83610449e-01 9.82982406e-01 -5.72648117e-03 -4.80297396e+01] [-3.49873959e-02 -7.13215000e-04 9.99387499e-01 -1.30144758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34264 meters 0.026208436426650834 Centerline is valid? [True, True] Translation: X:288.27, Y:-48.04, Z:-13.01 [[ 9.82491946e-01 1.82915698e-01 3.53754517e-02 2.88272215e+02] [-1.82822990e-01 9.83128349e-01 -5.86545920e-03 -4.80358016e+01] [-3.58514940e-02 -7.04679421e-04 9.99356880e-01 -1.30139940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.37264 meters 0.028455139746614677 Centerline is valid? [True, True] Translation: X:288.30, Y:-48.04, Z:-13.01 [[ 9.82611977e-01 1.82174671e-01 3.58621213e-02 2.88299618e+02] [-1.82078959e-01 9.83265943e-01 -5.94452318e-03 -4.80407079e+01] [-3.63449441e-02 -6.88578052e-04 9.99339067e-01 -1.30144183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.40264 meters 0.021858324586087444 Centerline is valid? [True, True] Translation: X:288.33, Y:-48.05, Z:-13.01 [[ 9.83010244e-01 1.79951540e-01 3.61704711e-02 2.88327264e+02] [-1.79852755e-01 9.83675285e-01 -5.99331319e-03 -4.80518976e+01] [-3.66585044e-02 -6.13870635e-04 9.99327663e-01 -1.30136616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.43264 meters 0.0219991651559523 Centerline is valid? [True, True] Translation: X:288.35, Y:-48.06, Z:-13.02 [[ 9.83265370e-01 1.78385359e-01 3.69848135e-02 2.88354994e+02] [-1.78281034e-01 9.83960537e-01 -6.12647371e-03 -4.80556882e+01] [-3.74844702e-02 -5.69741365e-04 9.99297048e-01 -1.30150607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46264 meters 0.024404535261820494 Centerline is valid? [True, True] Translation: X:288.38, Y:-48.06, Z:-13.01 [[ 9.83440504e-01 1.77265199e-01 3.77070845e-02 2.88383092e+02] [-1.77156032e-01 9.84162973e-01 -6.24359297e-03 -4.80619754e+01] [-3.82166882e-02 -5.39835278e-04 9.99269330e-01 -1.30134371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.49264 meters 0.021858939591008555 Centerline is valid? [True, True] Translation: X:288.41, Y:-48.07, Z:-13.01 [[ 9.83614310e-01 1.76259162e-01 3.78892636e-02 2.88411730e+02] [-1.76148262e-01 9.84343666e-01 -6.27190570e-03 -4.80678407e+01] [-3.84015375e-02 -5.04991740e-04 9.99262261e-01 -1.30138997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52264 meters 0.017494508888991015 Centerline is valid? [True, True] Translation: X:288.44, Y:-48.07, Z:-13.01 [[ 9.83702900e-01 1.75723725e-01 3.80759368e-02 2.88439926e+02] [-1.75611402e-01 9.84439401e-01 -6.30090643e-03 -4.80738147e+01] [-3.85906712e-02 -4.88348722e-04 9.99254983e-01 -1.30147444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.55264 meters 0.01865329021949471 Centerline is valid? [True, True] Translation: X:288.47, Y:-48.08, Z:-13.02 [[ 9.83640643e-01 1.76008308e-01 3.83687404e-02 2.88467862e+02] [-1.75894538e-01 9.84388552e-01 -6.34753261e-03 -4.80772195e+01] [-3.88869673e-02 -5.05160802e-04 9.99243488e-01 -1.30157369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58264 meters 0.018444437590462128 Centerline is valid? [True, True] Translation: X:288.50, Y:-48.08, Z:-13.02 [[ 9.83630357e-01 1.76078197e-01 3.83117450e-02 2.88496406e+02] [-1.75964914e-01 9.84376051e-01 -6.33560985e-03 -4.80818621e+01] [-3.88287270e-02 -5.09624750e-04 9.99245751e-01 -1.30173123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.61264 meters 0.019607514885817818 Centerline is valid? [True, True] Translation: X:288.52, Y:-48.08, Z:-13.02 [[ 9.83504199e-01 1.76923226e-01 3.76518662e-02 2.88524381e+02] [-1.76814497e-01 9.84224510e-01 -6.22478933e-03 -4.80824559e+01] [-3.81591994e-02 -5.35289347e-04 9.99271529e-01 -1.30194572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64264000000003 meters 0.02137189421130062 Centerline is valid? [True, True] Translation: X:288.55, Y:-48.09, Z:-13.02 [[ 9.83434775e-01 1.77293966e-01 3.77212425e-02 2.88552972e+02] [-1.77185202e-01 9.84157784e-01 -6.23382338e-03 -4.80854014e+01] [-3.82288737e-02 -5.53087286e-04 9.99268856e-01 -1.30202060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.67264 meters 0.02020747329635867 Centerline is valid? [True, True] Translation: X:288.58, Y:-48.09, Z:-13.02 [[ 9.83395712e-01 1.77467365e-01 3.79237188e-02 2.88580641e+02] [-1.77357626e-01 9.84126524e-01 -6.26551729e-03 -4.80876809e+01] [-3.84336624e-02 -5.64577915e-04 9.99260994e-01 -1.30218859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70264000000003 meters 0.021003382368556794 Centerline is valid? [True, True] Translation: X:288.61, Y:-48.09, Z:-13.02 [[ 9.83334881e-01 1.77805217e-01 3.79185625e-02 2.88608405e+02] [-1.77695849e-01 9.84065531e-01 -6.26233325e-03 -4.80894626e+01] [-3.84278258e-02 -5.80000435e-04 9.99261210e-01 -1.30229844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.73264 meters 0.02454827432741524 Centerline is valid? [True, True] Translation: X:288.64, Y:-48.09, Z:-13.02 [[ 9.83123952e-01 1.78980911e-01 3.78566789e-02 2.88637941e+02] [-1.78872863e-01 9.83852347e-01 -6.24971897e-03 -4.80895062e+01] [-3.83639628e-02 -6.27284117e-04 9.99263635e-01 -1.30232282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76264000000003 meters 0.023033325503310092 Centerline is valid? [True, True] Translation: X:288.67, Y:-48.09, Z:-13.02 [[ 9.83040093e-01 1.79432330e-01 3.78974152e-02 2.88666275e+02] [-1.79324451e-01 9.83770105e-01 -6.25468716e-03 -4.80899600e+01] [-3.84046372e-02 -6.47324944e-04 9.99262060e-01 -1.30248701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.79264 meters 0.02418443692577596 Centerline is valid? [True, True] Translation: X:288.70, Y:-48.09, Z:-13.03 [[ 9.82839362e-01 1.80469850e-01 3.81761837e-02 2.88695548e+02] [-1.80361256e-01 9.83580271e-01 -6.29821909e-03 -4.80908599e+01] [-3.86859797e-02 -6.95366805e-04 9.99251175e-01 -1.30257338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82264000000004 meters 0.03054625372350733 Centerline is valid? [True, True] Translation: X:288.72, Y:-48.09, Z:-13.03 [[ 9.82576278e-01 1.81907259e-01 3.81261936e-02 2.88724078e+02] [-1.81800096e-01 9.83315403e-01 -6.28828680e-03 -4.80925443e+01] [-3.86339584e-02 -7.52624195e-04 9.99253147e-01 -1.30252923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.85264 meters 0.02827311806332099 Centerline is valid? [True, True] Translation: X:288.75, Y:-48.09, Z:-13.03 [[ 9.82059370e-01 1.84760490e-01 3.77220657e-02 2.88754173e+02] [-1.84657786e-01 9.82783203e-01 -6.21908990e-03 -4.80863961e+01] [-3.82216546e-02 -8.58157626e-04 9.99268917e-01 -1.30279742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.88264 meters 0.03008586466533559 Centerline is valid? [True, True] Translation: X:288.78, Y:-48.08, Z:-13.03 [[ 9.81743642e-01 1.86422398e-01 3.77638880e-02 2.88783271e+02] [-1.86320744e-01 9.82469253e-01 -6.22469639e-03 -4.80849038e+01] [-3.82622817e-02 -9.25139606e-04 9.99267303e-01 -1.30292066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.91264 meters 0.03828639736941451 Centerline is valid? [True, True] Translation: X:288.81, Y:-48.08, Z:-13.03 [[ 9.81459951e-01 1.87897611e-01 3.78266027e-02 2.88811660e+02] [-1.87796780e-01 9.82188126e-01 -6.23329237e-03 -4.80820688e+01] [-3.83240607e-02 -9.85987363e-04 9.99264877e-01 -1.30311520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.94264 meters 0.03375079269748604 Centerline is valid? [True, True] Translation: X:288.84, Y:-48.08, Z:-13.03 [[ 9.81180747e-01 1.89430771e-01 3.74209087e-02 2.88841245e+02] [-1.89333294e-01 9.81893532e-01 -6.16408506e-03 -4.80807618e+01] [-3.79110156e-02 -1.03694234e-03 9.99280581e-01 -1.30332046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.97264 meters 0.038071069524298694 Centerline is valid? [True, True] Translation: X:288.87, Y:-48.08, Z:-13.04 [[ 9.81155348e-01 1.89621797e-01 3.71181371e-02 2.88869528e+02] [-1.89526091e-01 9.81856658e-01 -6.11254746e-03 -4.80765937e+01] [-3.76037623e-02 -1.03749681e-03 9.99292190e-01 -1.30370661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.00264 meters 0.038071069524298694 Centerline is valid? [True, True] Translation: X:288.90, Y:-48.08, Z:-13.04 [[ 9.81168016e-01 1.89556172e-01 3.71184818e-02 2.88896651e+02] [-1.89460498e-01 9.81869330e-01 -6.11045360e-03 -4.80809149e+01] [-3.76037731e-02 -1.03710441e-03 9.99292190e-01 -1.30383872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.03264 meters 0.03391391632344793 Centerline is valid? [True, True] Translation: X:288.92, Y:-48.09, Z:-13.04 [[ 9.81240113e-01 1.89217694e-01 3.69392120e-02 2.88924497e+02] [-1.89122805e-01 9.81934631e-01 -6.07821319e-03 -4.80871852e+01] [-3.74219970e-02 -1.02186078e-03 9.99299029e-01 -1.30382644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.06264 meters 0.03132991816048206 Centerline is valid? [True, True] Translation: X:288.95, Y:-48.09, Z:-13.04 [[ 9.81584973e-01 1.87571699e-01 3.61635055e-02 2.88953033e+02] [-1.87479700e-01 9.82250463e-01 -5.94886728e-03 -4.80896321e+01] [-3.66374592e-02 -9.40604447e-04 9.99328180e-01 -1.30411657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.09264 meters 0.03229216950998955 Centerline is valid? [True, True] Translation: X:288.98, Y:-48.09, Z:-13.04 [[ 9.81764081e-01 1.86695672e-01 3.58331600e-02 2.88981386e+02] [-1.86604827e-01 9.82417383e-01 -5.89276944e-03 -4.80906663e+01] [-3.63032738e-02 -9.01331243e-04 9.99340412e-01 -1.30444043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.12264 meters 0.02948134803997582 Centerline is valid? [True, True] Translation: X:289.01, Y:-48.10, Z:-13.04 [[ 9.81954988e-01 1.85668060e-01 3.59412515e-02 2.89009656e+02] [-1.85576043e-01 9.82612141e-01 -5.90877993e-03 -4.80961898e+01] [-3.64133817e-02 -8.67679301e-04 9.99336436e-01 -1.30449219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.15264 meters 0.029854391457181325 Centerline is valid? [True, True] Translation: X:289.04, Y:-48.10, Z:-13.05 [[ 9.82128122e-01 1.84677306e-01 3.63131348e-02 2.89037439e+02] [-1.84582759e-01 9.82798853e-01 -5.96824058e-03 -4.80972665e+01] [-3.67907058e-02 -8.41201715e-04 9.99322639e-01 -1.30465191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.18264 meters 0.02776357346314618 Centerline is valid? [True, True] Translation: X:289.07, Y:-48.10, Z:-13.05 [[ 9.82332554e-01 1.83547916e-01 3.65091329e-02 2.89066295e+02] [-1.83451655e-01 9.83010434e-01 -5.99805641e-03 -4.81015164e+01] [-3.69897893e-02 -8.05574787e-04 9.99315319e-01 -1.30466165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.21264 meters 0.02416333583831452 Centerline is valid? [True, True] Translation: X:289.10, Y:-48.10, Z:-13.05 [[ 9.82782487e-01 1.81254033e-01 3.58546973e-02 2.89095494e+02] [-1.81159680e-01 9.83436056e-01 -5.89016267e-03 -4.81038810e+01] [-3.63284178e-02 -7.06676779e-04 9.99339655e-01 -1.30474037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.24264 meters 0.02471382447223531 Centerline is valid? [True, True] Translation: X:289.12, Y:-48.10, Z:-13.05 [[ 9.83019423e-01 1.80029136e-01 3.55292057e-02 2.89123319e+02] [-1.79935939e-01 9.83661055e-01 -5.82977790e-03 -4.81044760e+01] [-3.59982258e-02 -6.62196084e-04 9.99351634e-01 -1.30506296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.27264 meters 0.02256613659819215 Centerline is valid? [True, True] Translation: X:289.15, Y:-48.11, Z:-13.05 [[ 9.83270849e-01 1.78643693e-01 3.55649811e-02 2.89152027e+02] [-1.78549488e-01 9.83913641e-01 -5.83327336e-03 -4.81093389e+01] [-3.60349475e-02 -6.14421494e-04 9.99350341e-01 -1.30516249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.30264 meters 0.018721176713739737 Centerline is valid? [True, True] Translation: X:289.18, Y:-48.12, Z:-13.05 [[ 9.83782741e-01 1.75687109e-01 3.61325150e-02 2.89180489e+02] [-1.75587944e-01 9.84445922e-01 -5.92457158e-03 -4.81157579e+01] [-3.66113779e-02 -5.15942734e-04 9.99329446e-01 -1.30511239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.33264 meters 0.016788064541954185 Centerline is valid? [True, True] Translation: X:289.21, Y:-48.12, Z:-13.05 [[ 9.84128763e-01 1.73684902e-01 3.63886258e-02 2.89208600e+02] [-1.73583025e-01 9.84801176e-01 -5.96471555e-03 -4.81219216e+01] [-3.68715425e-02 -4.46399605e-04 9.99319914e-01 -1.30516209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36264 meters 0.015538721556339072 Centerline is valid? [True, True] Translation: X:289.24, Y:-48.13, Z:-13.05 [[ 9.84526245e-01 1.71345840e-01 3.67243298e-02 2.89236158e+02] [-1.71240501e-01 9.85210876e-01 -6.01829630e-03 -4.81272037e+01] [-3.72124192e-02 -3.63521955e-04 9.99307312e-01 -1.30530250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.39264000000003 meters 0.01392573900083688 Centerline is valid? [True, True] Translation: X:289.26, Y:-48.13, Z:-13.05 [[ 9.84890083e-01 1.69154335e-01 3.71259331e-02 2.89264440e+02] [-1.69045273e-01 9.85589533e-01 -6.08011460e-03 -4.81334744e+01] [-3.76194088e-02 -2.87718905e-04 9.99292098e-01 -1.30543510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42264 meters 0.011962040333006081 Centerline is valid? [True, True] Translation: X:289.29, Y:-48.14, Z:-13.06 [[ 9.85660933e-01 1.64786597e-01 3.63029336e-02 2.89290814e+02] [-1.64679402e-01 9.86329237e-01 -5.94402608e-03 -4.81411836e+01] [-3.67861406e-02 -1.19551094e-04 9.99323154e-01 -1.30572241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.45264000000003 meters 0.011266302802668937 Centerline is valid? [True, True] Translation: X:289.32, Y:-48.15, Z:-13.06 [[ 9.86034381e-01 1.62569092e-01 3.61592390e-02 2.89319088e+02] [-1.62461385e-01 9.86697162e-01 -5.91690380e-03 -4.81477286e+01] [-3.66401241e-02 -4.02094581e-05 9.99328524e-01 -1.30580130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.48264 meters 0.011394780851683552 Centerline is valid? [True, True] Translation: X:289.35, Y:-48.15, Z:-13.06 [[ 9.86391871e-01 1.60332136e-01 3.63962090e-02 2.89345317e+02] [-1.60221542e-01 9.87063121e-01 -5.95425523e-03 -4.81539071e+01] [-3.68800141e-02 4.17722395e-05 9.99319700e-01 -1.30605566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.51264000000003 meters 0.023107653420556786 Centerline is valid? [True, True] Translation: X:289.37, Y:-48.16, Z:-13.06 [[ 9.86771328e-01 1.58003671e-01 3.62930487e-02 2.89373504e+02] [-1.57892259e-01 9.87438517e-01 -5.93383458e-03 -4.81608501e+01] [-3.67747218e-02 1.24946391e-04 9.99323573e-01 -1.30610007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.54264 meters 0.014620638214548653 Centerline is valid? [True, True] Translation: X:289.40, Y:-48.17, Z:-13.06 [[ 9.87572548e-01 1.52750197e-01 3.69843237e-02 2.89399261e+02] [-1.52630871e-01 9.88264778e-01 -6.04530048e-03 -4.81731443e+01] [-3.74737253e-02 3.25223247e-04 9.99297560e-01 -1.30619879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.57264000000004 meters 0.025840290709442888 Centerline is valid? [True, True] Translation: X:289.43, Y:-48.18, Z:-13.06 [[ 9.87906004e-01 1.50636378e-01 3.67479054e-02 2.89425661e+02] [-1.50517223e-01 9.88589157e-01 -6.00363997e-03 -4.81812787e+01] [-3.72329474e-02 3.99839279e-04 9.99306533e-01 -1.30638091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.60264 meters 0.026955637025812388 Centerline is valid? [True, True] Translation: X:289.45, Y:-48.19, Z:-13.06 [[ 9.88299224e-01 1.47975374e-01 3.69855595e-02 2.89453628e+02] [-1.47852897e-01 9.88990919e-01 -6.04013522e-03 -4.81888918e+01] [-3.74721737e-02 5.01038827e-04 9.99297546e-01 -1.30638442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.63264 meters 0.018699724440790252 Centerline is valid? [True, True] Translation: X:289.48, Y:-48.19, Z:-13.06 [[ 9.88354816e-01 1.47417689e-01 3.77197945e-02 2.89482234e+02] [-1.47289964e-01 9.89074185e-01 -6.15819032e-03 -4.81944133e+01] [-3.82155012e-02 5.30729888e-04 9.99269380e-01 -1.30642519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66264 meters 0.02578377365966202 Centerline is valid? [True, True] Translation: X:289.51, Y:-48.20, Z:-13.07 [[ 9.88328578e-01 1.47652393e-01 3.74885717e-02 2.89511019e+02] [-1.47526466e-01 9.89039182e-01 -6.11866888e-03 -4.81992532e+01] [-3.79811024e-02 5.16698814e-04 9.99278324e-01 -1.30660749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.69264 meters 0.017278049680183087 Centerline is valid? [True, True] Translation: X:289.54, Y:-48.20, Z:-13.07 [[ 9.88283821e-01 1.48091739e-01 3.69313703e-02 2.89539977e+02] [-1.47969899e-01 9.88973506e-01 -6.02600654e-03 -4.82031492e+01] [-3.74165486e-02 4.90673631e-04 9.99299635e-01 -1.30676985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.72264 meters 0.016226875377755523 Centerline is valid? [True, True] Translation: X:289.57, Y:-48.21, Z:-13.07 [[ 9.87981254e-01 1.50289319e-01 3.61408626e-02 2.89567373e+02] [-1.50174170e-01 9.88641979e-01 -5.89541658e-03 -4.82054001e+01] [-3.66163921e-02 3.97137031e-04 9.99329316e-01 -1.30706498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.75264 meters 0.014426185228558722 Centerline is valid? [True, True] Translation: X:289.60, Y:-48.21, Z:-13.07 [[ 9.87779020e-01 1.51666904e-01 3.59131903e-02 2.89596026e+02] [-1.51554196e-01 9.88431603e-01 -5.85596832e-03 -4.82062828e+01] [-3.63858888e-02 3.41607992e-04 9.99337756e-01 -1.30714845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78264 meters 0.01392935020933839 Centerline is valid? [True, True] Translation: X:289.62, Y:-48.21, Z:-13.07 [[ 9.87510426e-01 1.53447515e-01 3.57354001e-02 2.89624056e+02] [-1.53337144e-01 9.88156762e-01 -5.82534674e-03 -4.82089366e+01] [-3.62060622e-02 2.73026471e-04 9.99344308e-01 -1.30744506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.81264 meters 0.01326079748073754 Centerline is valid? [True, True] Translation: X:289.65, Y:-48.21, Z:-13.08 [[ 9.87232340e-01 1.55261498e-01 3.55833471e-02 2.89651724e+02] [-1.55153327e-01 9.87873386e-01 -5.79819141e-03 -4.82111300e+01] [-3.60520774e-02 2.03287372e-04 9.99349892e-01 -1.30768200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84264 meters 0.011873960072782163 Centerline is valid? [True, True] Translation: X:289.68, Y:-48.21, Z:-13.08 [[ 9.86703534e-01 1.58563445e-01 3.56899088e-02 2.89680979e+02] [-1.58456866e-01 9.87348787e-01 -5.81325738e-03 -4.82096804e+01] [-3.61601582e-02 8.06504966e-05 9.99346004e-01 -1.30775351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.87264 meters 0.011742144503324375 Centerline is valid? [True, True] Translation: X:289.71, Y:-48.21, Z:-13.08 [[ 9.86516510e-01 1.59781170e-01 3.54281542e-02 2.89709013e+02] [-1.59676985e-01 9.87152459e-01 -5.76921834e-03 -4.82124071e+01] [-3.58948020e-02 3.43682754e-05 9.99355573e-01 -1.30792990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.90264 meters 0.01176626461835967 Centerline is valid? [True, True] Translation: X:289.74, Y:-48.22, Z:-13.08 [[ 9.86335408e-01 1.60931379e-01 3.52640602e-02 2.89737175e+02] [-1.60828983e-01 9.86965598e-01 -5.73995586e-03 -4.82156190e+01] [-3.57281533e-02 -9.96122406e-06 9.99361546e-01 -1.30811001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.93264 meters 0.024387377559780873 Centerline is valid? [True, True] Translation: X:289.77, Y:-48.22, Z:-13.08 [[ 9.86136658e-01 1.62078310e-01 3.55684393e-02 2.89766289e+02] [-1.61974989e-01 9.86777897e-01 -5.78659660e-03 -4.82187813e+01] [-3.60360315e-02 -5.48225183e-05 9.99350490e-01 -1.30823365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96264 meters 0.012607400880042112 Centerline is valid? [True, True] Translation: X:289.79, Y:-48.22, Z:-13.08 [[ 9.85788375e-01 1.63981782e-01 3.64863594e-02 2.89794963e+02] [-1.63874423e-01 9.86463359e-01 -5.93423560e-03 -4.82185006e+01] [-3.69655632e-02 -1.29280631e-04 9.99316532e-01 -1.30838073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.99264 meters 0.012728332822969386 Centerline is valid? [True, True] Translation: X:289.82, Y:-48.22, Z:-13.08 [[ 9.85633522e-01 1.64903064e-01 3.65176620e-02 2.89823432e+02] [-1.64796244e-01 9.86309765e-01 -5.93686390e-03 -4.82211305e+01] [-3.69967337e-02 -1.66401453e-04 9.99315373e-01 -1.30838825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02264 meters 0.0263532614850812 Centerline is valid? [True, True] Translation: X:289.85, Y:-48.22, Z:-13.08 [[ 9.85472348e-01 1.65839430e-01 3.66269664e-02 2.89851812e+02] [-1.65732659e-01 9.86152748e-01 -5.95345536e-03 -4.82239465e+01] [-3.71071012e-02 -2.03318892e-04 9.99311274e-01 -1.30844772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.05264 meters 0.013320230463671706 Centerline is valid? [True, True] Translation: X:289.88, Y:-48.23, Z:-13.09 [[ 9.85383254e-01 1.66399041e-01 3.64856539e-02 2.89880296e+02] [-1.66293542e-01 9.86058471e-01 -5.92870535e-03 -4.82273175e+01] [-3.69635190e-02 -2.25281638e-04 9.99316590e-01 -1.30862488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08264 meters 0.014162542503665212 Centerline is valid? [True, True] Translation: X:289.91, Y:-48.23, Z:-13.09 [[ 9.85267314e-01 1.67249972e-01 3.57178730e-02 2.89908020e+02] [-1.67149483e-01 9.85914491e-01 -5.80237736e-03 -4.82298120e+01] [-3.61852160e-02 -2.53331256e-04 9.99345069e-01 -1.30894821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.11264 meters 0.01446101032424099 Centerline is valid? [True, True] Translation: X:289.94, Y:-48.23, Z:-13.09 [[ 9.85244743e-01 1.67449345e-01 3.54049999e-02 2.89936183e+02] [-1.67350820e-01 9.85880646e-01 -5.74926823e-03 -4.82342091e+01] [-3.58678153e-02 -2.60619477e-04 9.99356509e-01 -1.30920367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14264000000003 meters 0.015257193319827483 Centerline is valid? [True, True] Translation: X:289.96, Y:-48.24, Z:-13.10 [[ 9.85239974e-01 1.67530310e-01 3.51537834e-02 2.89964030e+02] [-1.67433286e-01 9.85866891e-01 -5.70693034e-03 -4.82384173e+01] [-3.56130349e-02 -2.63217552e-04 9.99365620e-01 -1.30953523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.17264 meters 0.01475934669541197 Centerline is valid? [True, True] Translation: X:289.99, Y:-48.24, Z:-13.10 [[ 9.85286059e-01 1.67323318e-01 3.48466438e-02 2.89992750e+02] [-1.67227931e-01 9.85902045e-01 -5.65483951e-03 -4.82442357e+01] [-3.53015639e-02 -2.55697612e-04 9.99376673e-01 -1.30963995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20264000000003 meters 0.014541263660205177 Centerline is valid? [True, True] Translation: X:290.02, Y:-48.25, Z:-13.10 [[ 9.85364078e-01 1.66896134e-01 3.46888170e-02 2.90019954e+02] [-1.66801393e-01 9.85974453e-01 -5.62787073e-03 -4.82493900e+01] [-3.51415573e-02 -2.40641352e-04 9.99382316e-01 -1.30977273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.23264 meters 0.014651945028981163 Centerline is valid? [True, True] Translation: X:290.05, Y:-48.25, Z:-13.10 [[ 9.85555446e-01 1.65733273e-01 3.48273635e-02 2.90047335e+02] [-1.65637142e-01 9.86170594e-01 -5.64765456e-03 -4.82547132e+01] [-3.52817260e-02 -2.02628250e-04 9.99377386e-01 -1.31010930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26264000000003 meters 0.01332709051652312 Centerline is valid? [True, True] Translation: X:290.08, Y:-48.26, Z:-13.10 [[ 9.85646013e-01 1.65116819e-01 3.51905379e-02 2.90075902e+02] [-1.65018361e-01 9.86273999e-01 -5.70426448e-03 -4.82618466e+01] [-3.56493826e-02 -1.84699357e-04 9.99364342e-01 -1.30995785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.29264 meters 0.013061812046311579 Centerline is valid? [True, True] Translation: X:290.10, Y:-48.27, Z:-13.10 [[ 9.85697353e-01 1.64745033e-01 3.54936927e-02 2.90103959e+02] [-1.64644693e-01 9.86336172e-01 -5.75165691e-03 -4.82679513e+01] [-3.59562699e-02 -1.74455128e-04 9.99353349e-01 -1.31004797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32264000000004 meters 0.013346063307461018 Centerline is valid? [True, True] Translation: X:290.13, Y:-48.27, Z:-13.10 [[ 9.85540217e-01 1.65565211e-01 3.60366827e-02 2.90131144e+02] [-1.65462379e-01 9.86198822e-01 -5.83814252e-03 -4.82727715e+01] [-3.65059274e-02 -2.08991026e-04 9.99333415e-01 -1.31000708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.35264 meters 0.023094890638553318 Centerline is valid? [True, True] Translation: X:290.16, Y:-48.28, Z:-13.10 [[ 9.85299172e-01 1.67066205e-01 3.56990828e-02 2.90159720e+02] [-1.66966380e-01 9.85945644e-01 -5.78057779e-03 -4.82753557e+01] [-3.61630943e-02 -2.64948093e-04 9.99345866e-01 -1.31011598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.38264 meters 0.016127292869947872 Centerline is valid? [True, True] Translation: X:290.19, Y:-48.28, Z:-13.10 [[ 9.84957548e-01 1.69070178e-01 3.56917964e-02 2.90187151e+02] [-1.68971761e-01 9.85603957e-01 -5.77793489e-03 -4.82761558e+01] [-3.61548523e-02 -3.39885110e-04 9.99346142e-01 -1.31033614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.41264 meters 0.017841855645752105 Centerline is valid? [True, True] Translation: X:290.22, Y:-48.28, Z:-13.10 [[ 9.84528293e-01 1.71507279e-01 3.59067413e-02 2.90215844e+02] [-1.71409399e-01 9.85182757e-01 -5.80978803e-03 -4.82770489e+01] [-3.63711233e-02 -4.34852252e-04 9.99338257e-01 -1.31039226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.44264 meters 0.02425100203324774 Centerline is valid? [True, True] Translation: X:290.25, Y:-48.27, Z:-13.11 [[ 9.83588224e-01 1.76877759e-01 3.56155033e-02 2.90245048e+02] [-1.76785039e-01 9.84232626e-01 -5.76094337e-03 -4.82720389e+01] [-3.60729231e-02 -6.29892088e-04 9.99348962e-01 -1.31072381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.47264 meters 0.02641084126193079 Centerline is valid? [True, True] Translation: X:290.27, Y:-48.27, Z:-13.11 [[ 9.83191941e-01 1.79137195e-01 3.52628947e-02 2.90274108e+02] [-1.79047762e-01 9.83823850e-01 -5.70367787e-03 -4.82734325e+01] [-3.57142176e-02 -7.05932257e-04 9.99361795e-01 -1.31088136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.50264 meters 0.02849639405289421 Centerline is valid? [True, True] Translation: X:290.30, Y:-48.27, Z:-13.11 [[ 9.82820259e-01 1.81146365e-01 3.53600447e-02 2.90303186e+02] [-1.81057952e-01 9.83455833e-01 -5.71340088e-03 -4.82741539e+01] [-3.58100040e-02 -7.86971130e-04 9.99358306e-01 -1.31101343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.53264 meters 0.03115565775438736 Centerline is valid? [True, True] Translation: X:290.33, Y:-48.27, Z:-13.11 [[ 9.82429827e-01 1.83202842e-01 3.56139583e-02 2.90331611e+02] [-1.83114771e-01 9.83074744e-01 -5.74700697e-03 -4.82740887e+01] [-3.60640509e-02 -8.75410761e-04 9.99349097e-01 -1.31117624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.56264 meters 0.033755725302231705 Centerline is valid? [True, True] Translation: X:290.36, Y:-48.27, Z:-13.11 [[ 9.81941298e-01 1.85815799e-01 3.55496193e-02 2.90361443e+02] [-1.85729844e-01 9.82584115e-01 -5.73420207e-03 -4.82731999e+01] [-3.59959966e-02 -9.71975430e-04 9.99351461e-01 -1.31135479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.59264 meters 0.03475961390763538 Centerline is valid? [True, True] Translation: X:290.39, Y:-48.27, Z:-13.11 [[ 9.81841577e-01 1.86310815e-01 3.57127130e-02 2.90388857e+02] [-1.86224428e-01 9.82490351e-01 -5.75962622e-03 -4.82746391e+01] [-3.61604766e-02 -9.95539057e-04 9.99345500e-01 -1.31148765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.62264 meters 0.03652429384777289 Centerline is valid? [True, True] Translation: X:290.42, Y:-48.27, Z:-13.12 [[ 9.81784205e-01 1.86592440e-01 3.58194812e-02 2.90416985e+02] [-1.86505822e-01 9.82436887e-01 -5.77411177e-03 -4.82747465e+01] [-3.62677853e-02 -1.01161007e-03 9.99341595e-01 -1.31172978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.65264 meters 0.03493319067861363 Centerline is valid? [True, True] Translation: X:290.45, Y:-48.28, Z:-13.12 [[ 9.81761748e-01 1.86833521e-01 3.51725254e-02 2.90445805e+02] [-1.86750183e-01 9.82391078e-01 -5.66914631e-03 -4.82785376e+01] [-3.56123617e-02 -1.00272457e-03 9.99365176e-01 -1.31194138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.68264 meters 0.03747858033060752 Centerline is valid? [True, True] Translation: X:290.47, Y:-48.28, Z:-13.12 [[ 9.81826216e-01 1.86514463e-01 3.50661738e-02 2.90472930e+02] [-1.86431655e-01 9.82451712e-01 -5.64552888e-03 -4.82781148e+01] [-3.55037953e-02 -9.94516540e-04 9.99369047e-01 -1.31224717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.71264 meters 0.03358497854159588 Centerline is valid? [True, True] Translation: X:290.50, Y:-48.29, Z:-13.12 [[ 9.81922416e-01 1.85991167e-01 3.51518699e-02 2.90501426e+02] [-1.85907804e-01 9.82550924e-01 -5.65412148e-03 -4.82858580e+01] [-3.55901189e-02 -9.83098328e-04 9.99365987e-01 -1.31216895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.74264 meters 0.038808658253395516 Centerline is valid? [True, True] Translation: X:290.53, Y:-48.29, Z:-13.12 [[ 9.82069374e-01 1.85236716e-01 3.50300305e-02 2.90529376e+02] [-1.85153582e-01 9.82693464e-01 -5.63082324e-03 -4.82869416e+01] [-3.54668172e-02 -9.56076560e-04 9.99370397e-01 -1.31234091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.77264 meters 0.03536811611978894 Centerline is valid? [True, True] Translation: X:290.56, Y:-48.29, Z:-13.13 [[ 9.82251123e-01 1.84100418e-01 3.59133370e-02 2.90557874e+02] [-1.84012318e-01 9.82906991e-01 -5.77175299e-03 -4.82879573e+01] [-3.63620521e-02 -9.39185510e-04 9.99338241e-01 -1.31252055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.80264 meters 0.029391695717215324 Centerline is valid? [True, True] Translation: X:290.59, Y:-48.30, Z:-13.12 [[ 9.82735302e-01 1.81323981e-01 3.67823203e-02 2.90586553e+02] [-1.81229916e-01 9.83423035e-01 -5.90348952e-03 -4.82953444e+01] [-3.72430253e-02 -8.64489248e-04 9.99305864e-01 -1.31230192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.83264 meters 0.03069732964287688 Centerline is valid? [True, True] Translation: X:290.61, Y:-48.30, Z:-13.12 [[ 9.83069464e-01 1.79524087e-01 3.66814856e-02 2.90613978e+02] [-1.79429303e-01 9.83753257e-01 -5.88680121e-03 -4.82984129e+01] [-3.71423535e-02 -7.94598890e-04 9.99309669e-01 -1.31249371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86264 meters 0.025064418070265375 Centerline is valid? [True, True] Translation: X:290.64, Y:-48.31, Z:-13.13 [[ 9.83424534e-01 1.77612106e-01 3.64708795e-02 2.90641818e+02] [-1.77517129e-01 9.84100311e-01 -5.85204461e-03 -4.83059619e+01] [-3.69303978e-02 -7.19161585e-04 9.99317581e-01 -1.31261409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.89264000000003 meters 0.0272851979107285 Centerline is valid? [True, True] Translation: X:290.67, Y:-48.31, Z:-13.13 [[ 9.83851249e-01 1.75297916e-01 3.61574494e-02 2.90669815e+02] [-1.75203227e-01 9.84515231e-01 -5.79561526e-03 -4.83101854e+01] [-3.66135189e-02 -6.32878511e-04 9.99329300e-01 -1.31276377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92264 meters 0.0272851979107285 Centerline is valid? [True, True] Translation: X:290.70, Y:-48.31, Z:-13.13 [[ 9.83884547e-01 1.75110737e-01 3.61583681e-02 2.90696920e+02] [-1.75016132e-01 9.84548542e-01 -5.78987717e-03 -4.83143331e+01] [-3.66135382e-02 -6.31727057e-04 9.99329300e-01 -1.31289577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.95264000000003 meters 0.022096806641501834 Centerline is valid? [True, True] Translation: X:290.72, Y:-48.32, Z:-13.13 [[ 9.84725276e-01 1.70346475e-01 3.60306812e-02 2.90724140e+02] [-1.70249664e-01 9.85384121e-01 -5.76076610e-03 -4.83215634e+01] [-3.64853873e-02 -4.61439362e-04 9.99334080e-01 -1.31311606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.98264 meters 0.016561636828851194 Centerline is valid? [True, True] Translation: X:290.75, Y:-48.33, Z:-13.13 [[ 9.85192873e-01 1.67616428e-01 3.60518673e-02 2.90751950e+02] [-1.67517739e-01 9.85852221e-01 -5.76240655e-03 -4.83287215e+01] [-3.65076875e-02 -3.62245431e-04 9.99333307e-01 -1.31328429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.01264000000003 meters 0.014528991545370896 Centerline is valid? [True, True] Translation: X:290.78, Y:-48.34, Z:-13.13 [[ 9.85686601e-01 1.64659231e-01 3.61837390e-02 2.90779684e+02] [-1.64557891e-01 9.86350481e-01 -5.78172480e-03 -4.83359841e+01] [-3.66418628e-02 -2.55351102e-04 9.99328429e-01 -1.31341421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.04264 meters 0.013052457987669143 Centerline is valid? [True, True] Translation: X:290.81, Y:-48.34, Z:-13.13 [[ 9.86143857e-01 1.61800805e-01 3.66168457e-02 2.90806434e+02] [-1.61695114e-01 9.86823427e-01 -5.84925825e-03 -4.83433627e+01] [-3.70807758e-02 -1.52554956e-04 9.99312260e-01 -1.31348171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.07264000000004 meters 0.016597827876726652 Centerline is valid? [True, True] Translation: X:290.83, Y:-48.35, Z:-13.13 [[ 9.87015213e-01 1.56415717e-01 3.65389146e-02 2.90833911e+02] [-1.56306870e-01 9.87691309e-01 -5.83449060e-03 -4.83529876e+01] [-3.70017744e-02 4.74476172e-05 9.99315199e-01 -1.31345932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.10264 meters 0.012571377680830494 Centerline is valid? [True, True] Translation: X:290.86, Y:-48.36, Z:-13.14 [[ 9.87365184e-01 1.54124559e-01 3.68186720e-02 2.90860255e+02] [-1.54012483e-01 9.88051417e-01 -5.87816587e-03 -4.83602037e+01] [-3.72847108e-02 1.33361245e-04 9.99304675e-01 -1.31373744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.13264 meters 0.013142757380885679 Centerline is valid? [True, True] Translation: X:290.89, Y:-48.37, Z:-13.14 [[ 9.87678076e-01 1.52083678e-01 3.69130474e-02 2.90888441e+02] [-1.51969803e-01 9.88367600e-01 -5.88781910e-03 -4.83678345e+01] [-3.73791012e-02 2.05601307e-04 9.99301136e-01 -1.31381813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.16264 meters 0.01420820934148277 Centerline is valid? [True, True] Translation: X:290.92, Y:-48.38, Z:-13.14 [[ 9.87916735e-01 1.50510705e-01 3.69736846e-02 2.90915747e+02] [-1.50395416e-01 9.88608344e-01 -5.89581813e-03 -4.83754691e+01] [-3.74398769e-02 2.63904706e-04 9.99298847e-01 -1.31401126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.19264 meters 0.015795432982102016 Centerline is valid? [True, True] Translation: X:290.94, Y:-48.38, Z:-13.14 [[ 9.88247083e-01 1.48332452e-01 3.69484264e-02 2.90942561e+02] [-1.48215882e-01 9.88937493e-01 -5.88955204e-03 -4.83824514e+01] [-3.74132959e-02 3.43989003e-04 9.99299818e-01 -1.31419019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.22264 meters 0.01633553078906428 Centerline is valid? [True, True] Translation: X:290.97, Y:-48.39, Z:-13.14 [[ 9.88385149e-01 1.47440774e-01 3.68241101e-02 2.90971284e+02] [-1.47324455e-01 9.89070816e-01 -5.86743545e-03 -4.83873974e+01] [-3.72867519e-02 3.74194112e-04 9.99304537e-01 -1.31432198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.25264 meters 0.020663128419493897 Centerline is valid? [True, True] Translation: X:291.00, Y:-48.39, Z:-13.15 [[ 9.88521711e-01 1.46563906e-01 3.66585395e-02 2.90998282e+02] [-1.46448079e-01 9.89201121e-01 -5.83969828e-03 -4.83928330e+01] [-3.71185574e-02 4.04095852e-04 9.99310787e-01 -1.31459079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28264 meters 0.01709450483830745 Centerline is valid? [True, True] Translation: X:291.03, Y:-48.40, Z:-13.15 [[ 9.88607642e-01 1.46264999e-01 3.55173333e-02 2.91026492e+02] [-1.46156196e-01 9.89245364e-01 -5.65470664e-03 -4.83973985e+01] [-3.59624430e-02 3.99207888e-04 9.99353062e-01 -1.31484459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.31264 meters 0.017937115153817653 Centerline is valid? [True, True] Translation: X:291.05, Y:-48.40, Z:-13.15 [[ 9.88725334e-01 1.45720179e-01 3.44651094e-02 2.91053627e+02] [-1.45617448e-01 9.89325763e-01 -5.48574007e-03 -4.84029884e+01] [-3.48966037e-02 4.05168887e-04 9.99390846e-01 -1.31518692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34264 meters 0.019320333215145574 Centerline is valid? [True, True] Translation: X:291.08, Y:-48.41, Z:-13.16 [[ 9.88818662e-01 1.45267743e-01 3.36888303e-02 2.91080150e+02] [-1.45169394e-01 9.89392296e-01 -5.36022643e-03 -4.84096372e+01] [-3.41101371e-02 4.09704862e-04 9.99417996e-01 -1.31560209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.37264 meters 0.02052438375373938 Centerline is valid? [True, True] Translation: X:291.11, Y:-48.41, Z:-13.16 [[ 9.88958251e-01 1.44397604e-01 3.33303198e-02 2.91108083e+02] [-1.44300916e-01 9.89519653e-01 -5.30106898e-03 -4.84149952e+01] [-3.37464681e-02 4.32940247e-04 9.99430332e-01 -1.31568856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.40264 meters 0.01818317315556834 Centerline is valid? [True, True] Translation: X:291.14, Y:-48.42, Z:-13.16 [[ 9.88897027e-01 1.44809113e-01 3.33615286e-02 2.91136761e+02] [-1.44712531e-01 9.89459522e-01 -5.30443493e-03 -4.84202765e+01] [-3.37780127e-02 4.17708672e-04 9.99429273e-01 -1.31573892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.43264 meters 0.02189285138870119 Centerline is valid? [True, True] Translation: X:291.16, Y:-48.43, Z:-13.16 [[ 9.88646856e-01 1.46215926e-01 3.46164307e-02 2.91164554e+02] [-1.46112858e-01 9.89252625e-01 -5.50232828e-03 -4.84250733e+01] [-3.50489230e-02 3.81953913e-04 9.99385525e-01 -1.31569309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46264 meters 0.01658719467486747 Centerline is valid? [True, True] Translation: X:291.19, Y:-48.43, Z:-13.16 [[ 9.88443075e-01 1.47701365e-01 3.41261651e-02 2.91192144e+02] [-1.47602153e-01 9.89031952e-01 -5.42234363e-03 -4.84289478e+01] [-3.45527552e-02 3.22582575e-04 9.99402823e-01 -1.31589414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.49264 meters 0.023908902327339037 Centerline is valid? [True, True] Translation: X:291.22, Y:-48.43, Z:-13.16 [[ 9.88254538e-01 1.48921030e-01 3.42855030e-02 2.91220479e+02] [-1.48821700e-01 9.88849053e-01 -5.44542195e-03 -4.84308758e+01] [-3.47141250e-02 2.79036097e-04 9.99397244e-01 -1.31606505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52264 meters 0.01482881600411617 Centerline is valid? [True, True] Translation: X:291.25, Y:-48.43, Z:-13.16 [[ 9.87998225e-01 1.50908004e-01 3.29587873e-02 2.91248905e+02] [-1.50817369e-01 9.88547791e-01 -5.23323420e-03 -4.84330285e+01] [-3.33710733e-02 1.99668525e-04 9.99443011e-01 -1.31630479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.55264 meters 0.014752024092637546 Centerline is valid? [True, True] Translation: X:291.28, Y:-48.44, Z:-13.17 [[ 9.87827979e-01 1.52124380e-01 3.24662431e-02 2.91275758e+02] [-1.52037124e-01 9.88361345e-01 -5.15401585e-03 -4.84364734e+01] [-3.28724312e-02 1.55206832e-04 9.99459544e-01 -1.31662901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58264 meters 0.014307745498174209 Centerline is valid? [True, True] Translation: X:291.30, Y:-48.44, Z:-13.17 [[ 9.87440021e-01 1.54607179e-01 3.25396003e-02 2.91304491e+02] [-1.54520986e-01 9.87976020e-01 -5.16229578e-03 -4.84386483e+01] [-3.29464728e-02 6.94063188e-05 9.99457115e-01 -1.31681596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.61264 meters 0.013891257036862637 Centerline is valid? [True, True] Translation: X:291.33, Y:-48.44, Z:-13.17 [[ 9.87258223e-01 1.55642678e-01 3.31143076e-02 2.91333435e+02] [-1.55554050e-01 9.87813422e-01 -5.25184991e-03 -4.84415009e+01] [-3.35281695e-02 3.38673563e-05 9.99437772e-01 -1.31676952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64264000000003 meters 0.013781452778341334 Centerline is valid? [True, True] Translation: X:291.36, Y:-48.45, Z:-13.17 [[ 9.87154589e-01 1.56204543e-01 3.35553125e-02 2.91362150e+02] [-1.56113919e-01 9.87724729e-01 -5.32012460e-03 -4.84455958e+01] [-3.39744396e-02 1.33340706e-05 9.99422702e-01 -1.31676590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.67264 meters 0.013780681060335342 Centerline is valid? [True, True] Translation: X:291.39, Y:-48.45, Z:-13.17 [[ 9.87124830e-01 1.56296606e-01 3.39991402e-02 2.91389188e+02] [-1.56203663e-01 9.87710165e-01 -5.38934466e-03 -4.84512273e+01] [-3.44236327e-02 9.16570795e-06 9.99407331e-01 -1.31689137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70264000000003 meters 0.01363318512805838 Centerline is valid? [True, True] Translation: X:291.42, Y:-48.46, Z:-13.17 [[ 9.87227251e-01 1.55348551e-01 3.53437661e-02 2.91417575e+02] [-1.55247642e-01 9.87859720e-01 -5.59852851e-03 -4.84599997e+01] [-3.57844062e-02 3.99835659e-05 9.99359532e-01 -1.31680588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.73264 meters 0.013730227968236587 Centerline is valid? [True, True] Translation: X:291.45, Y:-48.47, Z:-13.17 [[ 9.87381627e-01 1.54314960e-01 3.55586224e-02 2.91445081e+02] [-1.54212182e-01 9.88021704e-01 -5.63169508e-03 -4.84665257e+01] [-3.60017455e-02 7.70595149e-05 9.99351724e-01 -1.31686471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76264000000003 meters 0.014402162857202984 Centerline is valid? [True, True] Translation: X:291.47, Y:-48.47, Z:-13.17 [[ 9.87605465e-01 1.52785927e-01 3.59430925e-02 2.91471141e+02] [-1.52679991e-01 9.88259300e-01 -5.69009192e-03 -4.84736876e+01] [-3.63904613e-02 1.31774850e-04 9.99337639e-01 -1.31710076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.79264 meters 0.014922110580991674 Centerline is valid? [True, True] Translation: X:291.50, Y:-48.48, Z:-13.17 [[ 9.87867998e-01 1.51178133e-01 3.55244940e-02 2.91499530e+02] [-1.51073732e-01 9.88506519e-01 -5.62047352e-03 -4.84812449e+01] [-3.59658865e-02 1.85468035e-04 9.99353001e-01 -1.31711803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82264000000004 meters 0.016942018840989125 Centerline is valid? [True, True] Translation: X:291.53, Y:-48.49, Z:-13.18 [[ 9.88140811e-01 1.49426372e-01 3.53482304e-02 2.91526203e+02] [-1.49321940e-01 9.88772825e-01 -5.59104724e-03 -4.84918900e+01] [-3.57868195e-02 2.46475639e-04 9.99359416e-01 -1.31759222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.85264 meters 0.01837594904367043 Centerline is valid? [True, True] Translation: X:291.55, Y:-48.50, Z:-13.18 [[ 9.88642239e-01 1.46584522e-01 3.31587294e-02 2.91552791e+02] [-1.46491092e-01 9.89198095e-01 -5.24294079e-03 -4.85041119e+01] [-3.35690859e-02 3.25934238e-04 9.99436346e-01 -1.31783534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.88264 meters 0.02570771887896314 Centerline is valid? [True, True] Translation: X:291.58, Y:-48.51, Z:-13.18 [[ 9.88746355e-01 1.45653872e-01 3.41408247e-02 2.91580898e+02] [-1.45554346e-01 9.89335542e-01 -5.39599019e-03 -4.85101405e+01] [-3.45626782e-02 3.65920209e-04 9.99402465e-01 -1.31792792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.91264 meters 0.019539230156664155 Centerline is valid? [True, True] Translation: X:291.62, Y:-48.50, Z:-13.17 [[ 9.89170802e-01 1.44535139e-01 2.55091750e-02 2.91618134e+02] [-1.43560593e-01 9.88963859e-01 -3.66175052e-02 -4.84981063e+01] [-3.05201684e-02 3.25588547e-02 9.99003724e-01 -1.31739815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.94264 meters 0.0203825590094066 Centerline is valid? [True, True] Translation: X:291.63, Y:-48.54, Z:-13.19 [[ 9.89089017e-01 1.42723219e-01 3.65102556e-02 2.91634401e+02] [-1.43730558e-01 9.89258584e-01 2.66266825e-02 -4.85433436e+01] [-3.23178380e-02 -3.15837987e-02 9.98978489e-01 -1.31877069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.97264 meters 0.01908479623294703 Centerline is valid? [True, True] Translation: X:291.67, Y:-48.52, Z:-13.18 [[ 9.89082394e-01 1.43415045e-01 3.38842664e-02 2.91672475e+02] [-1.42880190e-01 9.89581281e-01 -1.77239612e-02 -4.85242459e+01] [-3.60731185e-02 1.26890675e-02 9.99268591e-01 -1.31777479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.00264 meters 0.019010082967553528 Centerline is valid? [True, True] Translation: X:291.69, Y:-48.54, Z:-13.18 [[ 9.88995475e-01 1.43951837e-01 3.41440814e-02 2.91694810e+02] [-1.44257714e-01 9.89517753e-01 6.65792395e-03 -4.85440883e+01] [-3.28277543e-02 -1.15102038e-02 9.99394744e-01 -1.31823561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.03264 meters 0.018373799887399834 Centerline is valid? [True, True] Translation: X:291.73, Y:-48.53, Z:-13.18 [[ 9.88958896e-01 1.45103597e-01 3.00873399e-02 2.91734244e+02] [-1.44212505e-01 9.89093702e-01 -2.99399888e-02 -4.85290156e+01] [-3.41035985e-02 2.52704476e-02 9.99098768e-01 -1.31778346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.06264 meters 0.019410040256657775 Centerline is valid? [True, True] Translation: X:291.75, Y:-48.57, Z:-13.19 [[ 9.88743082e-01 1.45741788e-01 3.38592411e-02 2.91751867e+02] [-1.46452315e-01 9.89024807e-01 1.95358638e-02 -4.85650674e+01] [-3.06404377e-02 -2.42747144e-02 9.99235659e-01 -1.31927679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.09264 meters 0.027833453266821743 Centerline is valid? [True, True] Translation: X:291.78, Y:-48.55, Z:-13.19 [[ 9.88362927e-01 1.48608007e-01 3.24712973e-02 2.91781697e+02] [-1.48519893e-01 9.88896154e-01 -5.12239344e-03 -4.85536425e+01] [-3.28719697e-02 2.40150176e-04 9.99459542e-01 -1.31913858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.12264 meters 0.01873122898219833 Centerline is valid? [True, True] Translation: X:291.81, Y:-48.56, Z:-13.19 [[ 9.88346956e-01 1.49297102e-01 2.96760874e-02 2.91808840e+02] [-1.49223864e-01 9.88792363e-01 -4.67995081e-03 -4.85570750e+01] [-3.00421917e-02 1.97034708e-04 9.99548612e-01 -1.31931004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.15264 meters 0.018478291926744526 Centerline is valid? [True, True] Translation: X:291.84, Y:-48.56, Z:-13.19 [[ 9.88167977e-01 1.50554334e-01 2.92821039e-02 2.91836243e+02] [-1.50483626e-01 9.88601724e-01 -4.61625266e-03 -4.85607410e+01] [-2.96433353e-02 1.55155864e-04 9.99560528e-01 -1.31947290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.18264 meters 0.018090049448627337 Centerline is valid? [True, True] Translation: X:291.86, Y:-48.57, Z:-13.20 [[ 9.87960663e-01 1.51842739e-01 2.96228063e-02 2.91864862e+02] [-1.51771036e-01 9.88404659e-01 -4.66722687e-03 -4.85653134e+01] [-2.99880043e-02 1.15152541e-04 9.99550252e-01 -1.31959400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.21264 meters 0.01808079657883587 Centerline is valid? [True, True] Translation: X:291.89, Y:-48.57, Z:-13.20 [[ 9.87782344e-01 1.53118302e-01 2.89970206e-02 2.91893338e+02] [-1.53050170e-01 9.88207863e-01 -4.56787056e-03 -4.85687561e+01] [-2.93545083e-02 7.40629594e-05 9.99569061e-01 -1.31972939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.24264 meters 0.016767202097172508 Centerline is valid? [True, True] Translation: X:291.94, Y:-48.56, Z:-13.19 [[ 9.87349932e-01 1.55612471e-01 3.04116773e-02 2.91936133e+02] [-1.54696973e-01 9.87492532e-01 -3.04523643e-02 -4.85554569e+01] [-3.47700719e-02 2.53625454e-02 9.99073462e-01 -1.31937274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.27264 meters 0.016793597171820395 Centerline is valid? [True, True] Translation: X:291.96, Y:-48.58, Z:-13.20 [[ 9.86960397e-01 1.56029534e-01 3.95469244e-02 2.91957348e+02] [-1.56344420e-01 9.87690045e-01 4.97973709e-03 -4.85807210e+01] [-3.82831175e-02 -1.10977443e-02 9.99205306e-01 -1.32007958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.30264 meters 0.025073514318209186 Centerline is valid? [True, True] Translation: X:291.98, Y:-48.58, Z:-13.20 [[ 9.86837155e-01 1.58168992e-01 3.36897574e-02 2.91976788e+02] [-1.58562870e-01 9.87304682e-01 9.34245266e-03 -4.85843420e+01] [-3.17843689e-02 -1.45614240e-02 9.99388673e-01 -1.31999713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.33264 meters 0.017374485401049262 Centerline is valid? [True, True] Translation: X:292.01, Y:-48.58, Z:-13.20 [[ 9.86180290e-01 1.60485326e-01 4.11448179e-02 2.92011633e+02] [-1.60409293e-01 9.87037076e-01 -5.16429402e-03 -4.85795970e+01] [-4.14402541e-02 -1.50708617e-03 9.99139847e-01 -1.31959133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36264 meters 0.026289430535235567 Centerline is valid? [True, True] Translation: X:292.04, Y:-48.58, Z:-13.20 [[ 9.86170639e-01 1.61444235e-01 3.74597070e-02 2.92044279e+02] [-1.60893013e-01 9.86820039e-01 -1.73103500e-02 -4.85756347e+01] [-3.97606458e-02 1.10439538e-02 9.99148198e-01 -1.31952331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.39264000000003 meters 0.019265662162747478 Centerline is valid? [True, True] Translation: X:292.07, Y:-48.59, Z:-13.20 [[ 9.86598173e-01 1.60389640e-01 2.99867875e-02 2.92065284e+02] [-1.60565381e-01 9.87018888e-01 3.53178321e-03 -4.85882791e+01] [-2.90310642e-02 -8.29929081e-03 9.99544056e-01 -1.32006471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42264 meters 0.01813762512524402 Centerline is valid? [True, True] Translation: X:292.10, Y:-48.60, Z:-13.20 [[ 9.85812768e-01 1.61606649e-01 4.53484028e-02 2.92095801e+02] [-1.62201450e-01 9.86709653e-01 9.73395847e-03 -4.86001181e+01] [-4.31726344e-02 -1.69514372e-02 9.98923807e-01 -1.32011698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.45264000000003 meters 0.017991544153846635 Centerline is valid? [True, True] Translation: X:292.13, Y:-48.60, Z:-13.20 [[ 9.85948403e-01 1.61239380e-01 4.36761905e-02 2.92125912e+02] [-1.61264377e-01 9.86906763e-01 -2.97368537e-03 -4.85955844e+01] [-4.35838030e-02 -4.11151331e-03 9.99041314e-01 -1.32000468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.48264 meters 0.017656131279659173 Centerline is valid? [True, True] Translation: X:292.16, Y:-48.59, Z:-13.20 [[ 9.86264740e-01 1.61114897e-01 3.63847966e-02 2.92156770e+02] [-1.60184023e-01 9.86711976e-01 -2.72131296e-02 -4.85854594e+01] [-4.02857552e-02 2.10110871e-02 9.98967263e-01 -1.31984343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.51264000000003 meters 0.018687139969288512 Centerline is valid? [True, True] Translation: X:292.18, Y:-48.62, Z:-13.21 [[ 9.86517687e-01 1.56035937e-01 4.93522081e-02 2.92177646e+02] [-1.57196288e-01 9.87353503e-01 2.05520695e-02 -4.86223350e+01] [-4.55212141e-02 -2.80329640e-02 9.98569963e-01 -1.32111358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54264 meters 0.018288939561687378 Centerline is valid? [True, True] Translation: X:292.21, Y:-48.61, Z:-13.21 [[ 9.86830514e-01 1.55911695e-01 4.30938573e-02 2.92207870e+02] [-1.55528965e-01 9.87757021e-01 -1.21164184e-02 -4.86127025e+01] [-4.44553515e-02 5.25450831e-03 9.98997553e-01 -1.32075182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.57264000000004 meters 0.019964376846552393 Centerline is valid? [True, True] Translation: X:292.23, Y:-48.63, Z:-13.21 [[ 9.87672544e-01 1.50380194e-01 4.34596772e-02 2.92234048e+02] [-1.50043714e-01 9.88619034e-01 -1.09219887e-02 -4.86270933e+01] [-4.46075149e-02 4.26649703e-03 9.98995479e-01 -1.32095291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.60264 meters 0.022415797567817808 Centerline is valid? [True, True] Translation: X:292.26, Y:-48.65, Z:-13.22 [[ 9.87960784e-01 1.46406084e-01 4.99874778e-02 2.92259866e+02] [-1.46919857e-01 9.89125414e-01 6.74324693e-03 -4.86464381e+01] [-4.84566323e-02 -1.40062166e-02 9.98727080e-01 -1.32154549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.63264000000004 meters 0.021786612801446257 Centerline is valid? [True, True] Translation: X:292.29, Y:-48.64, Z:-13.21 [[ 9.88505438e-01 1.45313396e-01 4.17254832e-02 2.92292939e+02] [-1.44517981e-01 9.89268537e-01 -2.15015003e-02 -4.86358385e+01] [-4.44021638e-02 1.52242674e-02 9.98897727e-01 -1.32099844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.66264 meters 0.024054996928014584 Centerline is valid? [True, True] Translation: X:292.32, Y:-48.64, Z:-13.21 [[ 9.88868939e-01 1.44489324e-01 3.55113666e-02 2.92322636e+02] [-1.43329966e-01 9.89115056e-01 -3.32855286e-02 -4.86387887e+01] [-3.99342309e-02 2.78251824e-02 9.98814806e-01 -1.32109198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.69264 meters 0.026128922994864464 Centerline is valid? [True, True] Translation: X:292.34, Y:-48.69, Z:-13.22 [[ 9.88743483e-01 1.39296550e-01 5.46149756e-02 2.92340677e+02] [-1.41244257e-01 9.89405333e-01 3.35730214e-02 -4.86863519e+01] [-4.93597421e-02 -4.09091578e-02 9.97942913e-01 -1.32230959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.72264 meters 0.024964103405596082 Centerline is valid? [True, True] Translation: X:292.37, Y:-48.67, Z:-13.22 [[ 9.89036985e-01 1.40446760e-01 4.56130400e-02 2.92374648e+02] [-1.39977593e-01 9.90064833e-01 -1.33378958e-02 -4.86673738e+01] [-4.70331311e-02 6.80686871e-03 9.98870137e-01 -1.32150606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.75264 meters 0.026280724017294258 Centerline is valid? [True, True] Translation: X:292.41, Y:-48.68, Z:-13.22 [[ 9.89184748e-01 1.38107397e-01 4.93951485e-02 2.92405292e+02] [-1.38289734e-01 9.90391777e-01 2.76653573e-04 -4.86827606e+01] [-4.88823410e-02 -7.10450345e-03 9.98779276e-01 -1.32193494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78264 meters 0.026976822230181073 Centerline is valid? [True, True] Translation: X:292.43, Y:-48.68, Z:-13.22 [[ 9.89136267e-01 1.39410633e-01 4.66274684e-02 2.92434680e+02] [-1.38912459e-01 9.90208856e-01 -1.37749904e-02 -4.86821669e+01] [-4.80913123e-02 7.14820625e-03 9.98817365e-01 -1.32199630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.81264 meters 0.026976822230181073 Centerline is valid? [True, True] Translation: X:292.47, Y:-48.69, Z:-13.22 [[ 9.89088184e-01 1.39312087e-01 4.79239610e-02 2.92465094e+02] [-1.39088204e-01 9.90247751e-01 -7.99145729e-03 -4.86907194e+01] [-4.85699012e-02 1.23859834e-03 9.98819018e-01 -1.32228044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84264 meters 0.03020598850371995 Centerline is valid? [True, True] Translation: X:292.49, Y:-48.70, Z:-13.23 [[ 9.88950461e-01 1.39226925e-01 5.09200310e-02 2.92494746e+02] [-1.39423867e-01 9.90232742e-01 3.18900327e-04 -4.87006465e+01] [-5.03782824e-02 -7.41484426e-03 9.98702683e-01 -1.32250573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.87264 meters 0.027521788482333335 Centerline is valid? [True, True] Translation: X:292.53, Y:-48.70, Z:-13.23 [[ 9.88871925e-01 1.41706629e-01 4.52940015e-02 2.92528885e+02] [-1.40879183e-01 9.89804421e-01 -2.09824461e-02 -4.86964802e+01] [-4.78055546e-02 1.43679699e-02 9.98753318e-01 -1.32280094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.90264 meters 0.02442493332431115 Centerline is valid? [True, True] Translation: X:292.56, Y:-48.72, Z:-13.23 [[ 9.88508197e-01 1.41890186e-01 5.21413432e-02 2.92555047e+02] [-1.42553247e-01 9.89744315e-01 9.20666782e-03 -4.87152481e+01] [-5.03002622e-02 -1.65337844e-02 9.98597275e-01 -1.32282524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.93264 meters 0.027413893754760322 Centerline is valid? [True, True] Translation: X:292.59, Y:-48.69, Z:-13.23 [[ 9.89623138e-01 1.42117533e-01 2.11814070e-02 2.92592726e+02] [-1.41039740e-01 9.88943995e-01 -4.57991886e-02 -4.86880295e+01] [-2.74560930e-02 4.23365166e-02 9.98726080e-01 -1.32280097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96264 meters 0.025975667739762762 Centerline is valid? [True, True] Translation: X:292.62, Y:-48.72, Z:-13.23 [[ 9.89462138e-01 1.42156591e-01 2.74987407e-02 2.92616948e+02] [-1.42090569e-01 9.89844102e-01 -4.35018434e-03 -4.87171414e+01] [-2.78378737e-02 3.97030986e-04 9.99612372e-01 -1.32337876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.99264 meters 0.026411446562497862 Centerline is valid? [True, True] Translation: X:292.64, Y:-48.75, Z:-13.25 [[ 9.87605801e-01 1.44343704e-01 6.16415164e-02 2.92640629e+02] [-1.46539221e-01 9.88664321e-01 3.26973520e-02 -4.87487268e+01] [-5.62231110e-02 -4.13249943e-02 9.97562633e-01 -1.32458106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02264 meters 0.02484261265171723 Centerline is valid? [True, True] Translation: X:292.68, Y:-48.70, Z:-13.23 [[ 9.89010950e-01 1.46227482e-01 2.17913872e-02 2.92681681e+02] [-1.45122417e-01 9.88355237e-01 -4.57537919e-02 -4.87031842e+01] [-2.82280935e-02 4.20885824e-02 9.98715037e-01 -1.32306175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.05264 meters 0.024976204108101363 Centerline is valid? [True, True] Translation: X:292.69, Y:-48.77, Z:-13.24 [[ 9.87000524e-01 1.44600596e-01 7.01472297e-02 2.92692180e+02] [-1.49113622e-01 9.86744995e-01 6.40268953e-02 -4.87743196e+01] [-5.99591006e-02 -7.36544867e-02 9.95479745e-01 -1.32432983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08264 meters 0.026969940629505244 Centerline is valid? [True, True] Translation: X:292.73, Y:-48.73, Z:-13.24 [[ 9.87007702e-01 1.51335294e-01 5.39761563e-02 2.92734970e+02] [-1.50222690e-01 9.88357671e-01 -2.41300342e-02 -4.87286665e+01] [-5.69994740e-02 1.57080862e-02 9.98250628e-01 -1.32351691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.11264 meters 0.024738998440040138 Centerline is valid? [True, True] Translation: X:292.77, Y:-48.71, Z:-13.24 [[ 9.88709838e-01 1.48226979e-01 2.19458187e-02 2.92773469e+02] [-1.46703097e-01 9.87379332e-01 -5.96678748e-02 -4.87139678e+01] [-3.05132367e-02 5.57746952e-02 9.97977017e-01 -1.32357829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14264000000003 meters 0.02387459885760268 Centerline is valid? [True, True] Translation: X:292.78, Y:-48.79, Z:-13.25 [[ 9.86887157e-01 1.46574885e-01 6.75983935e-02 2.92781952e+02] [-1.50399256e-01 9.87069808e-01 5.54369722e-02 -4.87893889e+01] [-5.85986655e-02 -6.48767840e-02 9.96171270e-01 -1.32468882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.17264 meters 0.026091602382867177 Centerline is valid? [True, True] Translation: X:292.84, Y:-48.73, Z:-13.24 [[ 9.88785423e-01 1.48033891e-01 1.97320664e-02 2.92835365e+02] [-1.46388843e-01 9.86878394e-01 -6.81274012e-02 -4.87253907e+01] [-2.95583143e-02 6.44748269e-02 9.97481480e-01 -1.32415816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20264000000003 meters 0.024330295263888857 Centerline is valid? [True, True] Translation: X:292.86, Y:-48.77, Z:-13.24 [[ 9.89105702e-01 1.44257142e-01 2.93221160e-02 2.92857464e+02] [-1.44182430e-01 9.89540163e-01 -4.65762490e-03 -4.87695732e+01] [-2.96873071e-02 3.79149403e-04 9.99559163e-01 -1.32447323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.23264 meters 0.025416233375036658 Centerline is valid? [True, True] Translation: X:292.88, Y:-48.81, Z:-13.26 [[ 9.86971670e-01 1.46731928e-01 6.60050229e-02 2.92875897e+02] [-1.49788411e-01 9.87738608e-01 4.39985813e-02 -4.88082540e+01] [-5.87397127e-02 -5.33121408e-02 9.96848766e-01 -1.32567509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26264000000003 meters 0.0237776957385756 Centerline is valid? [True, True] Translation: X:292.91, Y:-48.78, Z:-13.25 [[ 9.86760746e-01 1.51236842e-01 5.85717364e-02 2.92910494e+02] [-1.51179481e-01 9.88491388e-01 -5.43502370e-03 -4.87844874e+01] [-5.87196329e-02 -3.49177669e-03 9.98268407e-01 -1.32546817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.29264 meters 0.025263365416145794 Centerline is valid? [True, True] Translation: X:292.95, Y:-48.78, Z:-13.26 [[ 9.86548841e-01 1.54157367e-01 5.43772952e-02 2.92946086e+02] [-1.53093797e-01 9.87938460e-01 -2.32354904e-02 -4.87816048e+01] [-5.73033433e-02 1.45981196e-02 9.98250080e-01 -1.32605288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32264000000004 meters 0.0302900252043217 Centerline is valid? [True, True] Translation: X:292.98, Y:-48.80, Z:-13.26 [[ 9.86374638e-01 1.54305666e-01 5.70511639e-02 2.92975326e+02] [-1.54264611e-01 9.88016149e-01 -5.14958045e-03 -4.87963881e+01] [-5.71620807e-02 -3.72156007e-03 9.98357975e-01 -1.32646547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.35264 meters 0.02267527193270042 Centerline is valid? [True, True] Translation: X:293.00, Y:-48.80, Z:-13.26 [[ 9.86137219e-01 1.55417444e-01 5.81274719e-02 2.93003719e+02] [-1.55792446e-01 9.87787891e-01 1.94849116e-03 -4.88039467e+01] [-5.71147834e-02 -1.09773007e-02 9.98307268e-01 -1.32639269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.38264000000004 meters 0.023352873612107302 Centerline is valid? [True, True] Translation: X:293.03, Y:-48.81, Z:-13.27 [[ 9.85405257e-01 1.58184896e-01 6.28809878e-02 2.93031267e+02] [-1.58581137e-01 9.87345054e-01 1.32967529e-03 -4.88090365e+01] [-6.18748977e-02 -1.12820076e-02 9.98020147e-01 -1.32668798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.41264 meters 0.022599217303551054 Centerline is valid? [True, True] Translation: X:293.06, Y:-48.81, Z:-13.27 [[ 9.85228618e-01 1.60490306e-01 5.97279848e-02 2.93063628e+02] [-1.60017399e-01 9.87033141e-01 -1.26495162e-02 -4.88061609e+01] [-6.09836252e-02 2.90514863e-03 9.98134539e-01 -1.32671611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.44264 meters 0.022809648049052767 Centerline is valid? [True, True] Translation: X:293.11, Y:-48.78, Z:-13.27 [[ 9.87134834e-01 1.58216705e-01 2.30714878e-02 2.93108528e+02] [-1.56456436e-01 9.85570740e-01 -6.45886936e-02 -4.87785596e+01] [-3.29575936e-02 6.01480666e-02 9.97645231e-01 -1.32656093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.47264 meters 0.022742430364110628 Centerline is valid? [True, True] Translation: X:293.13, Y:-48.82, Z:-13.27 [[ 9.87174023e-01 1.56257886e-01 3.27249370e-02 2.93129554e+02] [-1.56169214e-01 9.87716288e-01 -5.26412668e-03 -4.88178583e+01] [-3.31455147e-02 8.59814279e-05 9.99450533e-01 -1.32736635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.50264 meters 0.0222279218289314 Centerline is valid? [True, True] Translation: X:293.16, Y:-48.82, Z:-13.27 [[ 9.87061906e-01 1.56854122e-01 3.32502266e-02 2.93157773e+02] [-1.56763000e-01 9.87621780e-01 -5.34617845e-03 -4.88224637e+01] [-3.36772181e-02 6.46038385e-05 9.99432760e-01 -1.32740140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.53264 meters 0.022711109781932224 Centerline is valid? [True, True] Translation: X:293.18, Y:-48.83, Z:-13.28 [[ 9.87044252e-01 1.57051185e-01 3.28415786e-02 2.93184963e+02] [-1.56962438e-01 9.87590463e-01 -5.27928123e-03 -4.88271995e+01] [-3.32631472e-02 5.59899640e-05 9.99446627e-01 -1.32768377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.56264 meters 0.022683638841467135 Centerline is valid? [True, True] Translation: X:293.21, Y:-48.83, Z:-13.28 [[ 9.86935213e-01 1.57620553e-01 3.33863291e-02 2.93212552e+02] [-1.57529235e-01 9.87499752e-01 -5.36473351e-03 -4.88319001e+01] [-3.38145839e-02 3.53215407e-05 9.99428123e-01 -1.32781045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.59264 meters 0.02161122918384244 Centerline is valid? [True, True] Translation: X:293.24, Y:-48.84, Z:-13.28 [[ 9.86900911e-01 1.57715403e-01 3.39476533e-02 2.93241408e+02] [-1.57621125e-01 9.87484608e-01 -5.45256190e-03 -4.88368294e+01] [-3.43827381e-02 3.02710081e-05 9.99408738e-01 -1.32757018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.62264 meters 0.0249279759355446 Centerline is valid? [True, True] Translation: X:293.25, Y:-48.88, Z:-13.29 [[ 9.84030418e-01 1.60462132e-01 7.70457000e-02 2.93251828e+02] [-1.65064547e-01 9.84599562e-01 5.75968517e-02 -4.88839126e+01] [-6.66170489e-02 -6.93945677e-02 9.95362528e-01 -1.32862896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.65264 meters 0.021495608943571942 Centerline is valid? [True, True] Translation: X:293.31, Y:-48.81, Z:-13.27 [[ 9.86676155e-01 1.61070660e-01 2.29435824e-02 2.93309884e+02] [-1.59066549e-01 9.84644548e-01 -7.19232025e-02 -4.88105368e+01] [-3.41759910e-02 6.73153524e-02 9.97146251e-01 -1.32723856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.68264 meters 0.02338253397469323 Centerline is valid? [True, True] Translation: X:293.31, Y:-48.90, Z:-13.29 [[ 9.84774219e-01 1.57582509e-01 7.33995295e-02 2.93314170e+02] [-1.61949609e-01 9.85099298e-01 5.78938455e-02 -4.88991257e+01] [-6.31827676e-02 -6.88993916e-02 9.95620817e-01 -1.32875483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.71264 meters 0.02172824522517799 Centerline is valid? [True, True] Translation: X:293.37, Y:-48.83, Z:-13.28 [[ 9.87025984e-01 1.58938560e-01 2.27648980e-02 2.93371087e+02] [-1.56955250e-01 9.84992659e-01 -7.17949300e-02 -4.88286629e+01] [-3.38342402e-02 6.72903911e-02 9.97159590e-01 -1.32775735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.74264 meters 0.022604643087771503 Centerline is valid? [True, True] Translation: X:293.39, Y:-48.87, Z:-13.29 [[ 9.87459723e-01 1.54423278e-01 3.28138246e-02 2.93392127e+02] [-1.54333235e-01 9.88004772e-01 -5.27469201e-03 -4.88748575e+01] [-3.32347505e-02 1.44282221e-04 9.99447563e-01 -1.32870332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.77264 meters 0.028812776677892553 Centerline is valid? [True, True] Translation: X:293.42, Y:-48.88, Z:-13.29 [[ 9.87535583e-01 1.54012638e-01 3.24589072e-02 2.93421435e+02] [-1.53924348e-01 9.88068866e-01 -5.21647999e-03 -4.88820593e+01] [-3.28750395e-02 1.55243472e-04 9.99459458e-01 -1.32883668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.80264 meters 0.02219907257661722 Centerline is valid? [True, True] Translation: X:293.45, Y:-48.89, Z:-13.29 [[ 9.87557860e-01 1.53959255e-01 3.20315512e-02 2.93450529e+02] [-1.53873273e-01 9.88077185e-01 -5.14703736e-03 -4.88897412e+01] [-3.24420790e-02 1.54197582e-04 9.99473605e-01 -1.32880274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.83264 meters 0.02284286256568209 Centerline is valid? [True, True] Translation: X:293.48, Y:-48.90, Z:-13.29 [[ 9.87517749e-01 1.54268811e-01 3.17778085e-02 2.93478581e+02] [-1.54184358e-01 9.88028903e-01 -5.10587213e-03 -4.88957103e+01] [-3.21850701e-02 1.42498346e-04 9.99481916e-01 -1.32914249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86264 meters 0.022895763175242584 Centerline is valid? [True, True] Translation: X:293.51, Y:-48.90, Z:-13.29 [[ 9.87362540e-01 1.55080698e-01 3.26372767e-02 2.93506422e+02] [-1.54992101e-01 9.87901798e-01 -5.24265100e-03 -4.89008493e+01] [-3.30554583e-02 1.17877114e-04 9.99453512e-01 -1.32934001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.89264000000003 meters 0.02382016298828046 Centerline is valid? [True, True] Translation: X:293.54, Y:-48.91, Z:-13.29 [[ 9.87294647e-01 1.55696673e-01 3.17462851e-02 2.93535807e+02] [-1.55613214e-01 9.87804909e-01 -5.09805514e-03 -4.89057704e+01] [-3.21528864e-02 9.31410866e-05 9.99482958e-01 -1.32940005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92264 meters 0.022028628952363735 Centerline is valid? [True, True] Translation: X:293.56, Y:-48.91, Z:-13.29 [[ 9.87019942e-01 1.57362737e-01 3.20718464e-02 2.93564620e+02] [-1.57278437e-01 9.87540869e-01 -5.15030361e-03 -4.89094145e+01] [-3.24827249e-02 3.92424964e-05 9.99472296e-01 -1.32947988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.95264000000003 meters 0.023012768301498832 Centerline is valid? [True, True] Translation: X:293.59, Y:-48.91, Z:-13.30 [[ 9.86473598e-01 1.60762646e-01 3.20189281e-02 2.93592650e+02] [-1.60680452e-01 9.86993093e-01 -5.14060697e-03 -4.89112474e+01] [-3.24288784e-02 -7.37428003e-05 9.99474043e-01 -1.32989213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98264 meters 0.026722258805155635 Centerline is valid? [True, True] Translation: X:293.62, Y:-48.91, Z:-13.30 [[ 9.86245028e-01 1.62328892e-01 3.11460448e-02 2.93621510e+02] [-1.62251970e-01 9.86736700e-01 -4.99827310e-03 -4.89146956e+01] [-3.15443096e-02 -1.23985140e-04 9.99502347e-01 -1.32990606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.01264000000003 meters 0.02431765145712257 Centerline is valid? [True, True] Translation: X:293.65, Y:-48.92, Z:-13.30 [[ 9.85875258e-01 1.64545771e-01 3.12196298e-02 2.93649087e+02] [-1.64469626e-01 9.86369429e-01 -5.00912010e-03 -4.89161187e+01] [-3.16183180e-02 -1.96313268e-04 9.99499997e-01 -1.33025618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.04264 meters 0.026795515018853217 Centerline is valid? [True, True] Translation: X:293.68, Y:-48.92, Z:-13.30 [[ 9.85222836e-01 1.68503452e-01 3.07009646e-02 2.93677139e+02] [-1.68431808e-01 9.85701012e-01 -4.92362129e-03 -4.89152894e+01] [-3.10916190e-02 -3.20154826e-04 9.99516487e-01 -1.33047279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.07264000000004 meters 0.02756166269823072 Centerline is valid? [True, True] Translation: X:293.71, Y:-48.92, Z:-13.30 [[ 9.84853051e-01 1.70670914e-01 3.05926104e-02 2.93706185e+02] [-1.70600888e-01 9.85328010e-01 -4.90402829e-03 -4.89173982e+01] [-3.09807309e-02 -3.89379288e-04 9.99519906e-01 -1.33046472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.10264 meters 0.029394680889701656 Centerline is valid? [True, True] Translation: X:293.73, Y:-48.92, Z:-13.31 [[ 9.84515118e-01 1.72692532e-01 3.01209696e-02 2.93734516e+02] [-1.72625625e-01 9.84975680e-01 -4.82739749e-03 -4.89185746e+01] [-3.05020780e-02 -4.47005410e-04 9.99534603e-01 -1.33071122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.13264000000004 meters 0.030671259256879607 Centerline is valid? [True, True] Translation: X:293.76, Y:-48.92, Z:-13.31 [[ 9.84194227e-01 1.74532149e-01 3.00042207e-02 2.93763144e+02] [-1.74466683e-01 9.84651347e-01 -4.80644841e-03 -4.89207872e+01] [-3.03825761e-02 -5.04258085e-04 9.99538216e-01 -1.33086640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.16264 meters 0.030863673511689706 Centerline is valid? [True, True] Translation: X:293.79, Y:-48.92, Z:-13.31 [[ 9.84000973e-01 1.75708087e-01 2.94746217e-02 2.93791539e+02] [-1.75645480e-01 9.84442169e-01 -4.72023545e-03 -4.89247091e+01] [-2.98454441e-02 -5.32367803e-04 9.99554384e-01 -1.33089054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.19264 meters 0.032128117543200004 Centerline is valid? [True, True] Translation: X:293.82, Y:-48.93, Z:-13.31 [[ 9.83830087e-01 1.76448243e-01 3.07307163e-02 2.93819049e+02] [-1.76380575e-01 9.84309749e-01 -4.92047137e-03 -4.89277048e+01] [-3.11167522e-02 -5.79393642e-04 9.99515589e-01 -1.33102275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22264 meters 0.030023214112560863 Centerline is valid? [True, True] Translation: X:293.85, Y:-48.93, Z:-13.31 [[ 9.83864902e-01 1.76163221e-01 3.12469986e-02 2.93847459e+02] [-1.76093214e-01 9.84360798e-01 -5.00002738e-03 -4.89343911e+01] [-3.16391413e-02 -5.83032951e-04 9.99499187e-01 -1.33078890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.25264 meters 0.029329680440255485 Centerline is valid? [True, True] Translation: X:293.88, Y:-48.94, Z:-13.31 [[ 9.83952274e-01 1.75632826e-01 3.14806756e-02 2.93875455e+02] [-1.75561548e-01 9.84455577e-01 -5.03580117e-03 -4.89396733e+01] [-3.18757787e-02 -5.71808127e-04 9.99491675e-01 -1.33084269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28264 meters 0.029194802866424566 Centerline is valid? [True, True] Translation: X:293.90, Y:-48.95, Z:-13.31 [[ 9.84350168e-01 1.73345698e-01 3.17177369e-02 2.93902422e+02] [-1.73272196e-01 9.84860912e-01 -5.07245670e-03 -4.89453206e+01] [-3.21168478e-02 -5.02728325e-04 9.99483995e-01 -1.33130431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.31264 meters 0.028724424976623187 Centerline is valid? [True, True] Translation: X:293.93, Y:-48.95, Z:-13.32 [[ 9.84636207e-01 1.71702395e-01 3.17777705e-02 2.93929107e+02] [-1.71627826e-01 9.85148762e-01 -5.07996529e-03 -4.89515061e+01] [-3.21780735e-02 -4.52031907e-04 9.99482049e-01 -1.33162100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34264 meters 0.03596971821732616 Centerline is valid? [True, True] Translation: X:293.96, Y:-48.96, Z:-13.32 [[ 9.84991697e-01 1.69711189e-01 3.14558289e-02 2.93957026e+02] [-1.69637181e-01 9.85493767e-01 -5.02622437e-03 -4.89600621e+01] [-3.18525298e-02 -3.85288877e-04 9.99492505e-01 -1.33178338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.37264 meters 0.026358731966169127 Centerline is valid? [True, True] Translation: X:293.98, Y:-48.97, Z:-13.32 [[ 9.85332670e-01 1.67877231e-01 3.06066006e-02 2.93984426e+02] [-1.67806326e-01 9.85807858e-01 -4.88910683e-03 -4.89678134e+01] [-3.09929972e-02 -3.18584504e-04 9.99519551e-01 -1.33206726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.40264 meters 0.023401123504993782 Centerline is valid? [True, True] Translation: X:294.01, Y:-48.98, Z:-13.32 [[ 9.85992904e-01 1.63994761e-01 3.03926242e-02 2.94011847e+02] [-1.63923042e-01 9.86461190e-01 -4.85352674e-03 -4.89798314e+01] [-3.07770972e-02 -1.96508492e-04 9.99526254e-01 -1.33195042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.43264 meters 0.022694481738203362 Centerline is valid? [True, True] Translation: X:294.04, Y:-48.99, Z:-13.32 [[ 9.86218171e-01 1.62607755e-01 3.05358331e-02 2.94039957e+02] [-1.62534741e-01 9.86690779e-01 -4.87483737e-03 -4.89859714e+01] [-3.09221113e-02 -1.55480540e-04 9.99521785e-01 -1.33199047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46264 meters 0.02353114923576624 Centerline is valid? [True, True] Translation: X:294.07, Y:-48.99, Z:-13.32 [[ 9.86427543e-01 1.61332944e-01 3.05349433e-02 2.94066657e+02] [-1.61259359e-01 9.86900029e-01 -4.87355025e-03 -4.89910675e+01] [-3.09212007e-02 -1.16641180e-04 9.99521819e-01 -1.33244548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.49264 meters 0.02200920582510734 Centerline is valid? [True, True] Translation: X:294.09, Y:-49.00, Z:-13.32 [[ 9.86639833e-01 1.59974372e-01 3.08227356e-02 2.94094512e+02] [-1.59898804e-01 9.87121165e-01 -4.91712565e-03 -4.89981348e+01] [-3.12123888e-02 -7.70865458e-05 9.99512772e-01 -1.33223837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52264 meters 0.02267636629911027 Centerline is valid? [True, True] Translation: X:294.12, Y:-49.01, Z:-13.33 [[ 9.86842704e-01 1.58581165e-01 3.15197124e-02 2.94122558e+02] [-1.58501496e-01 9.87345944e-01 -5.02623934e-03 -4.90055412e+01] [-3.19179271e-02 -3.58139477e-05 9.99490493e-01 -1.33265940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.55264 meters 0.021813254639244432 Centerline is valid? [True, True] Translation: X:294.15, Y:-49.02, Z:-13.33 [[ 9.87306150e-01 1.55367188e-01 3.29788409e-02 2.94151247e+02] [-1.55278234e-01 9.87856787e-01 -5.25717310e-03 -4.90171896e+01] [-3.33951640e-02 6.95431498e-05 9.99442224e-01 -1.33252290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58264 meters 0.02256933386884023 Centerline is valid? [True, True] Translation: X:294.18, Y:-49.03, Z:-13.33 [[ 9.87589410e-01 1.53463285e-01 3.34092515e-02 2.94179732e+02] [-1.53370945e-01 9.88154341e-01 -5.32457907e-03 -4.90259485e+01] [-3.38306243e-02 1.34489424e-04 9.99427572e-01 -1.33280260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.61264 meters 0.022005112889191544 Centerline is valid? [True, True] Translation: X:294.21, Y:-49.04, Z:-13.33 [[ 9.87902596e-01 1.51341508e-01 3.38261459e-02 2.94210248e+02] [-1.51245656e-01 9.88481515e-01 -5.38951010e-03 -4.90351556e+01] [-3.42521765e-02 2.08253385e-04 9.99413200e-01 -1.33258791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64264000000003 meters 0.02295638575355447 Centerline is valid? [True, True] Translation: X:294.24, Y:-49.04, Z:-13.33 [[ 9.88135827e-01 1.49547417e-01 3.49736757e-02 2.94240083e+02] [-1.49443930e-01 9.88754516e-01 -5.56940750e-03 -4.90447635e+01] [-3.54132703e-02 2.76727542e-04 9.99372715e-01 -1.33277045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.67264 meters 0.03570107857135409 Centerline is valid? [True, True] Translation: X:294.27, Y:-49.06, Z:-13.33 [[ 9.88513185e-01 1.46940480e-01 3.53578759e-02 2.94269667e+02] [-1.46832828e-01 9.89145263e-01 -5.63644674e-03 -4.90571932e+01] [-3.58022977e-02 3.80004990e-04 9.99358820e-01 -1.33289230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70264000000003 meters 0.03397600197877148 Centerline is valid? [True, True] Translation: X:294.30, Y:-49.06, Z:-13.33 [[ 9.88640745e-01 1.46270415e-01 3.45607209e-02 2.94300445e+02] [-1.46166978e-01 9.89244563e-01 -5.51442014e-03 -4.90649430e+01] [-3.49956018e-02 4.00144293e-04 9.99387386e-01 -1.33305786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.73264 meters 0.03397600197877148 Centerline is valid? [True, True] Translation: X:294.33, Y:-49.07, Z:-13.33 [[ 9.88613200e-01 1.46456628e-01 3.45600363e-02 2.94332479e+02] [-1.46353155e-01 9.89217013e-01 -5.51870670e-03 -4.90702532e+01] [-3.49956270e-02 3.97895945e-04 9.99387386e-01 -1.33326753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76264000000003 meters 0.02475399633310588 Centerline is valid? [True, True] Translation: X:294.36, Y:-49.08, Z:-13.33 [[ 9.88606071e-01 1.46393832e-01 3.50268892e-02 2.94363538e+02] [-1.46287235e-01 9.89226301e-01 -5.60087485e-03 -4.90776463e+01] [-3.54694535e-02 4.13072126e-04 9.99370676e-01 -1.33341405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.79264 meters 0.02397935761410258 Centerline is valid? [True, True] Translation: X:294.40, Y:-49.08, Z:-13.34 [[ 9.88291864e-01 1.48471031e-01 3.51503057e-02 2.94395167e+02] [-1.48364780e-01 9.88916697e-01 -5.62660928e-03 -4.90847113e+01] [-3.55961127e-02 3.45664811e-04 9.99366198e-01 -1.33362952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82264000000004 meters 0.023819544858088553 Centerline is valid? [True, True] Translation: X:294.43, Y:-49.09, Z:-13.34 [[ 9.88003931e-01 1.50339461e-01 3.53026865e-02 2.94425692e+02] [-1.50233190e-01 9.88634393e-01 -5.65904659e-03 -4.90891104e+01] [-3.57522280e-02 2.87525079e-04 9.99360643e-01 -1.33399794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.85264 meters 0.023007439449360036 Centerline is valid? [True, True] Translation: X:294.46, Y:-49.09, Z:-13.34 [[ 9.87622271e-01 1.52820147e-01 3.53306191e-02 2.94458041e+02] [-1.52715242e-01 9.88253997e-01 -5.66498786e-03 -4.90924546e+01] [-3.57813498e-02 1.99344130e-04 9.99359623e-01 -1.33421386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.88264000000004 meters 0.021879977726136157 Centerline is valid? [True, True] Translation: X:294.49, Y:-49.09, Z:-13.34 [[ 9.87200506e-01 1.55486099e-01 3.54856818e-02 2.94489075e+02] [-1.55381635e-01 9.87838074e-01 -5.69976379e-03 -4.90946741e+01] [-3.59403416e-02 1.12986455e-04 9.99353931e-01 -1.33428233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.91264 meters 0.022760501579772836 Centerline is valid? [True, True] Translation: X:294.52, Y:-49.09, Z:-13.35 [[ 9.86101796e-01 1.62197546e-01 3.59889565e-02 2.94519061e+02] [-1.62094518e-01 9.86758298e-01 -5.78174289e-03 -4.90910757e+01] [-3.64501860e-02 -1.32225519e-04 9.99335462e-01 -1.33467113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.94264 meters 0.022511530133572242 Centerline is valid? [True, True] Translation: X:294.55, Y:-49.09, Z:-13.34 [[ 9.85500881e-01 1.65794407e-01 3.60586883e-02 2.94550030e+02] [-1.65693363e-01 9.86160304e-01 -5.79355518e-03 -4.90923566e+01] [-3.65201861e-02 -2.65131601e-04 9.99332880e-01 -1.33443013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.97264 meters 0.024408384228208152 Centerline is valid? [True, True] Translation: X:294.58, Y:-49.09, Z:-13.35 [[ 9.84842887e-01 1.69613196e-01 3.62746679e-02 2.94580338e+02] [-1.69513470e-01 9.85510628e-01 -5.82975185e-03 -4.90929566e+01] [-3.67378736e-02 -4.07655179e-04 9.99324853e-01 -1.33458177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.00264 meters 0.02811124622576744 Centerline is valid? [True, True] Translation: X:294.61, Y:-49.09, Z:-13.35 [[ 9.84216628e-01 1.73075607e-01 3.69115713e-02 2.94609036e+02] [-1.72974803e-01 9.84908389e-01 -5.93147957e-03 -4.90912563e+01] [-3.73811107e-02 -5.46910952e-04 9.99300932e-01 -1.33505239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.03264 meters 0.03154125219018428 Centerline is valid? [True, True] Translation: X:294.64, Y:-49.09, Z:-13.35 [[ 9.82952417e-01 1.79917641e-01 3.78706754e-02 2.94640105e+02] [-1.79816666e-01 9.83681328e-01 -6.08378932e-03 -4.90874498e+01] [-3.83472573e-02 -8.29703175e-04 9.99264129e-01 -1.33473245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.06264 meters 0.03881542252907156 Centerline is valid? [True, True] Translation: X:294.67, Y:-49.09, Z:-13.35 [[ 9.82498491e-01 1.82405727e-01 3.77474067e-02 2.94668573e+02] [-1.82307254e-01 9.83222913e-01 -6.06368353e-03 -4.90866660e+01] [-3.82201658e-02 -9.24066154e-04 9.99268915e-01 -1.33498823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.09264 meters 0.04063306800071268 Centerline is valid? [True, True] Translation: X:294.70, Y:-49.09, Z:-13.35 [[ 9.82028643e-01 1.84742077e-01 3.86019411e-02 2.94697574e+02] [-1.84640974e-01 9.82786489e-01 -6.19896662e-03 -4.90869369e+01] [-3.90826762e-02 -1.03993726e-03 9.99235439e-01 -1.33509866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.12264 meters 0.043638014070428076 Centerline is valid? [True, True] Translation: X:294.73, Y:-49.10, Z:-13.36 [[ 9.82458514e-01 1.81951235e-01 4.08536054e-02 2.94727657e+02] [-1.82886400e-01 9.82921850e-01 2.04255170e-02 -4.91034344e+01] [-3.64394534e-02 -2.75387919e-02 9.98956346e-01 -1.33559013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.15264 meters 0.04044178821338828 Centerline is valid? [True, True] Translation: X:294.76, Y:-49.07, Z:-13.35 [[ 9.81185859e-01 1.89615280e-01 3.63367079e-02 2.94760692e+02] [-1.88473315e-01 9.81535135e-01 -3.26586547e-02 -4.90720360e+01] [-4.18583355e-02 2.51957103e-02 9.98805815e-01 -1.33520210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.18264 meters 0.03706532290297982 Centerline is valid? [True, True] Translation: X:294.79, Y:-49.09, Z:-13.35 [[ 9.81243024e-01 1.88049332e-01 4.24214257e-02 2.94786988e+02] [-1.87930549e-01 9.82158733e-01 -6.80678575e-03 -4.90940901e+01] [-4.29445852e-02 -1.29317079e-03 9.99076619e-01 -1.33513478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.21264 meters 0.037290060776916004 Centerline is valid? [True, True] Translation: X:294.82, Y:-49.10, Z:-13.35 [[ 9.81254973e-01 1.87839938e-01 4.30677952e-02 2.94815216e+02] [-1.87717367e-01 9.82198786e-01 -6.90908777e-03 -4.90972571e+01] [-4.35989388e-02 -1.30499638e-03 9.99048262e-01 -1.33528769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.24264 meters 0.039264830906716085 Centerline is valid? [True, True] Translation: X:294.84, Y:-49.10, Z:-13.36 [[ 9.81382639e-01 1.87231084e-01 4.28093083e-02 2.94843519e+02] [-1.87109483e-01 9.82315073e-01 -6.86575060e-03 -4.90976618e+01] [-4.33377108e-02 -1.27209911e-03 9.99059670e-01 -1.33565404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.27264 meters 0.035913247301791455 Centerline is valid? [True, True] Translation: X:294.87, Y:-49.10, Z:-13.36 [[ 9.81469083e-01 1.86396525e-01 4.44384350e-02 2.94872269e+02] [-1.86264789e-01 9.82473757e-01 -7.12363459e-03 -4.91042336e+01] [-4.49874169e-02 -1.28568859e-03 9.98986726e-01 -1.33552788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.30264 meters 0.03650694817138212 Centerline is valid? [True, True] Translation: X:294.90, Y:-49.10, Z:-13.36 [[ 9.81844662e-01 1.84193319e-01 4.53197695e-02 2.94900252e+02] [-1.84054018e-01 9.82889291e-01 -7.26361280e-03 -4.91025194e+01] [-4.58822251e-02 -1.20954622e-03 9.98946124e-01 -1.33600732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.33264 meters 0.03332878961795505 Centerline is valid? [True, True] Translation: X:294.93, Y:-49.11, Z:-13.36 [[ 9.82137564e-01 1.82328320e-01 4.64993394e-02 2.94928947e+02] [-1.82179722e-01 9.83237027e-01 -7.44971734e-03 -4.91088067e+01] [-4.70781667e-02 -1.15458947e-03 9.98890541e-01 -1.33599887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36264 meters 0.0324973986866266 Centerline is valid? [True, True] Translation: X:294.96, Y:-49.11, Z:-13.36 [[ 9.82543376e-01 1.79960531e-01 4.71457567e-02 2.94956437e+02] [-1.79805196e-01 9.83673262e-01 -7.55016500e-03 -4.91123224e+01] [-4.77347520e-02 -1.05868744e-03 9.98859486e-01 -1.33628227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.39264000000003 meters 0.025733498226914744 Centerline is valid? [True, True] Translation: X:294.99, Y:-49.12, Z:-13.36 [[ 9.83604719e-01 1.73453046e-01 4.93537975e-02 2.94985396e+02] [-1.73274823e-01 9.84841830e-01 -7.89973234e-03 -4.91237110e+01] [-4.99759169e-02 -7.81556499e-04 9.98750117e-01 -1.33628028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42264 meters 0.02396883109119823 Centerline is valid? [True, True] Translation: X:295.01, Y:-49.13, Z:-13.37 [[ 9.84323773e-01 1.69356916e-01 4.92437318e-02 2.95014001e+02] [-1.69174365e-01 9.85554619e-01 -7.88203937e-03 -4.91316366e+01] [-4.98672652e-02 -5.72298348e-04 9.98755690e-01 -1.33657580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.45264000000003 meters 0.022017899419075462 Centerline is valid? [True, True] Translation: X:295.04, Y:-49.14, Z:-13.37 [[ 9.85038940e-01 1.65073755e-01 4.94867950e-02 2.95044264e+02] [-1.64884048e-01 9.86281160e-01 -7.91982860e-03 -4.91415357e+01] [-5.01152494e-02 -3.58243498e-04 9.98743377e-01 -1.33671884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.48264 meters 0.03212761602093289 Centerline is valid? [True, True] Translation: X:295.07, Y:-49.15, Z:-13.37 [[ 9.85787892e-01 1.60674863e-01 4.90491638e-02 2.95074700e+02] [-1.60483090e-01 9.87007381e-01 -7.84904459e-03 -4.91509520e+01] [-4.96730308e-02 -1.34068225e-04 9.98765524e-01 -1.33696501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.51264000000003 meters 0.024808171520324985 Centerline is valid? [True, True] Translation: X:295.11, Y:-49.17, Z:-13.37 [[ 9.87087912e-01 1.51058034e-01 5.32815565e-02 2.95105006e+02] [-1.50817201e-01 9.88524819e-01 -8.53540016e-03 -4.91659871e+01] [-5.39594818e-02 3.89415076e-04 9.98543050e-01 -1.33705181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.54264 meters 0.037419554420227874 Centerline is valid? [True, True] Translation: X:295.13, Y:-49.19, Z:-13.37 [[ 9.88199521e-01 1.43227173e-01 5.42925807e-02 2.95134812e+02] [-1.44923361e-01 9.89026833e-01 2.86904535e-02 -4.91949991e+01] [-4.95875667e-02 -3.62201556e-02 9.98112806e-01 -1.33749728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.57264000000004 meters 0.031229837114563334 Centerline is valid? [True, True] Translation: X:295.17, Y:-49.17, Z:-13.37 [[ 9.88261411e-01 1.44000968e-01 5.10206403e-02 2.95167859e+02] [-1.41842099e-01 9.88924712e-01 -4.36890464e-02 -4.91659924e+01] [-5.67468369e-02 3.59393239e-02 9.97741530e-01 -1.33682054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.60264 meters 0.03547589442926601 Centerline is valid? [True, True] Translation: X:295.19, Y:-49.20, Z:-13.37 [[ 9.88774934e-01 1.37550081e-01 5.83447043e-02 2.95194649e+02] [-1.37237311e-01 9.90494036e-01 -9.35340022e-03 -4.91957739e+01] [-5.90766426e-02 1.24133736e-03 9.98252678e-01 -1.33717370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.63264000000004 meters 0.03985478155224079 Centerline is valid? [True, True] Translation: X:295.22, Y:-49.21, Z:-13.38 [[ 9.89314931e-01 1.33777415e-01 5.79618062e-02 2.95223470e+02] [-1.33461705e-01 9.91010319e-01 -9.30166293e-03 -4.92064443e+01] [-5.86851005e-02 1.46659254e-03 9.98275467e-01 -1.33754533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.66264 meters 0.047662245506017026 Centerline is valid? [True, True] Translation: X:295.25, Y:-49.22, Z:-13.38 [[ 9.89661817e-01 1.30793589e-01 5.88432231e-02 2.95253059e+02] [-1.30462918e-01 9.91408217e-01 -9.44324688e-03 -4.92171328e+01] [-5.95727711e-02 1.66876229e-03 9.98222570e-01 -1.33786702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.69264 meters 0.0512215749105828 Centerline is valid? [True, True] Translation: X:295.28, Y:-49.23, Z:-13.38 [[ 9.90244589e-01 1.24970963e-01 6.16271985e-02 2.95281581e+02] [-1.24596339e-01 9.92158124e-01 -9.89993744e-03 -4.92305974e+01] [-6.23811304e-02 2.12483618e-03 9.98050139e-01 -1.33808254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72264 meters 0.054590534176540105 Centerline is valid? [True, True] Translation: X:295.31, Y:-49.24, Z:-13.38 [[ 9.90329721e-01 1.23363030e-01 6.34713073e-02 2.95311606e+02] [-1.22962307e-01 9.92358959e-01 -1.01964346e-02 -4.92382246e+01] [-6.42441835e-02 2.29325390e-03 9.97931574e-01 -1.33819714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.75264 meters 0.057212981508176115 Centerline is valid? [True, True] Translation: X:295.34, Y:-49.24, Z:-13.38 [[ 9.90347034e-01 1.22742086e-01 6.43982320e-02 2.95343285e+02] [-1.22327896e-01 9.92435766e-01 -1.03507098e-02 -4.92444775e+01] [-6.51815764e-02 2.37309450e-03 9.97870598e-01 -1.33844276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78264 meters 0.06025619394778729 Centerline is valid? [True, True] Translation: X:295.37, Y:-49.25, Z:-13.39 [[ 9.89959011e-01 1.23546267e-01 6.86838908e-02 2.95373427e+02] [-1.23076140e-01 9.92335697e-01 -1.10511699e-02 -4.92508796e+01] [-6.95228074e-02 2.48685703e-03 9.97577263e-01 -1.33854558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.81264 meters 0.10860964899902364 Centerline is valid? [True, False] Translation: X:295.37, Y:-49.25, Z:-13.39 [[ 9.90993210e-01 1.13139574e-01 7.16372438e-02 2.95372876e+02] [-1.13294626e-01 9.93559604e-01 -1.90829568e-03 -4.92532682e+01] [-7.13917754e-02 -6.22500670e-03 9.97428927e-01 -1.33864758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84264 meters 0.10017437568273503 Centerline is valid? [False, False] Translation: X:295.36, Y:-49.25, Z:-13.39 [[ 9.91124804e-01 1.08883974e-01 7.62620719e-02 2.95357209e+02] [-1.09251180e-01 9.94013964e-01 6.47296089e-04 -4.92531966e+01] [-7.57350842e-02 -8.97327258e-03 9.97087598e-01 -1.33940869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.87264 meters 0.07146998824179242 Centerline is valid? [False, True] Translation: X:295.36, Y:-49.25, Z:-13.39 [[ 9.92345760e-01 9.79463814e-02 7.52090364e-02 2.95359341e+02] [-9.89096362e-02 9.95054051e-01 9.18260014e-03 -4.92535044e+01] [-7.39376538e-02 -1.65512127e-02 9.97125509e-01 -1.33947039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.90264 meters 0.07941426149790509 Centerline is valid? [True, True] Translation: X:295.40, Y:-49.22, Z:-13.39 [[ 9.93282441e-01 1.02453590e-01 5.37889719e-02 2.95402189e+02] [-1.00028458e-01 9.93920724e-01 -4.59989335e-02 -4.92218637e+01] [-5.81747298e-02 4.03095050e-02 9.97492278e-01 -1.33864988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.93264 meters 0.07477931779592387 Centerline is valid? [True, True] Translation: X:295.44, Y:-49.23, Z:-13.38 [[ 9.93265089e-01 1.03875296e-01 5.13262638e-02 2.95436299e+02] [-1.02726389e-01 9.94406793e-01 -2.45442446e-02 -4.92301924e+01] [-5.35887260e-02 1.91063795e-02 9.98380286e-01 -1.33826758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96264 meters 0.07446621254198584 Centerline is valid? [True, True] Translation: X:295.47, Y:-49.23, Z:-13.38 [[ 9.93090340e-01 1.07364026e-01 4.73766013e-02 2.95471118e+02] [-1.06269612e-01 9.94021729e-01 -2.50513757e-02 -4.92275067e+01] [-4.97829877e-02 1.98435862e-02 9.98562910e-01 -1.33810473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.99264 meters 0.07526832459183261 Centerline is valid? [True, True] Translation: X:295.49, Y:-49.27, Z:-13.39 [[ 9.92336273e-01 1.04501589e-01 6.59404238e-02 2.95494679e+02] [-1.06870462e-01 9.93709342e-01 3.34730996e-02 -4.92656215e+01] [-6.20276231e-02 -4.02636544e-02 9.97261958e-01 -1.33936798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02264 meters 0.07454727716278477 Centerline is valid? [True, True] Translation: X:295.52, Y:-49.24, Z:-13.40 [[ 9.88006495e-01 1.17972409e-01 9.96276885e-02 2.95522391e+02] [-1.17897611e-01 9.93003431e-01 -6.65880133e-03 -4.92414124e+01] [-9.97161913e-02 -5.16692751e-03 9.95002505e-01 -1.34018656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.05264 meters 0.08327094305663109 Centerline is valid? [True, True] Translation: X:295.57, Y:-49.22, Z:-13.39 [[ 9.91913143e-01 1.17880256e-01 4.70378730e-02 2.95566253e+02] [-1.15845238e-01 9.92297674e-01 -4.38771855e-02 -4.92192004e+01] [-5.18478258e-02 3.80732434e-02 9.97928971e-01 -1.33906228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08264 meters 0.07475858632211907 Centerline is valid? [True, True] Translation: X:295.58, Y:-49.26, Z:-13.41 [[ 9.87404640e-01 1.19808549e-01 1.03334348e-01 2.95584693e+02] [-1.22691652e-01 9.92201233e-01 2.19880064e-02 -4.92591717e+01] [-9.98941165e-02 -3.43893214e-02 9.94403610e-01 -1.34108331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.11264 meters 0.09053331191479495 Centerline is valid? [True, True] Translation: X:295.64, Y:-49.21, Z:-13.39 [[ 9.91760995e-01 1.23698780e-01 3.32977611e-02 2.95635064e+02] [-1.21155470e-01 9.90172779e-01 -6.98514122e-02 -4.92060363e+01] [-4.16110711e-02 6.52417002e-02 9.97001524e-01 -1.33873168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14264000000003 meters 0.08034181550647389 Centerline is valid? [True, True] Translation: X:295.65, Y:-49.28, Z:-13.42 [[ 9.86785487e-01 1.21586628e-01 1.07103194e-01 2.95647967e+02] [-1.27386674e-01 9.90638878e-01 4.90637116e-02 -4.92788568e+01] [-1.00135096e-01 -6.20588782e-02 9.93036584e-01 -1.34171295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.17264 meters 0.08821489334544118 Centerline is valid? [True, True] Translation: X:295.68, Y:-49.24, Z:-13.41 [[ 9.86330742e-01 1.31120607e-01 9.97950605e-02 2.95684652e+02] [-1.30472102e-01 9.91366409e-01 -1.30258904e-02 -4.92428046e+01] [-1.00641433e-01 -1.72635201e-04 9.94922747e-01 -1.34124459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20264000000003 meters 0.09005747496435687 Centerline is valid? [True, True] Translation: X:295.72, Y:-49.24, Z:-13.42 [[ 9.85786810e-01 1.33223539e-01 1.02351621e-01 2.95716244e+02] [-1.32551445e-01 9.91085940e-01 -1.33706659e-02 -4.92438728e+01] [-1.03220539e-01 -3.86229117e-04 9.94658419e-01 -1.34185906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.23264 meters 0.09375413043355568 Centerline is valid? [True, True] Translation: X:295.75, Y:-49.24, Z:-13.42 [[ 9.85558242e-01 1.35239342e-01 1.01908154e-01 2.95748829e+02] [-1.34582148e-01 9.90812790e-01 -1.33289120e-02 -4.92441567e+01] [-1.02774495e-01 -5.78599103e-04 9.94704513e-01 -1.34172282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26264000000003 meters 0.09852630165618265 Centerline is valid? [True, True] Translation: X:295.78, Y:-49.24, Z:-13.42 [[ 9.84721116e-01 1.38505316e-01 1.05549051e-01 2.95779774e+02] [-1.37817323e-01 9.90361246e-01 -1.38198204e-02 -4.92445333e+01] [-1.06445808e-01 -9.37818709e-04 9.94318063e-01 -1.34223275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.29264 meters 0.10208765762617711 Centerline is valid? [True, False] Translation: X:295.76, Y:-49.24, Z:-13.43 [[ 9.85615635e-01 1.31988249e-01 1.05550567e-01 2.95764490e+02] [-1.31715940e-01 9.91241234e-01 -9.57744149e-03 -4.92406630e+01] [-1.05890184e-01 -4.46301613e-03 9.94367814e-01 -1.34271062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32264000000004 meters 0.10796096709889576 Centerline is valid? [False, False] Translation: X:295.77, Y:-49.24, Z:-13.43 [[ 9.86228882e-01 1.27829037e-01 1.04939643e-01 2.95765007e+02] [-1.26956022e-01 9.91795149e-01 -1.49850237e-02 -4.92356792e+01] [-1.05994150e-01 1.45594348e-03 9.94365687e-01 -1.34276472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.35264 meters 0.11614319311158011 Centerline is valid? [False, False] Translation: X:295.77, Y:-49.23, Z:-13.43 [[ 9.86819997e-01 1.23674873e-01 1.04359090e-01 2.95765472e+02] [-1.22209891e-01 9.92295792e-01 -2.03421824e-02 -4.92309084e+01] [-1.06070903e-01 7.32035934e-03 9.94331623e-01 -1.34281465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.38264000000004 meters 0.6281122608869095 Centerline is valid? [False, False] Translation: X:295.78, Y:-49.23, Z:-13.43 [[ 9.87922644e-01 1.19074158e-01 9.91473344e-02 2.95783700e+02] [-1.17719991e-01 9.92856938e-01 -1.94191693e-02 -4.92307885e+01] [-1.00751440e-01 7.51301375e-03 9.94883260e-01 -1.34263624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.41264 meters 0.6322178728116037 Centerline is valid? [False, False] Translation: X:295.79, Y:-49.23, Z:-13.43 [[ 9.89643619e-01 1.09576666e-01 9.27278925e-02 2.95786240e+02] [-1.09018972e-01 9.93977983e-01 -1.10739475e-02 -4.92312394e+01] [-9.33829298e-02 8.50161930e-04 9.95629904e-01 -1.34259774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.44264 meters 0.6295631209202419 Centerline is valid? [False, False] Translation: X:295.79, Y:-49.23, Z:-13.43 [[ 9.90147884e-01 1.05303529e-01 9.22948248e-02 2.95786634e+02] [-1.04221327e-01 9.94417557e-01 -1.64814477e-02 -4.92262347e+01] [-9.35151488e-02 6.69998150e-03 9.95595313e-01 -1.34268197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.47264 meters 0.6378078885392374 Centerline is valid? [False, False] Translation: X:295.79, Y:-49.23, Z:-13.43 [[ 9.90149056e-01 1.05261062e-01 9.23306844e-02 2.95786780e+02] [-1.04167261e-01 9.94421244e-01 -1.66003433e-02 -4.92256969e+01] [-9.35629638e-02 6.81897974e-03 9.95590013e-01 -1.34274126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.50264 meters 0.6423345252531483 Centerline is valid? [False, False] Translation: X:295.79, Y:-49.22, Z:-13.43 [[ 9.90614104e-01 1.01050164e-01 9.20465198e-02 2.95786760e+02] [-9.94608529e-02 9.94804723e-01 -2.17048612e-02 -4.92219899e+01] [-9.37615924e-02 1.23461163e-02 9.95518125e-01 -1.34282571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.53264 meters 0.64511071770748 Centerline is valid? [False, False] Translation: X:295.79, Y:-49.22, Z:-13.43 [[ 9.90601729e-01 1.01072864e-01 9.21547055e-02 2.95786622e+02] [-9.94868302e-02 9.94803172e-01 -2.16568446e-02 -4.92222362e+01] [-9.38647127e-02 1.22851281e-02 9.95509162e-01 -1.34287656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.56264 meters 0.641552990623954 Centerline is valid? [False, False] Translation: X:295.79, Y:-49.22, Z:-13.43 [[ 9.90591379e-01 1.01075162e-01 9.22633799e-02 2.95786504e+02] [-9.94875412e-02 9.94803043e-01 -2.16594975e-02 -4.92222375e+01] [-9.39731283e-02 1.22766547e-02 9.95499038e-01 -1.34293017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.59264 meters 0.6354540963864961 Centerline is valid? [False, False] Translation: X:295.80, Y:-49.22, Z:-13.43 [[ 9.91538929e-01 9.64308098e-02 8.69002386e-02 2.95804983e+02] [-9.48576773e-02 9.95246312e-01 -2.20635531e-02 -4.92205611e+01] [-8.86147482e-02 1.36337170e-02 9.95972664e-01 -1.34298076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.62264 meters 0.6354540963864961 Centerline is valid? [False, False] Translation: X:295.80, Y:-49.22, Z:-13.43 [[ 9.91538929e-01 9.64308098e-02 8.69002386e-02 2.95804983e+02] [-9.48576773e-02 9.95246312e-01 -2.20635531e-02 -4.92205611e+01] [-8.86147482e-02 1.36337170e-02 9.95972664e-01 -1.34298076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.65264 meters 0.6292399578957228 Centerline is valid? [False, False] Translation: X:295.80, Y:-49.22, Z:-13.43 [[ 9.91527536e-01 9.64664653e-02 8.69906097e-02 2.95804902e+02] [-9.48992404e-02 9.95244092e-01 -2.19847832e-02 -4.92209565e+01] [-8.86976847e-02 1.35431752e-02 9.95966517e-01 -1.34303216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.68264 meters 0.6461884312009117 Centerline is valid? [False, False] Translation: X:295.81, Y:-49.22, Z:-13.43 [[ 9.91981550e-01 9.42262284e-02 8.42260141e-02 2.95814466e+02] [-9.26071159e-02 9.95438512e-01 -2.29366917e-02 -4.92195833e+01] [-8.60030561e-02 1.49528467e-02 9.96182657e-01 -1.34324463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.71264 meters 0.6263690898963822 Centerline is valid? [False, False] Translation: X:295.82, Y:-49.22, Z:-13.43 [[ 9.92025907e-01 9.37967545e-02 8.41829524e-02 2.95815924e+02] [-9.21220771e-02 9.95468707e-01 -2.35706495e-02 -4.92178667e+01] [-8.60123452e-02 1.56275865e-02 9.96171499e-01 -1.34346244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.74264 meters 0.6791500462793145 Centerline is valid? [False, False] Translation: X:295.82, Y:-49.22, Z:-13.44 [[ 9.92041107e-01 9.36078746e-02 8.42140548e-02 2.95816665e+02] [-9.19049174e-02 9.95481293e-01 -2.38847545e-02 -4.92168284e+01] [-8.60693173e-02 1.59549725e-02 9.96161388e-01 -1.34361645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.77264 meters 0.6692346850715997 Centerline is valid? [False, False] Translation: X:295.82, Y:-49.22, Z:-13.44 [[ 9.92030826e-01 9.36589473e-02 8.42783551e-02 2.95816787e+02] [-9.19648474e-02 9.95478447e-01 -2.37724127e-02 -4.92173913e+01] [-8.61237852e-02 1.58323202e-02 9.96158638e-01 -1.34369261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.80264 meters 0.6601304831769026 Centerline is valid? [False, False] Translation: X:295.85, Y:-49.22, Z:-13.43 [[ 9.92849736e-01 9.32425985e-02 7.45333413e-02 2.95846078e+02] [-9.13887490e-02 9.95423946e-01 -2.79152930e-02 -4.92184229e+01] [-7.67951672e-02 2.09041825e-02 9.96827727e-01 -1.34337620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.83264 meters 0.6525728470424982 Centerline is valid? [False, False] Translation: X:295.86, Y:-49.22, Z:-13.43 [[ 9.94230019e-01 9.19443462e-02 5.52531150e-02 2.95864207e+02] [-9.07712573e-02 9.95597197e-01 -2.33837413e-02 -4.92217496e+01] [-5.71598493e-02 1.82334228e-02 9.98198524e-01 -1.34252070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86264 meters 0.6426819946644909 Centerline is valid? [False, False] Translation: X:295.86, Y:-49.22, Z:-13.43 [[ 9.94237305e-01 9.18456306e-02 5.52861868e-02 2.95864348e+02] [-9.06595798e-02 9.95602341e-01 -2.35970075e-02 -4.92206768e+01] [-5.72103391e-02 1.84488027e-02 9.98191674e-01 -1.34256697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.89264000000003 meters 0.6489422573947619 Centerline is valid? [False, False] Translation: X:295.87, Y:-49.22, Z:-13.43 [[ 9.94251203e-01 9.16828102e-02 5.53064826e-02 2.95865139e+02] [-9.04758591e-02 9.95610601e-01 -2.39510073e-02 -4.92188296e+01] [-5.72596160e-02 1.88094163e-02 9.98182119e-01 -1.34271023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92264 meters 0.6516747790985684 Centerline is valid? [False, False] Translation: X:295.87, Y:-49.22, Z:-13.43 [[ 9.94266222e-01 9.15299003e-02 5.52897590e-02 2.95865523e+02] [-9.03049476e-02 9.95618473e-01 -2.42667077e-02 -4.92172015e+01] [-5.72686347e-02 1.91346290e-02 9.98175420e-01 -1.34276931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.95264000000003 meters 0.7000822839567492 Centerline is valid? [False, False] Translation: X:295.87, Y:-49.22, Z:-13.43 [[ 9.94287153e-01 9.13433944e-02 5.52217506e-02 2.95866068e+02] [-9.00969497e-02 9.95627653e-01 -2.46600251e-02 -4.92151890e+01] [-5.72328323e-02 1.95438349e-02 9.98169545e-01 -1.34282358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.98264 meters 0.987638741985222 Centerline is valid? [False, False] Translation: X:295.87, Y:-49.21, Z:-13.43 [[ 9.94311286e-01 9.11179729e-02 5.51596038e-02 2.95866673e+02] [-8.98450253e-02 9.95638450e-01 -2.51385912e-02 -4.92127460e+01] [-5.72095999e-02 2.00397690e-02 9.98161044e-01 -1.34289272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.01264000000003 meters 0.6068868549592434 Centerline is valid? [False, False] Translation: X:295.87, Y:-49.21, Z:-13.43 [[ 9.94224295e-01 9.25548925e-02 5.43290326e-02 2.95873348e+02] [-9.13487066e-02 9.95522794e-01 -2.42853916e-02 -4.92118258e+01] [-5.63335222e-02 1.91822395e-02 9.98227717e-01 -1.34346727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.04264 meters 0.6261102866236916 Centerline is valid? [False, False] Translation: X:295.87, Y:-49.21, Z:-13.44 [[ 9.94246778e-01 9.23459360e-02 5.42731339e-02 2.95873951e+02] [-9.11167923e-02 9.95533680e-01 -2.47067411e-02 -4.92096327e+01] [-5.63122998e-02 1.96194039e-02 9.98220418e-01 -1.34353787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.07264000000004 meters 0.6332743826606065 Centerline is valid? [False, False] Translation: X:295.87, Y:-49.21, Z:-13.44 [[ 9.94268605e-01 9.21367487e-02 5.42287793e-02 2.95874462e+02] [-9.08844511e-02 9.95544372e-01 -2.51280815e-02 -4.92074281e+01] [-5.63023758e-02 2.00555097e-02 9.98212312e-01 -1.34359605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.10264 meters 0.6498230116098401 Centerline is valid? [False, False] Translation: X:295.87, Y:-49.21, Z:-13.44 [[ 9.94287470e-01 9.19499896e-02 5.41998741e-02 2.95874919e+02] [-9.06775365e-02 9.95553998e-01 -2.54915982e-02 -4.92055057e+01] [-5.63028535e-02 2.04312656e-02 9.98204664e-01 -1.34365491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.13264000000004 meters 0.689382553187977 Centerline is valid? [False, False] Translation: X:295.88, Y:-49.20, Z:-13.44 [[ 9.94329419e-01 9.14914196e-02 5.42063324e-02 2.95876356e+02] [-9.01728481e-02 9.95578915e-01 -2.62960532e-02 -4.92016167e+01] [-5.63725449e-02 2.12589999e-02 9.98183446e-01 -1.34387546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.16264 meters 0.7082471528826226 Centerline is valid? [False, False] Translation: X:295.88, Y:-49.20, Z:-13.44 [[ 9.94350379e-01 9.12694573e-02 5.41960387e-02 2.95876793e+02] [-8.99271091e-02 9.95589961e-01 -2.67159835e-02 -4.91993710e+01] [-5.63953854e-02 2.16913552e-02 9.98172854e-01 -1.34394015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.19264 meters 0.6821425309699475 Centerline is valid? [False, False] Translation: X:295.89, Y:-49.20, Z:-13.43 [[ 9.95363068e-01 8.94281178e-02 3.54256110e-02 2.95892750e+02] [-8.86158239e-02 9.95779705e-01 -2.38749963e-02 -4.91984718e+01] [-3.74112004e-02 2.06250199e-02 9.99087089e-01 -1.34278778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.22264 meters 0.6901559141970074 Centerline is valid? [False, False] Translation: X:295.90, Y:-49.20, Z:-13.43 [[ 9.96418095e-01 7.82273982e-02 3.21162476e-02 2.95898269e+02] [-7.76970376e-02 9.96824392e-01 -1.74442687e-02 -4.91963533e+01] [-3.33788787e-02 1.48864477e-02 9.99331899e-01 -1.34303418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.25264 meters 0.7426715006713094 Centerline is valid? [False, False] Translation: X:295.90, Y:-49.19, Z:-13.43 [[ 9.96538255e-01 7.69117357e-02 3.15609131e-02 2.95903401e+02] [-7.63448707e-02 9.96904387e-01 -1.87910466e-02 -4.91929354e+01] [-3.29084648e-02 1.63164830e-02 9.99325175e-01 -1.34349356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28264 meters 0.7548078903018156 Centerline is valid? [False, False] Translation: X:295.90, Y:-49.19, Z:-13.44 [[ 9.96903361e-01 7.22114648e-02 3.11318782e-02 2.95904203e+02] [-7.14764741e-02 9.97150854e-01 -2.41099032e-02 -4.91876738e+01] [-3.27841904e-02 2.18100466e-02 9.99224459e-01 -1.34354820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.31264 meters 0.7543833261777656 Centerline is valid? [False, False] Translation: X:295.90, Y:-49.19, Z:-13.44 [[ 9.96893011e-01 7.23598270e-02 3.11188143e-02 2.95904598e+02] [-7.16337481e-02 9.97145868e-01 -2.38479422e-02 -4.91890507e+01] [-3.27556301e-02 2.15446896e-02 9.99231152e-01 -1.34361450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34264 meters 0.7846173338991089 Centerline is valid? [False, False] Translation: X:295.90, Y:-49.19, Z:-13.44 [[ 9.96885865e-01 7.24533839e-02 3.11300310e-02 2.95904859e+02] [-7.17322999e-02 9.97142573e-01 -2.36889509e-02 -4.91898768e+01] [-3.27574239e-02 2.13821516e-02 9.99234584e-01 -1.34367155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.37264 meters 0.7871241312654241 Centerline is valid? [False, False] Translation: X:295.91, Y:-49.19, Z:-13.44 [[ 9.97731726e-01 6.20946275e-02 2.59934485e-02 2.95910208e+02] [-6.16502137e-02 9.97943269e-01 -1.75637098e-02 -4.91878835e+01] [-2.70305989e-02 1.59213689e-02 9.99507807e-01 -1.34392643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.40264 meters 0.7868891115562506 Centerline is valid? [False, False] Translation: X:295.92, Y:-49.19, Z:-13.44 [[ 9.98456591e-01 5.14051220e-02 2.10225727e-02 2.95915776e+02] [-5.11697568e-02 9.98622775e-01 -1.15849095e-02 -4.91855895e+01] [-2.15891436e-02 1.04913094e-02 9.99711879e-01 -1.34410898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.43264 meters 0.8036081998482495 Centerline is valid? [False, False] Translation: X:295.92, Y:-49.18, Z:-13.44 [[ 9.99031268e-01 4.04634014e-02 1.72985376e-02 2.95921587e+02] [-4.03736627e-02 9.99169481e-01 -5.50592020e-03 -4.91839141e+01] [-1.75069591e-02 4.80218112e-03 9.99835209e-01 -1.34432292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46264 meters 0.790724013392192 Centerline is valid? [False, False] Translation: X:295.93, Y:-49.18, Z:-13.44 [[ 9.99476638e-01 3.02048123e-02 1.15810178e-02 2.95926293e+02] [-3.02102113e-02 9.99543525e-01 2.91503353e-04 -4.91813089e+01] [-1.15669265e-02 -6.41215785e-04 9.99932895e-01 -1.34447225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.49264 meters 0.800941154702974 Centerline is valid? [False, False] Translation: X:295.93, Y:-49.18, Z:-13.45 [[ 9.99774492e-01 1.94293270e-02 8.57125544e-03 2.95931715e+02] [-1.94850592e-02 9.99789231e-01 6.46734658e-03 -4.91802680e+01] [-8.44379269e-03 -6.63289956e-03 9.99942352e-01 -1.34470581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52264 meters 0.7758223801590103 Centerline is valid? [False, False] Translation: X:295.93, Y:-49.17, Z:-13.45 [[ 9.99861314e-01 1.45143496e-02 8.16617268e-03 2.95933836e+02] [-1.45206659e-02 9.99894314e-01 7.14706189e-04 -4.91718217e+01] [-8.15493614e-03 -8.33185334e-04 9.99966401e-01 -1.34485564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.55264 meters 0.8128519003767942 Centerline is valid? [False, False] Translation: X:295.93, Y:-49.17, Z:-13.45 [[ 9.99922004e-01 9.60687384e-03 7.98086703e-03 2.95934717e+02] [-9.56864863e-03 9.99942631e-01 -4.81406221e-03 -4.91652415e+01] [-8.02665727e-03 4.73732062e-03 9.99956564e-01 -1.34492475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58264 meters 0.8527562212176704 Centerline is valid? [False, False] Translation: X:295.96, Y:-49.17, Z:-13.46 [[ 9.99866963e-01 7.41472379e-03 1.45285151e-02 2.95958461e+02] [-7.46308744e-03 9.99966780e-01 3.27749335e-03 -4.91700017e+01] [-1.45037308e-02 -3.38548490e-03 9.99889084e-01 -1.34594297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 5599.00 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%| | 0/10285 [00:00